SEARCH · Engineering Papers

Results for “joint”

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.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 199 records · Page 11

All sources NASA NTRS DOE OSTI

NASA NTRS1986

An analytical investigation of a conceptual design for the station transverse boom rotary joint structure

A study was conducted to define an annular ring, discrete roller assembly concept for the space station transverse boom rotary joint. The concept was analyzed using closed-form and finite element techniques, to size structural members for a range of joint diameters and to determine necessary equivalent stiffnesses for the roller assemblies. Also, a mass study of the system was conducted to determine its practicality, and maximum loads in the joint were identified. To obtain the optimum balance between high stiffness and low structural mass in the design of the rotary joint, it is necessary to maximize the diameter of the annular ring within operational constraints (i.e., shuttle cargo bay size). Further, a rotary joint designed with the largest possible ring diameter will result in minimum operational loads in both the roller assemblies and the transition truss members while also allowing minimum design stiffnesses for the roller assemblies.

Lake, M. S.↗

NASA NTRS1987

Space Station alpha joint bearing

Perhaps the most critical structural system aboard the Space Station is the Solar Alpha Rotary Joint which helps align the power generation system with the sun. The joint must provide structural support and controlled rotation to the outboard transverse booms as well as power and data transfer across the joint. The Solar Alpha Rotary Joint is composed of two transition sections and an integral, large diameter bearing. Alpha joint bearing design presents a particularly interesting problem because of its large size and need for high reliability, stiffness, and on orbit maintability. The discrete roller bearing developed is a novel refinement to cam follower technology. It offers thermal compensation and ease of on-orbit maintenance that are not found in conventional rolling element bearings. How the bearing design evolved is summarized. Driving requirements are reviewed, alternative concepts assessed, and the selected design is described.

Everman, Michael R.↗

NASA NTRS1985

Critical joints in large composite primary aircraft structures. Volume 1: Technical summary

A program was conducted at Douglas Aircraft Company to develop the technology for critical joints in composite wing structure that meets all the design requirements of a 1990 commercial transport aircraft. In fulfilling this objective, analytical procedures for joint design and analysis were developed during Phase 1 of the program. Tests were conducted at the element level to supply the empirical data required for methods development. Large composite multirow joints were tested to verify the selected design concepts and for correlation with analysis predictions. The Phase 2 program included additional tests to provide joint design and analysis data, and culminated with several technology demonstration tests of a major joint area representative of a commercial transport wing. The technology demonstration program of Phase 2 is discussed. The analysis methodology development, structural test program, and correlation between test results and analytical strength predictions are reviewed.

Bunin, Bruce L.↗

NASA NTRS1988

Hot wire anemometer measurements in the unheated air flow tests of the SRB nozzle-to-case joint

Hot-Wire Anemometer measurements made in the Solid Rocket Booster (SRB) nozzle-to-case joint are discussed. The study was undertaken to glean additional information on the circumferential flow induced in the SRB nozzle joint and the effect of this flow on the insulation bonding flaws. The tests were conducted on a full-scale, 2-D representation of a 65-in long segment of the SRB nozzle joint, with unheated air as the working fluid. Both the flight Mach number and Reynolds number were matched simultaneously and different pressure gradients imposed along the joint face were investigated. Hot-wire anemometers were used to obtain velocity data for different joint gaps and debond configurations. The procedure adopted for hot-wire calibration and use is outlined and the results from the tests summarized.

Ramachandran, N.↗

NASA NTRS1989

Stress analysis method for clearance-fit joints with bearing-bypass loads

Within a multi-fastener joint, fastener holes may be subjected to the combined effects of bearing loads and loads that bypass the hole to be reacted elsewhere in the joint. The analysis of a joint subjected to search combined bearing and bypass loads is complicated by the usual clearance between the hole and the fastener. A simple analysis method for such clearance-fit joints subjected to bearing-bypass loading has been developed in the present study. It uses an inverse formulation with a linear elastic finite-element analysis. Conditions along the bolt-hole contact arc are specified by displacement constraint equations. The present method is simple to apply and can be implemented with most general purpose finite-element programs since it does not use complicated iterative-incremental procedures. The method was used to study the effects of bearing-bypass loading on bolt-hole contact angles and local stresses. In this study, a rigid, frictionless bolt was used with a plate having the properties of a quasi-isotropic graphite/epoxy laminate. Results showed that the contact angle as well as the peak stresses around the hole and their locations were strongly influenced by the ratio of bearing and bypass loads. For single contact, tension and compression bearing-bypass loading had opposite effects on the contact angle. For some compressive bearing-bypass loads, the hole tended to close on the fastener leading to dual contact. It was shown that dual contact reduces the stress concentration at the fastener and would, therefore, increase joint strength in compression. The results illustrate the general importance of accounting for bolt-hole clearance and contact to accurately compute local bolt-hole stresses for combined bearings and bypass loading.

