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All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN) Hinge Joint Structural Performance

The Tendon Actuated Lightweight In-Space MANipulator (TALISMAN), invented and initially developed under the Space Technology Mission Directorate Human Robotics Systems program, is a tendon-actuated robot that established a new structural architecture for long-reach space manipulators. The TALISMAN is designed to have significant stiffness and strength in the plane of the tendons or cables, and operations are designed such that all primary loads are applied in that same plane. However, during normal operations it is possible for out-of-plane forces to be applied on the TALISMAN when secondary loads are imparted by a tool or action at the wrist. These secondary loading conditions will induce out-of-plane bending loads in the TALISMAN hinge joints. The TALISMAN hinge joints must be designed for these out-of-plane loads, to ensure no failure of the joint occurs during operations. A series hinge joint out-of-plane stiffness tests were conducted at five different joint angles; at three cable pre-loads from 25-lbf to 100-lbf; up to an equivalent out-of-plane tip load of 27.28-lbf at the end of a 51-in. long distal link. The objective of the tests was to provide an initial set of deflection, cable load, and strain data to inform accurate modeling of the hinge joint out-of-plane stiffness. The test objective was achieved by developing an FEM of the hinge joint able to predict tip displacement to within 10% of values measured in tests. The hinge joint FEM may now be implemented into a full-scale analysis model of the TALISMAN V2.0 to provide predictions of out-of-plane displacement under different load and joint angle conditions.

Matthew K Mahlin↗
NASA NTRS1970

Improvement of adhesive-bonded structural joints

Investigation is described of methods for obtaining uniform shear stress distribution in adhesives used in double-lap bonded joints. Design rules for reducing adhesive peak shear stresses are listed. Test results of an analysis of straight-lap joint design and stepped-lap joint design are given.

Evensen, H. A.↗
NASA NTRS1981

Further developments in the design and analysis of adhesive-bonded structural joints

Previously developed computer programs for analyzing stepped-lap adhesive-bonded joints and doublers have been modified to permit the inclusion of variable adhesives as well as nonuniform adherends. The new version of the analysis program is described with reference to examples illustrating the effects of load redistribution around flaws and porosity. The loss of strength associated with pinched-off edges is illustrated, and the benefits of deliberately thickening the adhesive layer in the immediate vicinity of the ends of the overlap are demonstrated. The changes in shear load transfer due to softening of some of the adhesive by moisture absorption while the remainder either has never been soaked or has dried out locally are discussed.

Hart-Smith, L. J.↗
NASA NTRS1988

Effects of variables upon pyrotechnically induced shock response spectra, part 2

Throughout the aerospace industry, large variations of 50 percent (6 dB) or more in shock response spectra (SRS) derived from pyrotechnic separation events continue to be reported from actual spaceflight data and from laboratory tests. As a result of these variations, NASA funded a research program for 1984 through 1986. The purpose of the 1984 through 1986 project was to analyze variations in pyrotechnically induced SRS and to determine if and to what degree manufacturing and assembly variables and tolerances, distance from the shock source, data acquisition instrumentation, and shock energy propagation affect the SRS. Sixty-four free-free boundary plate tests were performed. NASA funded an additional study for 1987 through 1988. This paper is a summary of the additional study. The purpose was to evaluate shock dissipation through various spacecraft structural joint types, to evaluate shock variation for various manufacturing and assembly variables on clamped boundary test plates, and to verify data correction techniques. Five clamped boundary plate tests investigated manufacturing and assembly variables and mass loading effects. Six free-free boundary plate tests investigated shock dissipation across spacecraft joint structures.

Smith, James Lee↗
NASA NTRS1988

Transient response of joint dominated space structures - A new linearization technique

The linearization method presented for calculating the transient responses of nonlinear systems due to initial disturbances is an extension of the 'describing function' approach, in which the system's steady-state response is calculated by representing such nonlinear elements as space structure joints with impedances that are functions of response amplitude. It is shown that, for the transient case, the steady-state impedances can be averaged over the range of responses in order to furnish equivalent values of stiffness and damping; these, for a given set of initial displacements, may be treated as constant during calculations of system response.

