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Development and characteristics of bellows gimbal joint for reduction of thermal stress effects are discussed. Reactions of designed joint to changes in temperature are described. Illustrations of conventional gimbal joint and improved gimbal joint are provided.
Tubular transition joints providing a metallurgically bonded connection between tantalum and 316 stainless steel pipe sections were comparatively evaluated for durability under thermal cycling conditions approximating the operation of a SNAP-8 mercury boiler. Both coextruded and vacuum brazed transition joints of 50mm (2 inch) diameter were tested by thermal cycling 100 times between 730 C and 120 C(1350 F and 250 F) in a high vacuum environment. The twelve evaluated transition joints survived the full test sequence without developing leaks, although liquid penetrant bond line indications eventually developed in all specimens. The brazed transition joints exhibited the best dimensional stability and bond line durability.
Joint is self-aligning and tightens with only sixty-five degrees of rotation for quick connects and disconnects. Made of injection-molded plastics or cast or machined aluminum, joint can carry wires, tubes, liquids, or gases. When two parts of joint are brought together, their shapes align them. Small projections on male section and slots on female section further aid alignment; slight rotation of male form engages projections in slots. At this point, threads engage and male section is rotated until joint is fully engaged.
A wrist joint assembly is provided for use with a mechanical manipulator arm for finely positioning an end-effector carried by the wrist joint on the terminal end of the manipulator arm. The wrist joint assembly is pivotable about a first axis to produce a yaw motion, a second axis is to produce a pitch motion, and a third axis to produce a roll motion. The wrist joint assembly includes a disk segment affixed to the terminal end of the manipulator arm and a first housing member, a second housing member, and a third housing member. The third housing member and the mechanical end-effector are moved in the yaw, pitch, and roll motion. Drive means are provided for rotating each of the housings about their respective axis which includes a cluster of miniature motors having spur gears carried on the output drive shaft which mesh with a center drive gear affixed on the housing to be rotated.
Graphite/polyimide (Gr/PI) bolted and bonded joints were investigated. Possible failure modes and the design loads for the four generic joint types are discussed. Preliminary sizing of a type 1 joint, bonded and bolted configuration is described, including assumptions regarding material properties and sizing methodology. A general purpose finite element computer code is described that was formulated to analyze single and double lap joints, with and without tapered adherends, and with user-controlled variable element size arrangements. An initial order of Celion 6000/PMR-15 prepreg was received and characterized.
This study examined the effects of varying certain important geometric parameters on the stresses in an adhesive repair of a thin composite laminate. The repair, a planar scarf joint with a doubler, was studied using finite element methods at scarf angles of 6 deg and 12 deg, damage lengths between 2.5 mm and 25 mm and doubler overlaps between 10 mm and 40 mm. Finite element models also showed that significant stress peaks occur at the ends of the scarf joint adhesive, similar to shear lag phenomena in lap joints. A bending model of the planar scarf joint with a doubler, based on mechanics of materials theory, was also developed.
Bonded and bolted designs are presented for each of four major attachment types. Prepreg processing problems are discussed and quality control data are given for lots 2W4604, 2W4632 and 2W4643. Preliminary design allowables test results for tension tests and compression tests of laminates are included. The final small specimen test matrix is defined and the configuration of symmetric step-lap joint specimens are shown. Finite element modeling studies of a double lap joint were performed to evaluate the number of elements required through the adhesive thickness to assess effects of various joint parameters on stress distributions. Results of finite element analyses assessing the effect of an adhesive fillet on the stress distribution in a double lap joint are examined.
This paper presents an analytical study of interface crack problems in adhesively bonded lap shear joints. A convenient and accurate method of analysis is developed on the basis of conservation laws in elasticity and of the fundamental relationships in fracture mechanics of interface crack problems. The problem is eventually reduced to a system of linear algebraic equations of mixed-mode stress intensity factor solutions. One of the salient features of the present approach is that the interface crack-tip stress intensity solutions can be determined accurately and directly by the information extracted from the far field. Solutions of the interface crack problems in lap shear joints have been obtained for the cases of various adhesive/adherend material systems and geometric configurations of the crack and the joint. Of particular interest is the evaluation of the mixed-mode stress intensity factors and the associated energy release rates. They are determined explicitly to illustrate the fundamental nature of the joint fracture problem.
The complex failure behavior exhibited by bolted joints of graphite epoxy (Hercules AS/3501) was investigated for the net tension, bearing and shearout failure modes using combined analytical and experimental techniques. Plane stress, linear elastic, finite element methods were employed to determine the two dimensional state of stress resulting from a loaded hole in a finite width, semiinfinite strip. The stresses predicted by the finite element method were verified by experiment to lend credence to the analysis. The influence of joint geometric parameters on the state of stress and resultant strength of the joint was also studied. The resulting functional relationships found to exist between bolted joint strength and the geometric parameters, were applied in the formulation of semiempirical strength models for the basic failure modes. A point stress failure criterion was successfully applied as the failure criterion for the net tension and shearout failure modes.
Results of an experimental program to develop several types of graphite/polyimide (GR/PI) bonded and bolted joints for lightly loaded flight components for advanced space transportation systems and high speed aircraft are presented. Tasks accomplished include: a literature survey; design of static discriminator specimens; design allowables testing; fabrication of test panels and specimens; small specimen testing; and standard joint testing. Detail designs of static discriminator specimens for each of the four major attachment types are presented. Test results are given for the following: (1) transverse tension of Celion 3000/PMR-15 laminate; (2) net tension of a laminate for both a loaded and unloaded bolt hole; (3) comparative testing of bonded and co-cured doublers along with pull-off tests of single and double bonded angles; (4) single lap shear tests, transverse tension and coefficient of thermal expansion tests of A7F (LARC-13 amide-imide modified) adhesive; and (5) tension tests of standard single lap, double lap, and symmetric step lap bonded joints. Also, included are results of a finite element analysis of a single lap bonded composite joint.
