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A Workshop was held to promote technical exchange between the structural dynamic and control disciplines, foster joint technology, and provide a forum for discussing and focusing critical issues in the separate and combined areas. The workshop was closed by a panel meeting. Panel members' viewpoints and their responses to questions are included.
This paper reports on the results of a study effort whose main objective was to develop a conceptual design for a space based, large-payload (3000 kg) pointing system capable of both rapid slew maneuvers (0.35 rad/sec-squared) and very stable tracking (1 microrad, 1 sigma, each axis). The key features of the resulting solution are: (1) cross elevation over elevation gimbal system, (2) closed cross elevation gimbal ring, (3) graphite-epoxy structure, (4) two-motor reactionless joint torquers, (5) payload mounted vernier reaction wheel, and (6) gyrostabilized model following control system.
As a part of the redesign project of the Space Shuttle solid rocket motor (SRM) following the Challenger accident, the field joint was redesigned to minimize the relative joint motion caused by internal motor pressurization during ignition. The O-ring seals and glands for the field joint were designed both to accommodate structural deflections and to promote pressure-assisted sealing. Tests were conducted in various face seal fixtures to evaluate the ability of Viton V747-75 O-rings to seal for a range of temperatures and surface finishes of the redesigned O-ring gland. The effect of surface finish on the sealing performance and wear characteristics of the O-rings was evaluated during simulated launch conditions that included low-frequency vibrations, gap openings, and rapid pressurizations. The effect of contamination on the sealing performance was also investigated. The O-rings sealed throughout the 75 deg F leak check test and for the seal tests from 50 deg F to 120 deg F for the range of surface finishes investigated. Although abrasions were found in the O-rings from pressurization against the rougher finishes, these abrasions were not detrimental to sealing. Below 50 deg F, Viton V747-75 O-rings were insufficiently resilient to track the test gap opening.
The analysis of mechanically fastened composite joints presents a great challenge to structural analysts because of the large number of parameters that influence strength. These parameters include edge distance, width, bolt diameter, laminate thickness, ply orientation, and bolt torque. The research presented in this report investigates the influence of some of these parameters through testing and analysis. A methodology is presented for estimating the strength of the bolt-hole based on classical lamination theory using the Tsai-Hill failure criteria and typical bolthole bearing analytical methods.
Since the beginning of the Space Shuttle Reusable Solid Rocket Motor (RSRM) program, nozzle-to-case joint polysulfide adhesive gas paths have occurred on several flight motors. These gas paths have allowed hot motor gases to reach the wiper O-ring. Even though these motors continue to fly safely with this condition, a desire was to reduce such occurrences. The RSRM currently uses a J-leg joint configuration on case field joints and igniter inner and outer joints. The J-leg joint configuration has been successfully demonstrated on numerous RSRM flight and static test motors, eliminating hot gas intrusion to the critical O-ring seals on these joints. Using the proven technology demonstrated on the case field joints and igniter joints, a nozzle-to-case joint J-leg design was developed for implementation on RSRM flight motors. This configuration provides an interference fit with nozzle fixed housing phenolics at assembly, with a series of pressurization gaps incorporated outboard of the joint mating surface to aid in joint pressurization and to eliminate any circumferential flow in this region. The joint insulation is bonded to the nozzle phenolics using the same pressure sensitive adhesive used in the case field joints and igniter joints. An enhancement to the nozzle-to-case joint J-leg configuration is the implementation of a carbon rope thermal barrier. The thermal barrier is located downstream of the joint bondline and is positioned within the joint in a manner where any hot gas intrusion into the joint passes through the thermal barrier, reducing gas temperatures to a level that would not affect O-rings downstream of the thermal barrier. This paper discusses the processes used in reaching a final nozzle-to-case joint J-leg design, provides structural and thermal results in support of the design, and identifies fabrication techniques and demonstrations used in arriving at the final configuration.
Three silver-base brazes containing either noble metal palladium (Palcusil-10 and Palcusil-15) or active metal titanium (Ticusil) were evaluated for high-temperature oxidation resistance, and their effectiveness in joining yttria stabilized zirconia (YSZ) to a corrosion-resistant ferritic stainless steel. Thermogravimetric analysis (TGA), and optical- and scanning electron microscopy (SEM) coupled with energy dispersive spectrometry (EDS) were used to evaluate the braze oxidation behavior and the structure and chemistry of the YSZ/braze/steel joints. The effect of the braze type and processing conditions on the interfacial microstructure and composition of the joint regions is discussed with reference to the chemical changes that occur at the interface. It was found that chemical interdiffusion of the constituents of YSZ, steel and the brazes led to compositional changes and/or interface reconstruction, and metallurgically sound joints.
