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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 289 records · Page 16

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NASA NTRS1987

Dynamics of trusses having nonlinear joints

The transient analysis of trusses having nonlinear joints can be accomplished using the residual force technique. The technique was applied a two degree of freedom spring mass system, a four bay planar truss, and an actual ten bay deployable truss. Joints chosen for analysis were the nonlinear gap joints and the linear Voigt joints. Results from the nonlinear gap analyses generally indicate that coupling between the modes can display some interesting effects during free vibration. One particularly interesting effect was that the damping of the structure appeared to be higher than could be accounted for from modal damping alone. Energy transferral from the lower to the higher modes was found to exist as a result of the modal coupling. The apparently increased damping was due to the fact that the energy transferred to the higher modes is inherently dissipated more quickly. Another interesting phenomenon was that the lower modes could drive the higher modes even during free vibration and that these modes could display a rather large quasi-steady state behavior even when modal damping was present. Gaps were also found to increase the amplitude and period of the free vibration response as expected.

Chapman, J. M.↗

NASA NTRS1987

Navier-Stokes analysis of two- and three-dimensional flow field in solid rocket motors with segment joints

A multidimensional implicit Navier-Stokes analysis which uses numerical solution of ensemble-averaged Navier-Stokes equations in a nonorthogonal bodyfitted cylindrical-polar coordinate system has been applied to simulation of the internal flow field in solid-propellant rocket motor chambers with segment joints. The calculation procedure incorporates a two-equation (k-epsilon) turbulence model and utilizes a consistently split, linearized block-implicit algorithm for numerical solution of the governing equations. Computations performed to simulate the axisymmetric flow field in the vicinity of the aft field joint in the Space Shuttle SRB using 14,725 grid points show the presence of a region of reversed axial flow near the downstream edge of the slot. Calculations were also performed for two cases involving asymmetric three-dimensional flow in the vicinity of the aft field joint in the SRB using 721,525 grid points to estimate circumferential velocities and pressure gradients at the joint.

Sabnis, J. S.↗

NASA NTRS1988

Optical Rotary Joint For Data Transfer

Proposed joint increases bandwidth and reduces errors. Scheme for transferring digital data across rotary joint uses light instead of electrical signals. Optical joint offers greater bandwidth and operates at considerably lower error rate. Concept applied to transfer of highspeed data to rotating antennas or across joints of robots and manipulators in automated manufacturing.

Becker, Fred J.↗

NASA NTRS1988

Rotary Joint For The Space Station

Most critical mechanism aboard station is rotary joint performing tracking function. Study conducted to determine optimum mechanism for rotary joint. Best mechanism is continuously rotating joint base on concept of multiple, discrete bearing-supported joint driven by self-loading, "pinch"-roller drive actuator. Applicable to solar-power-conversion units and earthbound solar-power farms and other related power-generation systems.

Loewenthal, Stuart H.↗

NASA NTRS1988

Calculating Robot-Joint Coordinates From Image Coordinates

Detailed knowledge of robot joints not required. Algorithm generates approximate mathematical models of coordinates of joints of robot as functions of coordinates of points in images of work region viewed by television cameras. Joint coordinates necessary to position and orient end effector calculated by mathematical models fitted to experimentally determined data on positions, orientations, and joint coordinates. Generates models as functions of desired location of end effector of robot. Does not require priori knowledge of kinematic equations of robot.

Source record↗

NASA NTRS1988

Simplified procedures for designing composite bolted joints

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.

Chamis, Christos C.↗

NASA NTRS1988

Dynamic evaluation of a traction-drive joint for space telerobots

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.

Desilva, Clarence W.↗

NASA NTRS1988

Dynamic analysis of the joint dominated beam

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.

Abu-Saba, Elias G.↗

NASA NTRS1990

Preloaded Composite-Strut/End-Fitting Joint

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.

Monitor, Dean S.↗

NASA NTRS1989

Test Data of Flow Field of Shuttle SRM Nozzle Joint with Bond Defects, Using Unheated Air

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.

Hair, Leroy M.↗

NASA NTRS1990

Heavily loaded joints for assembling aerobrake support trusses

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.

Bandel, Hannskarl↗

NASA NTRS1990

Nonlinear Modeling of Joint Dominated Structures

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.

Chapman, J. M.↗

NASA NTRS1989

Comparison of joint space versus task force load distribution optimization for a multiarm manipulator system

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.

Soloway, Donald I.↗

NASA NTRS1989

Tensile behavior of bonded scarf joints between composite adherends

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.

Adkins, David W.↗

NASA NTRS1990

Microdynamic modelling of joint-dominated truss-based structures

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.

Wang, P. K. C.↗

NASA NTRS1990

Flight set 360L007 (STS-33R) field joint protection system, thermal protection system, and systems tunnel components, volume 7

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.

Source record↗

NASA NTRS1990

Compliant joint

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.

Eklund, Wayne D.↗

NASA NTRS1990

Space Shuttle production verification motor 1 (PV-1) field joint protection system, volume 7

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.

Wilkinson, J. P.↗