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The functional model of a two dimensional adaptive truss structure which can purposefully change its geometrical configuration is introduced. The details of design and fabrication such as kinematic analysis, dynamic characteristics analysis and some test results are presented for the demonstration of this two dimensional truss concept.
The concept of using an active truss actuator to control the vibration of a flexible (space) structure has been investigated. The actuator with a generic beam continuum cantilevered from it has been modeled using energy methods. A time-invariant optimal state feedback scheme was utilized for the control method. A digital simulation of the system dynamic response demonstrated the good vibration control possibilities for the (planar) truss actuator on a large flexible space structure.
The truss system of the Hubble Space Telescope is made of graphite epoxy tubes and beams that have very low material damping. This paper describes a systematic experimental evaluation of the damping capacity of the graphite epoxy material used in the telescope truss system. The damping capacity of the composite material was measured both under normal and elevated temperatures in atmospheric conditions and in vacuum. Both free decay and steady state methods were used to measure the damping ratio of different specimens under different boundary conditions. A method that involves an iterative least-squares curve-fitting technique for the measured frequency response data has been developed to improve the accuracy of the damping ratio estimation. A unique experimental setup was developed to measure the damping of the material in a vacuum chamber. It was found that outgassing (moisture desorption) has little effect on the damping of the specimen. On the other hand, it was observed that temperature has a significant effect on both the damping and resonance frequencies of the specimen.
Theoretical and experimental studies of passive damping techniques in truss-type structures are presented, with emphasis on the use of viscoelastic damping in the parallel load path. The constraining member length is shown to be a convenient design variable for enhancing damping performance. Results are presented for integral damping members made of thin-wall aluminum tubes, concentric constraining members, and viscoelastic materials in a six-bay truss structure at low frequency and low dynamic strain conditions. Integral members with graphite/epoxy constraining members exhibited relatively low damping values due to the possible polymer interaction during the cocure stage.
This paper describes the development and evaluation of chromic acid anodized (CAA) Al foil as a protective and thermal control coating for graphite/epoxy tubes designed for the Space Station truss structure. Special consideration is given to the development of solar-absorptance and thermal-emittance properties required of Al foil, the development of CAA parameters necessary to achieve these optical properties, and the atomic oxygen and UV testing of CAA Al foil. Results showed that 0.003-in CAA Al foil cocured or secondary bonded to graphite/epoxy tubes with thin epoxy film adhesive retains excellent bond strength and provides a superior protective and thermal control coating to the LEO environment. Processes were developed for CAA Al foils long enough to continuously wrap the 23-ft-long diagonal struts of the Space Station truss structure. Specifications are presented for the processes of chromic acid anodizing of Al foil and for the bonding of anodized Al foil to graphite/epoxy tubes.
A corrugated panel structure for supporting compressive loads is described which includes curved cap strips separated by truss-core web segments. The truss-core web segments are formed from first and second flat panels with a corrugated filler in between them. The corrugated filler extends in the direction of the compressive load. As a result, all components of the panel structure have a compressive load carrying capability resulting in a high strength-to-weight ratio when the compressive load is limiting. Application to rocket and aircraft structures is suggested.
Underwater neutral buoyance tests were conducted to evaluate the use of a Mobile Transporter concept in conjunction with EVA astronauts to construct the Space Station Freedom truss structure. A three-bay orthogonal tetrahedral truss configuration with a 15 foot square cross section was repeatedly assembled by a single pair of pressure suited test subjects working from the Mobile Transporter astronaut positioning devices (mobile foot restraints). The average unit assembly time (which included integrated installation of utility trays) was 27.6 s/strut, or 6 min/bay. The results of these tests indicate that EVA assembly of space station size structures can be significantly enhanced when using a Mobile Transporter equipped with astronaut positioning devices. Rapid assembly time can be expected and are dependent primarily on the rate of translation permissible for on-orbit operations. The concept used to demonstate integrated installation of utility trays requires minimal EVA handling and consequentially, as the results show, has little impact on overall assembly time.