Humanoid robots could reduce the risks of hazardous work by replacing humans in dangerous environments and they could be useful helpers in environments designed primarily for humans. Currently, no robot is capable enough to fulfill either of these roles for any practical application, and the Humanoid Project at the Jet Propulsion Laboratory's Bio-Inspired Technologies and Systems group is striving to change that. For this summer, our goal was to endow a Fujitsu HOAP 2 humanoid robot with the necessary intelligence and knowledge to autonomously assemble a cubical frame structure from tubular bars and corner joints. Performing such a complicated task requires that the robot have a robust control architecture that allows for a multitude of abilities and Operation modes. We have designed and implemented a modular control architecture that allows reusability of existing code and the integration of work by many team members into the larger control system while providing an easy way to implement later improvements. Such a control system has allowed us to achieve important milestones in the humanoid robot assembly task.
The Soldering in a Reduced Gravity Experiment (SoRGE) and Component Repair Experiment (CRE)-1 are tests performed on the International Space Station to determine the techniques, tools, and training necessary to allow future crews to perform manual electronics repairs at the component level. SoRGE provides information on the formation and internal structure of through-hole solder joints, illustrating the challenges and implications of soldering in reduced gravity. SoRGE showed a significant increase in internal void defects for joints formed in low gravity compared to normal gravity. Methods for mitigating these void defects were evaluated using a modified soldering process. CRE-1 demonstrated the removal, cleaning, and replacement of electronics components by manual means on functional circuit boards. The majority of components successful passed a post-repair functional test demonstrating the feasibility of component-level repair within the confines of a spacecraft. Together, these tasks provide information to recommend material and tool improvements, training improvements, and future work to help enable electronics repairs in future space missions.
In aerospace design, where minimizing weight is always a priority, achieving the full capacity from fasteners is essential. To do so, the initial bolt preload must be maximized. The benefits of high preload are well documented and include improved fatigue resistance, a stiffer joint, and resistance to loosening. But many factors like elastic interactions and embedment tend to lower the initial preload placed on the bolt. These factors provide additional motivation to maximize the initial preload. But, to maximize bolt preload, you must determine what torque to apply. Determining this torque is greatly complicated by the large preload scatter generally seen with torque control. This paper presents a detailed methodology for generating limit torques for threaded fasteners. This methodology accounts for the large scatter in preload found with torque control, and therefore, addresses the statistical nature of the problem. It also addresses prevailing torque, a feature common in aerospace fasteners. Although prevailing torque provides a desired locking feature, it can also increase preload scatter. In addition, it can limit the amount of preload that can be generated due to the torsion it creates in the bolt. This paper discusses the complications of prevailing torque and how best to handle it. A wide range of torque-tension bolt testing was conducted in support of this research. The results from this research will benefit the design engineer as well as analyst involved in the design of bolted joints, leading to better, more optimized structural designs.
A rehabilitative device first featured in Spinoff 2003 is not only helping human patients regain the ability to walk, but is now helping our four-legged friends as well. The late James Kerley, a prominent Goddard Space Flight Center researcher, developed cable-compliant mechanisms in the 1980s to enable sounding rocket assemblies and robots to grip or join objects. In cable-compliant joints (CCJs), short segments of cable connect structural elements, allowing for six directions of movement, twisting, alignment, and energy damping. Kerley later worked with Goddard s Wayne Eklund and Allen Crane to incorporate the cable-compliant mechanisms into a walker for human patients to support the pelvis and imitate hip joint movement.