Foelsche, G. A.↗
NASA NTRS1987

Structural behavior of solid rocket motor field joints

Structural analysis studies conducted on three concepts for the Space Shuttle Solid Rocket Motor field joints are summarized. Deflections and stresses in the Challenger clevis-tang joint are compared with a proposed capture-tang replacement joint and with an alternate bolted joint design. Results indicate deflections and stresses are subsequently reduced in both the capture-tang and bolted joint concepts. The capture-tang and bolted joint designs are respectively 24 and 70 percent heavier than the baseline clevis-tang joint.

Card, Michael F.↗
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 NTRS1991

Deployable robotic woven wire structures and joints for space applications

Deployable robotic structures are basically expandable and contractable structures that may be transported or launched to space in a compact form. These structures may then be intelligently deployed by suitable actuators. The deployment may also be done by means of either airbag or spring-loaded typed mechanisms. The actuators may be pneumatic, hydraulic, ball-screw type, or electromagnetic. The means to trigger actuation may be on-board EPROMS, programmable logic controllers (PLCs) that trigger actuation based on some input caused by the placement of the structure in the space environment. The actuation may also be performed remotely by suitable remote triggering devices. Several deployable woven wire structures are examined. These woven wire structures possess a unique form of joint, the woven wire joint, which is capable of moving and changing its position and orientation with respect to the structure itself. Due to the highly dynamic and articulate nature of these joints the 3-D structures built using them are uniquely and highly expandable, deployable, and dynamic. The 3-D structure naturally gives rise to a new generation of deployable three-dimensional spatial structures.

Shahinpoor, MO↗
NASA NTRS1983

Critical joints in large composite aircraft structure

A program was conducted at Douglas Aircraft Company to develop the technology for critical structural joints of composite wing structure that meets design requirements for a 1990 commercial transport aircraft. The prime objective of the program was to demonstrate the ability to reliably predict the strength of large bolted composite joints. Ancillary testing of 180 specimens generated data on strength and load-deflection characteristics which provided input to the joint analysis. Load-sharing between fasteners in multirow bolted joints was computed by the nonlinear analysis program A4EJ. This program was used to predict strengths of 20 additional large subcomponents representing strips from a wing root chordwise splice. In most cases, the predictions were accurate to within a few percent of the test results. In some cases, the observed mode of failure was different than anticipated. The highlight of the subcomponent testing was the consistent ability to achieve gross-section failure strains close to 0.005. That represents a considerable improvement over the state of the art.

Nelson, W. D.↗
NASA NTRS2015

Lightning Protection and Structural Bonding for the B2 Test Stand

With the privatization of the space industry, NASA has entered a new era. To explore deeper parts of the solar system, NASA is developing a new spacecraft, the Space Launch System (SLS), capable of reaching these destinations, such as an asteroid or Mars. However, the test stand that is capable of testing the stage has been unused for many years. In addition to the updating/repair of the stand, more steel is being added to fully support the SLS. With all these modifications, the lightning protection system must be brought up to code to assure the protection of all personnel and assets. Structural bonding is a part of the lightning protection system. The focus of this project was to assure proper structural bonding. To begin, all relevant technical standards and the construction specifications were reviewed. This included both the specifications for the lightning protection and for general construction. The drawings were reviewed as well. From the drawings, bolted structural joints were reviewed to determine whether bonding was necessary. Several bolted joints were determined to need bonding according to the notes in the drawings. This exceeds the industry standards. The bolted joints are an electrically continuous joint. During tests, the stand experiences heavy vibration that may weaken the continuity of the bolted joint. Therefore, the secondary bonding is implemented to ensure that the structural joint has low resistance. If the structural joint has a high resistance because of corrosion, a potential gradient can occur that can cause a side flash. Damage, injury, or death can occur from a side flash so they are to be prevented. A list of the identified structural joints was compiled and sent to the contractor to be bonded. That covers the scope of this project.

Kinard, Brandon↗