Manufacturing errors in the length of members or joint diameters of large truss reflector backup structures may result in unacceptable large distortion errors or member forces. However, it may be possible to accurately measure these length or diameter errors. The present work suggests that a member and joint placement strategy may be used to reduce distortion errors and internal member forces. A member and joint exchange algorithm is used to demonstrate the potential of this approach on several 102-member and 660-member truss reflector structures. It is shown that it is possible to simultaneously reduce the rms of the surface error and the rms of member forces by two orders of magnitude by member and joint exchanges.
A mathematical model is developed for the real-time simulation of a Space Station. First, a continuum equivalent representation of the Space Station truss structure is presented which accounts for extensional, transverse, and shear deformations and coupling between them. The procedure achieves a significant reduction in the degrees of freedom of the system. Dynamic equations are then formulated for the continuum equivalent of the Space Station truss structure based on the matrix version of Kane's dynamical equations. Finally, constraint equations are derived for the dynamic analysis of flexible bodies with closed loop configuration.
Damping enhanced by redistribution of shear strains in damping materials. Report describes theoretical and experimental investigations of passive damping of vibrations in truss structures. Interest in passive damping revived by proposals to construct large trusses in outer space. Focuses on use of viscoelastic materials to damp longitudinal vibrations in tubular members of such structures.
Since the response of deployable structural concepts being considered for the Large Deployable Reflector (LDR) backup structure will be dominated by the response of joints, the joint characteristics are significant. An overview is given of the research activities at LaRC on the static behavior of joints for deployable space truss structures. Since a pin-clevis-type joint will be utilized in deployable structures, an experimental research program to characterize the joint parameters which affect stiffness was conducted. An experimental research program was conducted on a second type of joint, referred to as a near-center latch joint. It was used in the center of members on the deployable truss structure for the Control of Flexible Structures (COFS) flight experiment. The test results of the near-center latch joint and the member with the joints indicated that the stiffness of the near-center joint is linear and stiffer than the stiffness of the total member, and that non-linearities in the stiffness characteristics of the total member were due to bending introduced at the ends of the member. The resulting data indicates that stiff linear folding joints can be designed and that bending load paths should be avoided whenever possible. In summary, for deployable structures, special attention to the joint and the structure design is required to minimize the undesirable structural non-linearities.
Surface error statistics for single-layer and double-layer planar truss beams with random member-length errors were calculated using a Monte-Carlo technique in conjunction with finite-element analysis. Surface error was calculated in terms of the normal distance from a regression line to the surface nodes of the distorted beam. Results for both single-layer and double-layer beams indicate that a minimum root-mean-square surface error can be achieved by optimizing the depth-to-length ratio of a truss beam. The statically indeterminate double-layer beams can provide greater surface accuracy, though at the expense of significantly greater complexity.
Precision Segmented Reflector (PSR) technology is currently being developed for a range of future applications such as the Large Deployable Reflector. The structures activities at NASA-Langley are outlined in support of the PSR program. Design concepts are explored for erectable and deployable support structures which are envisioned to be the backbone of these precision reflectors. Important functional requirements for the support trusses related to stiffness, mass, and surface accuracy are reviewed. Proposed geometries for these structures and factors motivating the erectable and deployable designs are discussed. Analytical results related to stiffness, dynamic behavior, and surface accuracy are presented and considered in light of the functional requirements. Results are included for both a 4-meter-diameter prototype support truss which is currently being designed as the Test Bed for the PSR technology development program, and for two 20-meter support structures.
A flexible structure was modeled and actively controlled by using a single space realizable linear proof mass actuator. The NASA/UVA/UB actuator was attached to a flexible planar truss structure at an optimal location and it was considered as both passive and active device. The placement of the actuator was specified by examining the eigenvalues of the modified model that included the actuator dynamics, and the frequency response functions of the modified system. The electronic stiffness of the actuator was specified, such that the proof mass actuator system was tuned to the fourth structural mode of the truss by using traditional vibration absorber design. The active control law was limited to velocity feedback by integrating of the signals of two accelerometers attached to the structure. The two lower modes of the closed-loop structure were placed further in the LHS of the complex plane. The theoretically predicted passive and active control law was experimentally verified.