Naik, R. A.↗

NASA NTRS1989

Flight Set 360L002 (STS-27) field joint protection system, volume 7

This report contains the pre-launch functioning data of the Field Joint Protection System (JPS) used on STS-27. Also included is the post flight condition of the JPS components following the launch and recovery of the two redesigned solid rocket motors (RSRM) boosters. The JPS components are: (1) field joint heaters; (2) field joint sensors; (3) field joint moisture seal; (4) moisture seal Kevlar retaining straps; (5) field joint external insulation; (6) vent valve; (7) power cables; and (8) igniter heater.

Hale, Elgie↗

NASA NTRS1988

Analysis of limit cycles in control systems for joint dominated structures

An approach to the modeling of limit cycles due to joint nonlinearities in large joint dominated space structures is presented which makes it possible to predict limit cycles and determine their stability. An actively controlled truss structure with nonlinear joints is modeled as a linear system with nonlinear feedback by separating the joint load-displacement characteristics into a linear part, which prevails at large displacements, and a nonlinear part. By replacing the joints by their linear parts, it is possible to perform a standard model decomposition which yields a reduced order linear model. Linear control laws can be easily included into the linear part of the system; nonlinear control laws can be implemented but they must be fed back to the linear model. The modeling approach described here allows straightforward limit cycle analysis.

Mercadal, M.↗

NASA NTRS1989

QM-8 field joint protection system, volume 7

The pre-launch functioning data of the Field Joint Protection System (JPS) used on QM-8 are presented. Also included is the post fire condition of the JPS components following the test firing of the motor. The JPS components are: field joint heaters; field joint sensors; field joint moisture seal; moisture seal kevlar retaining straps; field joint external extruded cork insulation; vent valve; power cables; and igniter heater.

Hale, Elgie↗

NASA NTRS1989

Flight set 360T004 (STS-30) field joint protection system, volume 7

The Redesigned Solid Rocket Motors (RSRM) of the Space Transportation System have three field joints that are protected by the Joint Protection Systems (JPS). The igniter heater was mounted on the igniter flange. This report documents the performance of the JPS and igniter heaters on the pad and the post-flight condition of the JPS components. All observations that were written up as Squawks and/or Problem Reports are also discussed. The primary heaters performed satisfactorily and maintained the field joint temperatures within the required temperature range. A secondary heater failed Dielectric Withstanding Voltage (DWV) test during the joint closeout prior to launch. This heater was not used, however, since the primary heater functioned properly. Post-test inspection revealed that pin A of the heater power cable was shorted to the connector shell. Design changes have been implemented to resolve the heater power cable problem. All field joint assemblies met all of the performance requirements.

Hale, Elgie↗

NASA NTRS1990

Flight Set 360L006 STS-34 field joint protection system, thermal protection system, and systems tunnel components, volume 4

The performance of the thermal protection system, field joint protection system, and systems tunnel components of Flight Set 360L006, are documented, as evaluated by postflight hardware inspection. The condition of both motors was similar to previous flights. Sixteen aft edge hits were noted on the ground environment instrumentation thermal protection system. Each hit left a clean substrate, indicating that the damage was caused by nozzle severance debris and/or water impact. No National Space and Transporation System debris criteria for missing thermal protection system were violated. One 5.0 by 1.0 in. unbond was observed on the left hand center field joint K5NA closeout and was elevated to an in-flight anomaly (STS-34-M-4) by the NASA Ice/Debris team. Aft edge damage to the K5NA and an associated black streak indicate that burning debris from the nozzle severance system was the likely cause of the damage. Minor divots caused by debris were seen on previous flights, but this is the first occurrence of a K5NA unbond. Since the unbond occurred after booster separation there is no impact on flight safety and no corrective actions was taken. The right hand center field joint primary heater failed the dielectric withstanding voltage test after joint closeout. The heater was then disabled by opening the circuit breaker, and the redundant heater was used. The redundant heater performed nominally during the launch countdown. A similar condition occurred on Flight 4 when a secondary joint heater failed the dielectric withstanding voltage test.

