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Simplified procedures are described to design and analyze single and multi-bolt composite joints. Numerical examples illustrate the use of these methods. Factors affecting composite bolted joints are summarized. References are cited where more detailed discussion is presented on specific aspects of composite bolted joints. Design variables associated with these joints are summarized in the appendix.
Presented is an analysis and evaluation of a prototype traction-drive joint for robotic manipulators, developed under NASA sponsorship. A dynamic model is developed using the Lagrange formulation. Controllability, observability, dynamic stability, and response characteristics of the joint to test inputs are studied. A linear quadratic regulator (LQR) is implemented on the joint model to determine a basis for evaluating the performance of the traction-drive joint under servo control. An evaluation of the results and directions for future investigations are presented.
A method for determining the vibrational modes of the joint dominated beam is presented with reference to space erectable structures. Mathematical models with and without joint imperfection are developed. Joint imperfection is represented by a simple flexibility, k, in the axial direction of the chord members only. An interactive computer program is used to obtain eigenvalue characteristics and mode shapes of the system. Results are presented on frequencies of the given truss beam with and without joint imperfections for three-panel and 10-panel models. Also presented are results of parametric studies of the beam truss models of three and 10 panels with k = 0.05, 0.10, 0.50, and 1.0 x 10 to the -7th.
Proposed structural joint between composite strut and metal end fitting strong and light in weight. Joint configured to distribute stresses fairly uniformly, with little interlaminar stress. Composite-strut/metal-fitting joint built up integrally with strut in layup process. Joint remains tight under reversals of loads and changes in temperature.
The nozzle-to-case joint on the Shuttle SRM (as redesigned after the Challenger accident) features an adhesive sealant filling and bonding the joint, with a wiper O-ring to prevent the adhesive from reaching and disabling the closure O-ring. Flawless implementation of that joint design would ensure that hot, corrosive propellant combustion gases never reach the closure O-ring. However, understanding the flow field related to bonding defects is prudent. A comprehensive test program was conducted to quantify such flow fields and associated heating environments. A two-dimensional, full-scale model represented 65 inches of the nozzle joint, using unheated air as the test medium, in a blowdown mode. Geometry variations modeled RSRM assembly tolerances, and two types of bonding defects: pullaways and blowholes. A range of the magnitude of each type defect was tested. Also a range of operational parameters was tested, representative of the RSRM flow environment, including duplication of RSRM Mach and Reynolds numbers. Extensive instrumentation was provided to quantify pressures, heat rates, and velocities. The resulting data established that larger geometric defects cause larger pressure and larger heating, at the closure O-ring region. Velocity trends were not so straight-forward. Variations in assembly tolerances did not generally affect flow fields or heating. Operational parameters affected flow fields and heating as might be expected, increasing density or velocity increased heating. Complete details of this test effort are presented.
The major emphasis was to develop erectable joints for large aerobrake support trusses. The truss joints must be able to withstand the large forces experienced by the truss during the aero-pass, as well as be easily assembled and disassembled on orbit by astronauts or robots. Other important design considerations include; strength, stiffness, and allowable error in strut length. Six mechanical joint designs, as well as a seventh joint design, where a high strength epoxy is injected to make the connection rigid, are presented.
The development and verification of an accurate structural model of the nonlinear joint-dominated NASA Langley Mini-Mast truss are described. The approach is to characterize the structural behavior of the Mini-Mast joints and struts using a test configuration that can directly measure the struts' overall stiffness and damping properties, incorporate this data into the structural model using the residual force technique, and then compare the predicted response with empirical data taken by NASA/LaRC during the modal survey tests of the Mini-Mast. A new testing technique, referred to as 'link' testing, was developed and used to test prototype struts of the Mini-Masts. Appreciable nonlinearities including the free-play and hysteresis were demonstrated. Since static and dynamic tests performed on the Mini-Mast also exhibited behavior consistent with joints having free-play and hysteresis, nonlinear models of the Mini-Mast were constructed and analyzed. The Residual Force Technique was used to analyze the nonlinear model of the Mini-Mast having joint free-play and hysteresis.
It is often proposed that the redundancy in choosing a force distribution for multiple arms grasping a single object should be handled by minimizing a quadratic performance index. The performance index may be formulated in terms of joint torques or in terms of the Cartesian space force/torque applied to the body by the grippers. The former seeks to minimize power consumption while the latter minimizes body stresses. Because the cost functions are related to each other by a joint angle dependent transformation on the weight matrix, it might be argued that either method tends to reduce power consumption, but clearly the joint space minimization is optimal. A comparison of these two options is presented with consideration given to computational cost and power consumption. Simulation results using a two arm robot system are presented to show the savings realized by employing the joint space optimization. These savings are offset by additional complexity, computation time and in some cases processor power consumption.
Tensile tests of bonded scarf joints indicate that shallow angle joints are sensitive to slight adherend tip bluntness. For scarf angles ranging from 9.2 to 1.1 degrees stress concentrations from blunt adherend tips significantly limit the increased strength expected from larger bond area. The bonded joints fail by two failure modes depending on the scarf angle. Although most of the joints in this study were scarfed by a surface grinder, small angle scarfs can be cut very accurately with a hand held rotary bur.