The Joint Damping Experiment (JDX), flown on the Shuttle STS-69 Mission, is designed to measure the influence of gravity on the structural damping of a high precision three bay truss. Principal objectives are: (1) Measure vibration damping of a small-scale, pinjointed truss to determine how pin gaps give rise to gravity-dependent damping rates; (2) Evaluate the applicability of ground and low-g aircraft tests for predicting on-orbit behavior; and (3) Evaluate the ability of current nonlinear finite element codes to model the dynamic behavior of the truss. Damping of the truss was inferred from 'Twang' tests that involve plucking the truss structure and recording the decay of the oscillations. Results are summarized as follows. (1) Damping, rates can change by a factor of 3 to 8 through changing the truss orientation; (2) The addition of a few pinned joints to a truss structure can increase the damping by a factor as high as 30; (3) Damping is amplitude dependent; (4) As gravity induced preloads become large (truss long axis perpendicular to gravity vector) the damping is similar to non-pinjointed truss; (5) Impacting in joints drives higher modes in structure; (6) The torsion mode disappears if gravity induced preloads are low.
Truss components are considered, taking into account composite truss structures, truss analysis, column members, and truss joints. Beam components are discussed, giving attention to composite beams, laminated beams, and sandwich beams. Composite frame components and composite membrane components are examined. A description is given of examples of flat membrane components and examples of curved membrane elements. It is pointed out that composite structural design and analysis is a highly interactive, iterative procedure which does not lend itself readily to characterization by design or analysis function only.-
The NASA Lewis Research Center's On-Board Propulsion Branch has a research and technology program to develop high-temperature (2200 C), iridium-coated rhenium rocket chamber materials for radiation-cooled rockets in satellite propulsion systems. Although successful material demonstrations have gained much industry interest, acceptance of the technology has been hindered by a lack of demonstrated joining technologies and a sparse materials property data base. To alleviate these concerns, we fabricated rhenium to C-103 alloy joints by three methods: explosive bonding, diffusion bonding, and brazing. The joints were tested by simulating their incorporation into a structure by welding and by simulating high-temperature operation. Test results show that the shear strength of the joints degrades with welding and elevated temperature operation but that it is adequate for the application. Rhenium is known to form brittle intermetallics with a number of elements, and this phenomena is suspected to cause the strength degradation. Further bonding tests with a tantalum diffusion barrier between the rhenium and C-103 is planned to prevent the formation of brittle intermetallics.
This work presents a multiscale modeling approach to predict the fracture strength of fibrous Thermal Protection System (TPS) materials. The model assumes that system failure is initiated at the joints between individual fibers. We investigated three distinct TPS compositions: amorphous silica, alumina and aluminosilicate fibers. Molecular dynamics (MD) simulations were employed to determine the fracture strength values of these fiber joints for both material systems. These fracture strength values were then integrated into simulations of 3D randomly populated fiber structures, where tensile load transfer occurs through the fiber joints. These microscale properties are upscaled through a renormalization approach [1] to predict macroscale tensile strength of 3D random fiber networks, accounting for joint-dominated failure and effective load-bearing area. The study concludes by demonstrating the resulting strength variation as a function of material composition, fiber density, and morphology. We also show validation of results by comparing them against explicit fiber finite element (FE) modeling [2] where fiber joint fracture is represented by cohesive elements.
Adhesive-bonded joints are essential for lightweight, multimaterial automotive structures. We developed a lignin-based thermoplastic adhesive with adhesion strength comparable to conventional epoxy adhesives (20–23 MPa), while offering exceptional durability, recyclability, and corrosion resistance. Unlike commercial epoxy adhesives requiring refrigerated storage, our adhesive retains its bonding potential after a year of ambient conditioning. Bonded joints can be repeatedly disassembled and rejoined with less than 2% strength loss. After 500 h of salt fog exposure, the adhesive-bonded aluminum joints exhibited a 24% strength reduction, compared to 61% reduction in strength of joints based on a commercial epoxy adhesive.
A mathematical model for the motion of a large, flexible shallow spherical shell in a circular orbit is presented. For small elastic displacements and attitude angles the linearized equations for the roll and yaw (out-of-plane) motions completely separate from the pitch (in-plane) and elastic motions. However, the pitch and only the axisymmetric elastic modes are seen to be coupled in the linear range. With the shell's symmetry axis following the local vertical, the structure undergoes a static deformation under the influence of gravity and inertia. Further, the pitch and roll motions are unstable due to the unfavorable moment of inertia distribution. A rigid lightweight dumbbell with heavy tip masses and connected to the shell at its apex by a spring loaded double gimbal joint is proposed to gravitationally stabilize the structure. It is noted that the dumbbell motion can excite only those elastic modes having one nodal diameter. A sensitivity study of the system response characteristics to the key system parameters is carried out.
