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Structure assembled rapidly with simple hand tools. Proposed locking wedge joints enable rapid assembly of lightweight beams, towers, scaffolds, and other truss-type structures. Lightweight structure assembled from tubular struts joined at nodes by wedge pins fitting into mating slots. Joint assembled rapidly by seating wedge pin in V-shaped slots and deforming end of strut until primary pawl engages it.
This report documents the technical results from near-field testing of the General Dynamics 5-meter model of the tetrahedral truss antenna at the Martin Marietta Denver Aerospace facility. A 5-meter square side of the tetrahedral served as the perimeter of the antenna, and a mesh surface and extensive surface contouring cord network was used to create a parabolic aperture shape to within an rms accuracy of 30 mils or better. Pattern measurements were made with offset feed systems radiating at frequencies of 7.73, 11.60, 2.27, and 4.26 (all in GHz). This report discusses the method of collecting the data, system measurement accuracy, the test data compiled, and diagostics and isolation of causes of pattern results. The technique of using near-field phase for measuring surface mechanical tolerances is included. Detailed far field antenna patterns and their implications are provided for all tests conducted.
The design requirements for a truss beam model are reviewed. The concept behind the beam is described. Pertinent analysis and studies concerning beam definition, deployment loading, joint compliance, etc. are given. Design, fabrication and assembly procedures are discussed.
Nonlinear effects are introduced in the dynamics of large space truss structures by the connecting joints which are designed with rather important tolerances to facilitate the assembly of the structures in space. The purpose was to develop means to investigate the nonlinear dynamics of the structures, particularly the limit cycles that might occur when active control is applied to the structures. An analytical method was sought and derived to predict the occurrence of limit cycles and to determine their stability. This method is mainly based on the quasi-linearization of every joint using describing functions. This approach was proven successful when simple dynamical systems were tested. Its applicability to larger systems depends on the amount of computations it requires, and estimates of the computational task tend to indicate that the number of individual sources of nonlinearity should be limited. Alternate analytical approaches, which do not account for every single nonlinearity, or the simulation of a simplified model of the dynamical system should, therefore, be investigated to determine a more effective way to predict limit cycles in large dynamical systems with an important number of distributed nonlinearities.
A variety of methods has been devised for vibrational control of a structure using both passive and active controls. Presented in this paper is a relatively new method for vibration suppression, uniform damping control. This method consists of implementing a control law which tends to dampen each vibrational mode of the structure at the same desirable exponential rate. The unique aspects of this method are that the control law is not explicitly dependent on the structural stiffness, the control forces are directly proportional to the distribution of the structural mass, and the control law is natural and decentralized. The control law was applied to a flexible planar truss structure and the various aspects of implementation of the control law examined are: actuator/sensor number, placement, and the impact of the actuator/sensor number and placement on the necessary control 'power' requirements such as peak power loads, total power requirements, etc. Also examined are the effects of using a limited number of active members in terms of the vibrational performance when compared with the 'ideal' distributed control law.
Six telescope truss geometries are evaluated for both wind and gravity deflection stiffness. The existence of simultaneous solutions for gravity and wind deflections is demonstrated. A baseline design for the Texas 7.6-meter telescope with an F/1.4 Angel lightweight borosilicate primary mirror is shown.
Strength-to-weight ratio exceeds beaded-web design by 60 percent. New corrugation design offers significant weight saving. Truss-core web replaces beaded web of previous corrugation designs.
Concept for foldable and deployable truss offers advantages of strength, rigidity, and mechanical simplicity. Structure consists of series of boxlike bays with 9-ft sides. Each box has panels on top and bottom and two sides. Two remaining sides open. Panels hinged at connecting edges. Adapted to terrestrial transportable structures, scaffolds, cranes, and rows of cubicles.
The ACCESS truss was telerobotically assembled in order to gain experience with robotic assembly of hardware designed for astronaut extravehicular (EVA) assembly. Tight alignment constraints of the ACCESS hardware made telerobotic assembly difficult. A wider alignment envelope and a compliant end effector would have reduced the problem. The manipulator had no linear motion capability, but many of the assembly operations required straight line motion. The manipulator was attached to a motion table in order to provide the X, Y, and Z translations needed. A programmable robot with linear translation capability would have eliminated the need for the motion table and streamlined the assembly. Poor depth perception was a major problem. Shaded paint schemes and alignment lines were helpful in reducing this problem. The four cameras used worked well for only some operations. It was not possible to identify camera locations that worked well for all assembly steps. More cameras or movable cameras would have simplified some operations. The audio feedback system was useful.
