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Hardware interface for isolation of vibrations in flexible manipulators: Development and applicationsNASA's Langley Research Center (LaRC) is addressing the problem of isolating the vibrations of the Shuttle remote manipulator system (RMS) from its end-effector and/or payload by modeling an RMS flat-floor simulator with a dynamic payload. Analysis of the model can lead to control techniques that will improve the speed, accuracy, and safety of the RMS in capturing satellites and eventually facilitate berthing with the space station. Rockwell International Corporation, also involved in vibration isolation, has developed a hardware interface unit to isolate the end-effector from the vibrations of an arm on a Shuttle robotic tile processing system (RTPS). To apply the RTPS isolation techniques to long-reach arms like the RMS, engineers have modeled the dynamics of the hardware interface unit with simulation software. By integrating the Rockwell interface model with the NASA LaRC RMS simulator model, investigators can study the use of a hardware interface to isolate dynamic payloads from the RMS. The interface unit uses both active and passive compliance and damping for vibration isolation. Thus equipped, the RMS could be used as a telemanipulator with control characteristics for capture and berthing operations. The hardware interface also has applications in industry.
Document ID
19940029530
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Manouchehri, Davoud
(Rockwell International Corp. Downey, CA., United States)
Lindsay, Thomas
(Rockwell International Corp. Downey, CA., United States)
Ghosh, David
(NASA Langley Research Center Hampton, VA, United States)
Date Acquired
September 6, 2013
Publication Date
January 1, 1994
Publication Information
Publication: NASA. Johnson Space Center, The Seventh Annual Workshop on Space Operations Applications and Research (SOAR 1993), Volume 1
Subject Category
Mechanical Engineering
Accession Number
94N34036
Funding Number(s)
CONTRACT_GRANT: NAS1-19243
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
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