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MARMOT is a finite element-based phase field code for modeling irradiation-induced microstructure evolution. MARMOT predicts the effect of radiation damage on microstructure evolution, including void nucleation and growth, bubble growth, grain boundary migration, and gas diffusion and segregation.
The Cylindrical Energy Module (CEM) is a sine-wave swashplate engine that can also be used as a standalone pump, powered by an external source. The rotating swashplate rotor assembly is moved back and forth with the help of piston drive pins, which follow a stationary sinusoidal cam track that encircles the rotor assembly.
In robotics, a manipulator is a device used to manipulate materials without direct physical contact by the operator. The applications were originally for dealing with radioactive or biohazardous materials, using robotic arms , or they were used in inaccessible places.
A manipulator can move an object with up to 6 degrees of freedom (DoF), determined by 3 translation 3T and 3 rotation 3R coordinates for full 3T3R mobility. However, when a manipulation task requires less than 6 DoF, the use of lower mobility manipulators, with fewer than 6 DoF, may bring advantages in terms of simpler architecture, easier control, faster motion and lower cost. [2]
Close view of the exterior panels of the Pressurized Module and Logistics Module, during STS-132 A prototype for the Small Fine Arm was tested during the STS-85 space shuttle mission in 1997. [21] Kibō is the largest single ISS module: Pressurized module [22] Length: 11.19 metres (36.7 ft) Diameter: 4.39 metres (14.4 ft)
The station received a second robotic arm during STS-124, the Japanese Experiment Module Remote Manipulator System (JEM-RMS). The JEM-RMS is primarily used to service the JEM Exposed Facility . An additional robotic arm, the European Robotic Arm (ERA) was launched alongside the Russian-built Multipurpose Laboratory Module on July 15, 2021.
Simpler control methods, such as position control or torque control, perform poorly when the manipulator experiences contacts. Thus impedance control is commonly used in these settings. Mechanical impedance is the ratio of force output to velocity input.
Members of the Multipteron [8] family of manipulators have either 3, 4, 5 or 6 degrees of freedom (DoF). The Tripteron 3-DoF member has three translation degrees of freedom 3T DoF, with the subsequent members of the Multipteron family each adding a rotational R degree of freedom. Each member of the family has mutually perpendicular linear ...