Low-Friction, High-Stiffness Joint for Uniaxial Load Cell

A universal-joint assembly has been devised for transferring axial tension or compression to a load cell. To maximize measurement accuracy, the assembly is required to minimize any moments and non-axial forces on the load cell and to exhibit little or no hysteresis. The requirement to minimize hysteresis translates to a requirement to maximize axial stiffness (including minimizing backlash) and a simultaneous requirement to minimize friction. In practice, these are competing requirements, encountered repeatedly in efforts to design universal joints. Often, universal-joint designs represent compromises between these requirements. The improved universal-joint assembly contains two universal joints, each containing two adjustable pairs of angular-contact ball bearings. One might be tempted to ask why one could not use simple ball-and-socket joints rather than something as complex as universal joints containing adjustable pairs of angularcontact ball bearings. The answer is that ball-and-socket joints do not offer sufficient latitude to trade stiffness versus friction: the inevitable result of an attempt to make such a trade in a ball-and-socket joint is either too much backlash or too much friction. The universal joints are located at opposite ends of an axial subassembly that contains the load cell. The axial subassembly includes an axial shaft, an axial housing, and a fifth adjustable pair of angular-contact ball bearings that allows rotation of the axial housing relative to the shaft. The preload on each pair of angular-contact ball bearings can be adjusted to obtain the required stiffness with minimal friction, tailored for a specific application. The universal joint at each end affords two degrees of freedom, allowing only axial force to reach the load cell regardless of application of moments and non-axial forces. The rotational joint on the axial subassembly affords a fifth degree of freedom, preventing application of a torsion load to the load cell

Low-Friction, Low-Profile, High-Moment Two-Axis Joint

The two-axis joint is a mechanical device that provides two-degrees-of-freedom motion between connected components. A compact, moment-resistant, two-axis joint is used to connect an electromechanical actuator to its driven structural members. Due to the requirements of the overall mechanism, the joint has a low profile to fit within the allowable space, low friction, and high moment-reacting capability. The mechanical arrangement of this joint can withstand high moments when loads are applied. These features allow the joint to be used in tight spaces where a high load capability is required, as well as in applications where penetrating the mounting surface is not an option or where surface mounting is required. The joint consists of one base, one clevis, one cap, two needle bearings, and a circular shim. The base of the joint is the housing (the base and the cap together), and is connected to the grounding structure via fasteners and a bolt pattern. Captive within the housing, between the base and the cap, are the rotating clevis and the needle bearings. The clevis is attached to the mechanical system (linear actuator) via a pin. This pin, and the rotational movement of the clevis with respect to the housing, provides two rotational degrees of freedom. The larger diameter flange of the clevis is sandwiched between a pair of needle bearings, one on each side of the flange. During the assembly of the two-axis joint, the circular shims are used to adjust the amount of preload that is applied to the needle bearings. The above arrangement enables the joint to handle high moments with minimal friction. To achieve the high-moment capability within a low-profile joint, the use of depth of engagement (like that of a conventional rotating shaft) to react moment is replaced with planar engagement parallel to the mounting surface. The needle bearings with the clevis flange provide the surface area to react the clevis loads/moments into the joint housing while providing minimal friction during rotation. The diameter of the flange and the bearings can be increased to react higher loads and still maintain a compact surface mounting capability. This type of joint can be used in a wide variety of mechanisms and mechanical systems. It is especially effective where precise, smooth, continuous motion is required. For example, the joint can be used at the end of a linear actuator that is required to extend and rotate simultaneously. The current design application is for use in a spacecraft docking-system capture mechanism. Other applications might include industrial robotic or assembly line apparatuses, positioning systems, or in the motion-based simulator industry that employs complex, multi-axis manipulators for various types of motions

Advanced Docking System With Magnetic Initial Capture

An advanced docking system is undergoing development to enable softer, safer docking than was possible when using prior docking systems. This system is intended for original use in docking of visiting spacecraft and berthing the Crew Return Vehicle at the International Space Station (ISS). The system could also be adapted to a variety of other uses in outer space and on Earth, including mating submersible vehicles, assembling structures, and robotic berthing/handling of payloads and cargo. Heretofore, two large spacecraft have been docked by causing the spacecraft to approach each other at a speed sufficient to activate capture latches - a procedure that results in large docking loads and is made more difficult because of the speed. The basic design and mode of operation of the present advanced docking system would eliminate the need to rely on speed of approach to activate capture latches, thereby making it possible to reduce approach speed and thus docking loads substantially. The system would comprise an active subsystem on one spacecraft and a passive subsystem on another spacecraft with which the active subsystem will be docked. The passive subsystem would include an extensible ring containing magnetic striker plates and guide petals. The active subsystem would include mating guide petals and electromagnets containing limit switches and would be arranged to mate with the magnetic striker plates and guide petals of the passive assembly. The electromagnets would be carried on (but not rigidly attached to) a structural ring that would be instrumented with load sensors. The outputs of the sensors would be sent, along with position information, as feedback to an electronic control subsystem. The system would also include electromechanical actuators that would extend or retract the ring upon command by the control subsystem