The Skitter 2 is a three legged transport vehicle designed to demonstrate the principle of a tripod walker in a multitude of environments. The tubular truss model of Skitter 2 is a proof of principal design. The model will replicate the operational capabilities of Skitter 2 including its ability to self-right itself. The project's focus was on the use of light weight tubular members in the final structural design. A strong design for the body was required as it will undergo the most intense loading. Triangular geometry was used extensively in the body, providing the required structural integrity and eliminating the need for cumbersome shear panels. Both the basic femur and tibia designs also relied on the strong geometry of the triangle. An intense literature search aided in the development of the most suitable weld techniques, joints, linkages, and materials required for a durable design. The hinge design features the use of spherical rod end bearings. In order to obtain a greater range of mobility in the tibia, a four-bar linkage was designed which attaches both to the femur and the tibia. All component designs, specifically the body, femur, and the tibia were optimized using the software package IDEAS 3.8A Supertab. The package provided essential deformation and stress analysis information on each component's design. The final structure incurred only a 0.0544 inch deflection in a maximum (worst case) loading situation. The highest stress experienced by any AL6061-T6 tubular member was 1920 psi. The structural integrity of the final design facilitated the use of Aluminum 6061-T6 tubing. The tubular truss structure of Skitter 2 is an effective and highly durable design. All facets of the design are structurally sound and cost effective.
Inaccuracies in the length of members and the diameters of joints of large truss reflector backup structures may produce unacceptable levels of surface distortion and member forces. However, if the member lengths and joint diameters can be measured accurately it is possible to configure the members and joints so that root-mean-square (rms) surface error and/or rms member forces is minimized. Following Greene and Haftka (1989) it is assumed that the force vector f is linearly proportional to the member length errors e(sub M) of dimension NMEMB (the number of members) and joint errors e(sub J) of dimension NJOINT (the number of joints), and that the best-fit displacement vector d is a linear function of f. Let NNODES denote the number of positions on the surface of the truss where error influences are measured. The solution of the problem is discussed. To classify, this problem was compared to a similar combinatorial optimization problem. In particular, when only the member length errors are considered, minimizing d(sup 2)(sub rms) is equivalent to the quadratic assignment problem. The quadratic assignment problem is a well known NP-complete problem in operations research literature. Hence minimizing d(sup 2)(sub rms) is is also an NP-complete problem. The focus of the research is the development of a simulated annealing algorithm to reduce d(sup 2)(sub rms). The plausibility of this technique is its recent success on a variety of NP-complete combinatorial optimization problems including the quadratic assignment problem. A physical analogy for simulated annealing is the way liquids freeze and crystallize. All computational experiments were done on a MicroVAX. The two interchange heuristic is very fast but produces widely varying results. The two and three interchange heuristic provides less variability in the final objective function values but runs much more slowly. Simulated annealing produced the best objective function values for every starting configuration and was faster than the two and three interchange heuristic.
The number of component part (nodes, struts and panels) termed part count, is an important factor in the design, manufacture, and assembly of modular space structures. Part count expressions are presented for a variety of profiles derived from the layered octahedral-tetrahedral truss configuration. Referred to as the tetrahedral truss in the NASA projects, this specific geometry has been used in several missions. The general expressions presented here transforms to others as one profile changes to another. Such transformational part count relations provide a measure of flexibility and generality, and may be useful when dealing with a wider range of geometric configurations.
Manufacturing errors in the length of members or joint diameters of large truss reflector backup structures may result in unacceptable large distortion errors or member forces. However, it may be possible to accurately measure these length or diameter errors. The present work suggests that a member and joint placement strategy may be used to reduce distortion errors and internal member forces. A member and joint exchange algorithm is used to demonstrate the potential of this approach on several 102-member and 660-member truss reflector structures. It is shown that it is possible to simultaneously reduce the rms of the surface error and the rms of member forces by two orders of magnitude by member and joint exchanges.