The damage location approach employs the control system capabilities for the structure to test the structure and measure the dynamic response. The measurements are then used in a system identification algorithm to produce a model of the damaged structure. The model is compared to one for the undamaged structure to find regions of reduced stiffness which indicate the location of damage. Kabe's 3,4 stiffness matrix adjustment method was the central identification algorithm. The strength of his method is that, with minimal data, it preserves the representation of the physical connectivity of the structure in the resulting model of the damaged truss. However, extensive storage and computational effort were required as a result. Extension of the damage location method to overcome these problems is the first part of the current work. The central system identification algorithm is replaced with the MSMT method of stiffness matrix adjustment which was previously derived by generalizing an optimal-update secant method form quasi-Newton approaches for nonlinear optimization. Validation of the extended damage location method is the second goal.
A continuum approximation to the calculation of the statistical properties of the corrected shape of a beam truss is presented, and results of a comparison with the exact statistical analysis were found to be very good. In addition, the position of the actuators was optimized to minimize the weighted rms of the distortion using the continuum analysis. The optimal design is shown to be 13.6 percent better than a uniform design for a parabolic weighting function. It was also found that actuators located on the beam face elements were more effective than actuators located on the diagonal elements.
The Mini-Mast is a 20-meter long deployable, three-longeron, truss-beam being used to develop analytical and experimental methods for predicting the physical behavior of large space structures. With 57 corner-body hinges and 54 mid-body hinges, the Mini-Mast is highly joint-dominated, necessitating inclusion of the compliance of the joints in analytical models. This study demonstrates an approach for calculating the stiffness properties of a complicated hinge called the mid-body hinge. The process includes detailed modeling with solid-body modeling software and the use of finite element analysis. Load-deflection tests were conducted to determine the axial stiffness of the mid-body hinge. This is compared to the axial stiffness value determined from a finite element analysis.
A numerical procedure based on classical lamination theory has accurately predicted time-dependent creep in laminated composites with only two fiber directions. Predictions for laminates with more than two fiber orientations have been accurate as short times, but have fallen well below the longer-time experimental results obtained on narrow (12 mm) specimens. Further testing has helped establish that relaxation of the fiber trusses along the free edges of narrow specimens is much more significant for time-dependent behavior than under static conditions.
Methods were developed for parallel processing of finite element solutions of large truss structures. The parallel processing techniques were implemented in two stages, i.e., the repeated forming of the nonlinear global stiffness matrix and the solving of the global system of equations. The Sequent Balance 21000 parallel computer was employed to demonstrate the procedures and the speed-up.
The response of truss-type structures for future space applications, such as Large Deployable Reflector (LDR), will be directly affected by joint performance. Some of the objectives of research at BAC were to characterize structural joints, establish analytical approaches that incorporate joint characteristics, and experimentally establish the validity of the analytical approaches. The test approach to characterize joints for both erectable and deployable-type structures was based upon a Force State Mapping Technique. The approach pictorially shows how the nonlinear joint results can be used for equivalent linear analysis. Testing of the Space Station joints developed at LaRC (a hinged joint at 2 Hz and a clevis joint at 2 Hz) successfully revealed the nonlinear characteristics of the joints. The Space Station joints were effectively linear when loaded to plus or minus 500 pounds with a corresponding displacement of about plus or minus 0.0015 inch. It was indicated that good linear joints exist which are compatible with errected structures, but that difficulty may be encountered if nonlinear-type joints are incorporated in the structure.
The axial compression of imperfect slender struts for large space structures is addressed. The load-shortening behavior of struts with initially imperfect shapes and eccentric compressive end loading is analyzed using linear beam-column theory and results are compared with geometrically nonlinear solutions to determine the applicability of linear analysis. A set of developmental aluminum clad graphite/epoxy struts sized for application to the Space Station Freedom truss are measured to determine their initial imperfection magnitude, load eccentricity, and cross sectional area and moment of inertia. Load-shortening curves are determined from axial compression tests of these specimens and are correlated with theoretical curves generated using linear analysis.
The Structural Dynamics Branch of the Air Force Flight Dynamics Laboratory in cooperation with the Reduced Gravity Office of the NASA Lyndon B. Johnson Space Center (JSC) plans to perform zero-gravity dynamic tests of a 12-meter truss structure. This presentation describes the program and presents all results obtained to date.
MSC/NASTRAN is being used in the Controls-Structures Interaction (CSI) program at NASA Langley Research Center as a key analytical tool for structural analysis as well as the basis for control law development, closed-loop performance evaluation, and system safety checks. Guest investigators from academia and industry are performing dynamics and control experiments on a flight-like deployable space truss called Mini-Mast to determine the effectiveness of various active-vibration control laws. MSC/NASTRAN was used to calculate natural frequencies and mode shapes below 100 Hz to describe the dynamics of the 20-meter-long lightweight Mini-Mast structure. Gravitational effects contribute significantly to structural stiffness and are accounted for through a two-phase solution in which the differential stiffness matrix is calculated and then used in the eigensolution. Reduced modal models are extracted for control law design and evaluation of closed-loop system performance. Predicted actuator forces from controls simulations are then applied to the extended model to predict member loads and stresses. These pre-test analyses reduce risks associated with the structural integrity of the test article, which is a major concern in closed-loop control experiments due to potential instabilities.