Low-Impact Mating System for Docking Spacecraft

A document describes a low-impact mating system suitable for both docking (mating of two free-flying spacecraft) and berthing (in which a robot arm in one spacecraft positions an object for mating with either spacecraft). The low-impact mating system is fully androgynous: it mates with a copy of itself, i.e., all spacecraft and other objects to be mated are to be equipped with identical copies of the system. This aspect of the design helps to minimize the number of unique parts and to standardize and facilitate mating operations. The system includes a closed-loop feedback control subsystem that actively accommodates misalignments between mating spacecraft, thereby attenuating spacecraft dynamics and mitigating the need for precise advance positioning of the spacecraft. The operational characteristics of the mating system can be easily configured in software, during operation, to enable mating of spacecraft having various masses, center-of-gravity offsets, and closing velocities. The system design provides multi-fault tolerance for critical operations: for example, to ensure unmating at a critical time, a redundant unlatching mechanism and two independent pyrotechnic release subsystems are included

Low-impact mating system

An androgynous mating system for mating two exoatmospheric space modules comprising a first mating assembly capable of mating with a second mating assembly; a second mating assembly structurally identical to said first mating assembly, said first mating assembly comprising; a load ring; a plurality of load cell subassemblies; a plurality of actuators; a base ring; a tunnel; a closed loop control system; one or more electromagnets; and one or more striker plates, wherein said one or more electomagnets on said second mating assembly are capable of mating with said one or more striker plates on said first mating assembly, and wherein said one or more striker plates is comprised of a plate of predetermined shape and a 5-DOF mechanism capable of maintaining predetermined contact requirements during said mating of said one or more electromagnets and said one or more striker plates

Effect of end-groups on sulfobetaine homopolymers with the tunable upper critical solution temperature (UCST)

One-step syntheses of well-defined Poly(3-((2-(Methacryloyloxy) ethyl) (dimethyl) ammonio)-1-propanesulfonate) (PDMAPS) with a carboxylic acid end-functional reversible addition-fragmentation chain transfer (RAFT) agent and further end-group modification were described. The upper critical solution temperature (UCST) of homo-zwitterions can be precisely adjusted by the surrounding pH due to the presence of a carboxyl end-group. Meanwhile, after esterification of the carboxylic acid group by methyl, ethyl, hexyl, phenethyl alcohol, UCST of all resulted PDMAPS with ester terminated groups showed more significant increases. Dynamic light scattering (DLS), Zeta-potential and small-angle X-ray scattering (SAXS) results demonstrated that the ionization/protonation from the carboxylic end-group and hydrophobicity of ester groups contribute significantly to the tunability. This end-group modification technique provides an easy and economical way of synthesizing temperature-responsive homo-polyzwitterions with precise and controllable temperature range owing to the designability of RAFT polymerization, where the products are suitable for biomedical and environmental engineering applications

Imaging and optical properties of single core-shell GaAs-AlGaAs nanowires

We study the optical properties of a single core-shell GaAs-AlGaAs nanowire (grown by VLS method) using the technique of micro-photoluminescence and spatially-resolved photoluminescence imaging. We observe large linear polarization anisotropy in emission and excitation of nanowires.Comment: IEEE Nano 2006 Proceeding

Temperature dependence of photoluminescence from single core-shell GaAs–AlGaAs nanowires

Temperature-dependent polarized microphotoluminescencemeasurements of single GaAs∕AlGaAs core-shell nanowires are used to probe their electronic states. The low-temperature emission from these wires is strongly enhanced compared with that observed in bare GaAsnanowires and is strongly polarized, reflecting the dielectric mismatch between the nanowire and the surrounding air. The temperature-dependentband gap of the nanowires is seen to be somewhat different from that observed in bulk GaAs, and the PL rapidly quenches above 120K, with an activation energy of 17meV reflecting the presence of nonradiative defects.This work was supported by the University of Cincinnati. Australian authors gratefully acknowledge the financial support from the Australian Research Council

Mechanisms and Consequences of Dopamine Depletion-Induced Attenuation of the Spinophilin/Neurofilament Medium Interaction

Signaling changes that occur in the striatum following the loss of dopamine neurons in the Parkinson disease (PD) are poorly understood. While increases in the activity of kinases and decreases in the activity of phosphatases have been observed, the specific consequences of these changes are less well understood. Phosphatases, such as protein phosphatase 1 (PP1), are highly promiscuous and obtain substrate selectivity via targeting proteins. Spinophilin is the major PP1-targeting protein enriched in the postsynaptic density of striatal dendritic spines. Spinophilin association with PP1 is increased concurrent with decreases in PP1 activity in an animal model of PD. Using proteomic-based approaches, we observed dopamine depletion-induced decreases in spinophilin binding to multiple protein classes in the striatum. Specifically, there was a decrease in the association of spinophilin with neurofilament medium (NF-M) in dopamine-depleted striatum. Using a heterologous cell line, we determined that spinophilin binding to NF-M required overexpression of the catalytic subunit of protein kinase A and was decreased by cyclin-dependent protein kinase 5. Functionally, we demonstrate that spinophilin can decrease NF-M phosphorylation. Our data determine mechanisms that regulate, and putative consequences of, pathological changes in the association of spinophilin with NF-M that are observed in animal models of PD