Large-scale composite structures are commonly joined by secondary bonding of molded-and-cured thermoset components. This approach may result in unpredictable joint strengths. In contrast, assemblies made by co-curing, although limited in size by the mold, result in stable structures, and are certifiable for commercial aviation because of structural continuity through the joints. Multifunctional epoxy resins were prepared that should produce fully-cured subcomponents with uncured joining surfaces, enabling them to be assembled by co-curing in a subsequent out-of-autoclave process. Aromatic diamines were protected by condensation with a ketone or aldehyde to form imines. Properties of the amine-cured epoxy were compared with those of commercially available thermosetting epoxy resins and rheology and thermal analysis were used to demonstrate the efficacy of imine protection. Optimum conditions to reverse the protecting chemistry in the solid state using moisture and acid catalysis were determined. Alternative chemistries were also investigated. For example, chain reaction depolymerization and photoinitiated catalysts would be expected to minimize liberation of volatile organic content upon deprotection and avoid residual reactive species that could damage the resin. Results from the analysis of protected and deprotected resins will be presented.
The Space Shuttle Main Engine (SSME) consists of 1080 conical tubes, which are furnace brazed themselves, manifolds, and surrounding structural jacket making almost four miles of braze joints. Subsequent furnace braze cycles are performed due to localized braze voids between the coolant tubes. SSME nozzle experiences extremely high heat flux (180 mW/sq m) during hot fire. Braze voids between coolant tubes may result in hot combustion gas escape causing jacket bulges. The nozzle can be disqualified for flight or result in mission failure if the braze voids exceed the limits. Localized braze processes were considered to eliminate braze voids, however, damage to the parent materials often prohibited use of such process. Being the only manned flight reusable rocket engine, it has stringent requirement on the braze process. Poor braze quality or damage to the parent materials limits the nozzle service life. The objective of this study was to develop a laser brazing process to provide quality, localized braze joints without adverse affect on the parent materials. Gold (Au-Cu-Ni-Pd-Mn) based high temperature braze alloys were used in both powder and wire form. Thin section iron base superalloy A286 tube was used as substrate materials. Different Laser Systems including CO2 (10.6 micrometers, 1kW), ND:YAG (1.06 micrometers, 4kW). and direct diode laser (808nm. 150W) were investigated for brazing process. The laser process variables including wavelength. laser power, travel speed and angle of inclination were optimized according to bead geometry and braze alloy wetting at minimum heat input level, The properties of laser brazing were compared to that of furnace brazing. Microhardness profiles were used for braze joint property comparison between laser and furnace brazing. The cooling rate of laser brazing was compared to furnace brazing based on secondary dendritic arm spacing, Both optical and Scanning Electron Microscope (SEM) were used to evaluate the microstructures of the braze materials and tube substrate. Metallography of the laser braze joint was compared to the furnace braze. SEM Energy Disperse X-Ray Spectra (EDX) and back scattered imaging were used to analyze braze alloy segregation. Although all of the laser systems, CO2, ND:YAG, and direct diode laser produced good braze joint, the direct diode laser was selected for its system simplicity, compactness and portability. Excellent laser and braze alloy coupling is observed with powder alloy compared to braze alloy wire. Good wetting is found with different gold based braze alloys. The laser brazing process can be optimized so that the adverse affect on the parent materials can be eliminated. Metallography of the laser braze joint has shown that quality braze joint was produced with laser brazing process. Penetration of the laser braze to the substrate is at neglectable level. Zero penetration is observed. Microstructure examinations shown that no observable changes of the microstructure (grain structure and precipitation) in the HAZ area between laser braze and furnace braze. Wide gaps can be laser brazed with single pass for up to 0.024 inches. Finer dendritic structure is observed in laser brazing compared with equiaxial and coarser grain of the furnace brazing microstructure. Greater segregation is also found in the furnace braze. Higher hardness of the laser braze joint comparing to furnace braze is observed due to the fast cooling rate and Finer microstructure in the laser brazing. Laser braze joint properties meet or exceed the furnace joint properties. Direct diode laser for thin section tube brazing with high temperature braze alloys have been successfully demonstrated. The laser's high energy density and precise control has shown significant advantages in reducing process heat input to the substrates and provide high quality braze joints comparing to other localized braze process such as torch, TIG, and MPTA processes. Significant cost savings can be realized particularly with localized braze comparing to a full furnace braze cycle.