A methodology for the mathematical modeling of preloaded joint-dominated truss-based space structures applicable in the microdynamic regime is presented. First, various factors which could affect the microdynamic behavior of joint-dominated truss structures are examined. Then, mathematical models for various types of joints involving contact deformations are derived from Hertzian contact theory. Their dynamic behavior is studied analytically and numerically by means of computer simulation. It was found that both synchronous and asynchronous oscillations having the same orders of magnitude are excited by sinusoidal load perturbations in the microdynamic regime. These oscillations persist even in the presence of light linear damping. The integration of the derived joint models with those for the elastic links of preloaded planar truss structures is discussed.
The performance of the thermal protection system, field joint protection system, and systems tunnel components of flight set 360L007 is presented as evaluated by postflight hardware inspection. The condition of both motors was similar to previous flights. Four aft edge strikes were noted on the ground environment instrumentation thermal protection system. The hits all left a clean substrate, indicating that the damage was caused by nozzle severance debris and/or water impact. No National Space Transportation System debris criteria for missing thermal protection system were violated. Two problem reports were written against the field joint protection system. The first concerned two cracks in the K5NA closeout over the trunnion/vent valve location on the left-hand aft field joint. A similar condition was observed on Flight 5 (360H005). The second problem report referred to a number of small surface cracks between two impact marks on the left-hand forward field joint. Neither area exhibited loose material or any abnormal heat effects, and they have no impact on flight safety.
A compliant joint is provided for prosthetic and robotic devices which permits rotation in three different planes. The joint provides for the controlled use of cable under motion. Perpendicular outer mounting frames are joined by swaged cables that interlock at a center block. Ball bearings allow for the free rotation of the second mounting frame relative to the first mounting frame within a predetermined angular rotation that is controlled by two stop devices. The cables allow for compliance at the stops and the cables allow for compliance in six degrees of freedom enabling the duplication or simulation of the rotational movement and flexibility of a natural hip or knee joint, as well as the simulation of a joint designed for a specific robotic component for predetermined design parameters.
The performance of the field joint protection system (FJPS) of the Space Shuttle Production Verification Motor 1 (PV-1), as evaluated by postfire hardware inspection. Compliance with the specifications is shown for the FJPS assembly and components. The simplified FJPS and field joint heaters performed nominally, maintaining all joint seal temperatures within the required range. One anomally was noted on the igniter-to-case joint heater during postfire inspection. The heater buckled off the surface in two areas, resulting in two hot spots on the heater and darkened heater insulation. The condition did not affect heater performance during ignition countdown and all igniter seals were maintained within required temperature limits.
The thermal resistance was experimentally determined of the bolted joints of the first Brazilian satellite (SCD 01). These joints, used to connect the satellite structural panels, are reproduced in an experimental apparatus, keeping, as much as possible, the actual dimensions and materials. A controlled amount of heat is forced to pass through the joint and the difference of temperature between the panels is measured. The tests are conducted in a vacuum chamber with liquid nitrogen cooled walls, that simulates the space environment. Experimental procedures are used to avoid much heat losses, which are carefully calculated. Important observations about the behavior of the joint thermal resistance with the variation of the mean temperature are made.
Simplified procedures are described to design and analyze single and multi-bolt composite joints. Numerical examples illustrate the use of these methods. Factors affecting composite bolted joints are summarized. References are cited where more detailed discussion is presented on specific aspects of composite bolted joints. Design variables associated with these joints are summarized in the appendix.
The purpose was to analytically show how to design a joint controller for a telerobotic system when joint torque sensors are available. Other sensors such as actuator position, actuator velocity, joint position, and joint velocity are assumed to be accessible; however, the results will also be useful when only partial measurements are available. The controller presented can be applied to either mode of operation of a manipulator (i.e., teleoperation or robotic). Mechanical manipulators with high levels of friction are assumed. The results are applied to a telerobotic system built for NASA. Very high levels of friction have been reduced using high-gain feedback while avoiding limit cycles.
Presented is an analysis and evaluation of a prototype traction-drive joint for robotic manipulators, developed under NASA sponsorship. A dynamic model is developed using the Lagrange formulation. Controllability, observability, dynamic stabiliby, and response characteristics of the joint to test inputs are studied. A linear quadratic regulator (LQR) is implemented on the joint model to determine a basis for evaluating the performance of the traction-drive joint under servo control. An evaluation of the results and directions for future investigations are presented.
The development and validation is examined of a dynamic strength model for humans. This model is based on empirical data. The shoulder, elbow, and wrist joints were characterized in terms of maximum isolated torque, or position and velocity, in all rotational planes. This data was reduced by a least squares regression technique into a table of single variable second degree polynomial equations determining torque as a function of position and velocity. The isolated joint torque equations were then used to compute forces resulting from a composite motion, in this case, a ratchet wrench push and pull operation. A comparison of the predicted results of the model with the actual measured values for the composite motion indicates that forces derived from a composite motion of joints (ratcheting) can be predicted from isolated joint measures. Calculated T values comparing model versus measured values for 14 subjects were well within the statistically acceptable limits and regression analysis revealed coefficient of variation between actual and measured to be within 0.72 and 0.80.