2134 Dennispalm, provisional designation 1976 YB is a main-belt asteroid discovered on December 24, 1976, by Charles T. Kowal at Palomar Observatory.
[6][7] Photometric observations made in 2003 at the Carbuncle Hill Observatory near Providence, Rhode Island, give a synodic rotation period of 4.114 ± 0.002 hours.
The light curve shows a brightness variation of 0.37 ± 0.05 in magnitude.
[7] It is named in honor of C. Dennis Palm (1945–1974), who worked as a night assistant at Caltech's 48" Schmidt telescope on Palomar Mountain in the 1960s and later at Caltech's 60" reflecting telescope, also on Palomar.
The official naming citation was published by the Minor Planet Center on 1 July 1979 (M.P.C.