Wilkinson, J. P.↗

NASA NTRS1992

The double universal joint wrist on a manipulator: Solution of inverse position kinematics and singularity analysis

This paper presents three methods to solve the inverse position kinematics position problem of the double universal joint attached to a manipulator: (1) an analytical solution for two specific cases; (2) an approximate closed form solution based on ignoring the wrist offset; and (3) an iterative method which repeats closed form position and orientation calculations until the solution is achieved. Several manipulators are used to demonstrate the solution methods: cartesian, cylindrical, spherical, and an anthropomorphic articulated arm, based on the Flight Telerobotic Servicer (FTS) arm. A singularity analysis is presented for the double universal joint wrist attached to the above manipulator arms. While the double universal joint wrist standing alone is singularity-free in orientation, the singularity analysis indicates the presence of coupled position/orientation singularities of the spherical and articulated manipulators with the wrist. The cartesian and cylindrical manipulators with the double universal joint wrist were found to be singularity-free. The methods of this paper can be implemented in a real-time controller for manipulators with the double universal joint wrist. Such mechanically dextrous systems could be used in telerobotic and industrial applications, but further work is required to avoid the singularities.

Williams, Robert L., III↗

NASA NTRS1992

Structural characterization of a first-generation articulated-truss joint for space crane application

A first-generation space crane articulated-truss joint was statically and dynamically characterized in a configuration that approximated an operational environment. The articulated-truss joint was integrated into a test-bed for structural characterization. Static characterization was performed by applying known loads and measuring the corresponding deflections to obtain load-deflection curves. Dynamic characterization was performed using modal testing to experimentally determine the first six mode shapes, frequencies, and modal damping values. Static and dynamic characteristics were also determined for a reference truss that served as a characterization baseline. Load-deflection curves and experimental frequency response functions are presented for the reference truss and the articulated-truss joint mounted in the test-bed. The static and dynamic experimental results are compared with analytical predictions obtained from finite element analyses. Load-deflection response is also presented for one of the linear actuators used in the articulated-truss joint. Finally, an assessment is presented for the predictability of the truss hardware used in the reference truss and articulated-truss joint based upon hardware stiffness properties that were previously obtained during the Precision Segmented Reflector (PSR) Technology Development Program.

Sutter, Thomas R.↗

NASA NTRS1991

Preliminary results on the fracture analysis of multi-site cracking of lap joints in aircraft skins

This paper presents results of a fracture mechanics analysis relevant to fatigue crack growth at rivets in lap joints of aircraft skins are presented. Multi-site damage (MSD) is receiving increased attention within the context of problems of aging aircraft. Fracture analyses previously carried out include small-scale modeling of rivet/skin interactions, larger-scale two-dimensional models of lap joints similar to that developed here, and full scale three-dimensional models of large portions of the aircraft fuselage. Fatigue testing efforts have included flat coupon specimens, two-dimensional lap joint tests, and full scale tests on specimens designed to closely duplicate aircraft sections. Most of this work is documented in the proceedings of previous symposia on the aging aircraft problem. The effect MSD has on the ability of skin stiffeners to arrest the growth of long skin cracks is a particularly important topic that remains to be addressed. One of the most striking features of MSD observed in joints of some test sections and in the joints of some of the older aircraft fuselages is the relative uniformity of the fatigue cracks from rivet to rivet along an extended row of rivets. This regularity suggests that nucleation of the cracks must not be overly difficult. Moreover, it indicates that there is some mechanism which keeps longer cracks from running away from shorter ones, or, equivalently, a mechanism for shorter cracks to catch-up with longer cracks. This basic mechanism has not been identified, and one of the objectives of the work is to see to what extent the mechanism is revealed by a fracture analysis of the MSD cracks. Another related aim is to present accurate stress intensity factor variations with crack length which can be used to estimate fatigue crack growth lifetimes once cracks have been initiated. Results are presented which illustrate the influence of load shedding from rivets with long cracks to neighboring rivets with shorter cracks. Results will also be included for the effect of residual stress due to the riveting process itself. All the results presented in this paper should be regarded as preliminary in the sense that further work by ourselves and others will be required to validate them and to establish their sensitivity to more embellished modelling assumptions.

Aging Aircraft↗

NASA NTRS1990

Simulation and analysis of flexibly jointed manipulators

Modeling, simulation, and analysis of robot manipulators with non-negligible joint flexibility are studied. A recursive Newton-Euler model of the flexibly jointed manipulator is developed with many advantages over the traditional Lagrange-Euler methods. The Newton-Euler approach leads to a method for the simulation of a flexibly jointed manipulator in which the number of computations grows linearly with the number of links. Additionally, any function for the flexibility between the motor and link may be used permitting the simulation of nonlinear effects, such as backlash, in a uniform manner for all joints. An analysis of the control problems for flexibly jointed manipulators is presented by converting the Newton-Euler model to a Lagrange-Euler form. The detailed structure available in the model is used to examine linearizing controllers and shows the dependency of the control on the choice of flexible model and structure of the manipulator.

Murphy, Steve H.↗

NASA NTRS1993

Ultrasonic Probing Of Complexly Shaped Joints

Technique developed involves use of ultrasonics to inspect first bond surfaces of solid-rocket-motor joints. By fitting pieces of insulating materials to mate exactly with complicated shapes of affected parts of insulation, complicated shapes redefined into simpler ones probed more easily. When technique used to insonify from insulation side, one readily detects difference between disbond and good bond. Same technique applied to field tang joints, field clevis joints, and aft-dome-to-fixed-nozzle-housing attachment points. Although developed for inspecting joints in solid rocket motors, also applicable to nondestructive evaluation of other complicated joints.

Madaras, Eric I.↗

NASA NTRS1992

Shear joint capability versus bolt clearance

The results of a conservative analysis approach into the determination of shear joint strength capability for typical space-flight hardware as a function of the bolt-hole clearance specified in the design are presented. These joints are comprised of high-strength steel fasteners and abutments constructed of aluminum alloys familiar to the aerospace industry. A general analytical expression was first arrived at which relates bolt-hole clearance to the bolt shear load required to place all joint fasteners into a shear transferring position. Extension of this work allowed the analytical development of joint load capability as a function of the number of fasteners, shear strength of the bolt, bolt-hole clearance, and the desired factor of safety. Analysis results clearly indicate that a typical space-flight hardware joint can withstand significant loading when less than ideal bolt hole clearances are used in the design.

Lee, H. M.↗

NASA NTRS1992

Control of joint motion simulators for biomechanical research

The authors present a hierarchical adaptive algorithm for controlling upper extremity human joint motion simulators. A joint motion simulator is a computer-controlled, electromechanical system which permits the application of forces to the tendons of a human cadaver specimen in such a way that the cadaver joint under study achieves a desired motion in a physiologic manner. The proposed control scheme does not require knowledge of the cadaver specimen dynamic model, and solves on-line the indeterminate problem which arises because human joints typically possess more actuators than degrees of freedom. Computer simulation results are given for an elbow/forearm system and wrist/hand system under hierarchical control. The results demonstrate that any desired normal joint motion can be accurately tracked with the proposed algorithm. These simulation results indicate that the controller resolved the indeterminate problem redundancy in a physiologic manner, and show that the control scheme was robust to parameter uncertainty and to sensor noise.

Colbaugh, R.↗

NASA NTRS1993

On the apparent insignificance of the randomness of flexible joints on large space truss dynamics

Deployable periodic large space structures have been shown to exhibit high dynamic sensitivity to period-breaking imperfections and uncertainties. These can be brought on by manufacturing or assembly errors, structural imperfections, as well as nonlinear and/or nonconservative joint behavior. In addition, the necessity of precise pointing and position capability can require the consideration of these usually negligible and unknown parametric uncertainties and their effect on the overall dynamic response of large space structures. This work describes the use of a new design approach for the global dynamic solution of beam-like periodic space structures possessing parametric uncertainties. Specifically, the effect of random flexible joints on the free vibrations of simply-supported periodic large space trusses is considered. The formulation is a hybrid approach in terms of an extended Timoshenko beam continuum model, Monte Carlo simulation scheme, and first-order perturbation methods. The mean and mean-square response statistics for a variety of free random vibration problems are derived for various input random joint stiffness probability distributions. The results of this effort show that, although joint flexibility has a substantial effect on the modal dynamic response of periodic large space trusses, the effect of any reasonable uncertainty or randomness associated with these joint flexibilities is insignificant.

Koch, R. M.↗