Standard and advanced bonded joint concepts were evaluated to develop a data base for the design and analysis of advanced composite joints for use at elevated temperatures (561K (550F)). Design concepts for specific joint applications and the fundamental parameters controlling the static strength characteristics of such joints were identified. Test results are presented for rail shear and sandwich beam compression tests and tension tests of moisture conditioned specimens and bonded on "T" sections. Coefficients of thermal expansion data are presented for A7F (LARC 13 Amide-imide modified) adhesion. Static discriminator test results for type 1 and type 2 bonded and bolted preliminary attachment concepts are presented and discussed.
The design, analysis, and testing performed to develop four types of graphite/polyimide (Gr/PI) bonded and bolted composite joints for lightly loaded control surfaces on advanced space transportation systems that operate at temperatures up to 561 K (550 F) are summarized. Material properties and small specimen tests were conducted to establish design data and to evaluate specific design details. Static discriminator tests were conducted on preliminary designs to verify structural adequacy. Scaled up specimens of the final joint designs, representative of production size requirements, were subjected to a series of static and fatigue tests to evaluate joint strength. Effects of environmental conditioning were determined by testing aged (125 hours at 589 K (600 F)) and thermal cycled (116 K to 589 K (-250 F to 600 F), 125 times) specimens. It is concluded Gr/PI joints can be designed and fabricated to carry the specified loads. Test results also indicate a possible resin loss or degradation of laminates after exposure to 589 K (600 F) for 125 hours.
The design, analysis and testing performed to develop four types of graphite/polyimide (Gr/PI) bonded and bolted composite joints for lightly loaded control surfaces on advanced space transportation systems that operate at temperatures up to 561K (550 F) are summarized. Material properties and 'small specimen' tests were conducted to establish design data and to evaluate specific design details. 'Static discriminator' tests were conducted on preliminary designs to verify structural adequacy. Scaled up specimens of the final joint designs, representative of production size requirements, were subjected to a series of static and fatigue tests to evaluate joint strength. Effects of environmental conditioning were determined by testing aged (125 hours 589K (600 F)) and thermal cycled (116K to 589K (-250 F to 600 F), 125 times) specimens. It is concluded Gr/PI joints can be designed and fabricated to carry the specified loads. Test results also indicate a possible resin loss or degradation of laminates after exposure to 589K (600 F) for 125 hours.
Equations are developed to extract the relative joint parameters of an assembled robot arm. Specifically, the Denavit-Hartenberg parameters, which completely characterize the relative joint geometry, are calculated. These parameters are needed to control the hand of the robot arm by resolved rate. As an example, the parameter extraction equations are used with perfect simulated data (no measurement noise) obtained from a mathematical model of a six-degree-of-freedom robot arm. For an actual application, measurement data needed to estimate the relative joint parameters can be generated by moving a robot arm to different positions, measuring the location of the hand (or other extension) in base coordinates, and recording the corresponding joint angles.
An experimental investigation has been conducted to determine the effect of stitching on the static and fatigue failure load of bonded composite single lap joints. The variables considered in the static tests included adherend thickness, overlap length, stitch spacing, and number of rows of stitches. A limited fatigue program was conducted for one configuration to compare the fatigue life of stitched and unstitched joints. Up to a 38 percent improvement in static failure load and an order of magnitude increase in fatigue life compared with unstiffened results are obtained by a single row of stitches near the end of the overlap. Additional rows of stitching or different stitch spacing has little effect on static joint failure load. Thicker adherends and larger overlap length result in larger improvements in static failure load with stitching. Further research is needed to refine the stitching process in order to obtain the maximum improvements in joint failure load.
This study evaluated the materials utilized in the flexible joint for possible failure modes. Studies undertaken included effect of temperature on the strength of the system, effect of fatigue on the strength of the system, thermogravimetric analysis, thermochemical analysis, differential scanning calorimeter analysis, dynamic mechanical analysis, and peel test. These studies indicate that if the joint failed due to a materials deficiency, the most likely mode was excessive temperature in the joint. In addition, the joint material is susceptible to fatigue damage which could have been a contributing factor.
An analytical and experimental investigation was conducted on bonded composite single-lap joints with the adherends performed to reduce the angle between the line of action of the applied in-plane force and the bondline. A classical closed-form solution was used to analyze the composite joints with various preform angles and overlap lengths. The adherends of the test specimens were preformed before bonding, during the layup and curing process. Static tests were conducted for preform angles of 0, 5, 10, and 15 deg and overlap lengths of 0.75, 1.75, 2.75, and 3.75 in. A limited fatigue study was conducted for specimens with a 2.75-in. overlap and a preform angle of 5 deg. Results of the analysis showed that preforming the adherends of bonded composite single-lap joints significantly reduced the shear and peel stress concentrations in the adhesive. Experimental results showed that preforming the adherends significantly increased their static and fatigue strength and thus increased the load level for which bonded composite single-lap joints can be designed.
An experimental method used to measure the in-plane normal-axial strains produced within a single-lap joint is described in which a resistance-foil strain gage is embedded within the joint prior to curing of the adhesive. Nominal dimensions of the titanium Ti-6-4 adherends were 0.13 x 2.5 x 12.7 cm and an overlap of 2.5 cm was used. The joint was bonded with FM-300 structural adhesive. The average ultimate shear strength of the gaged specimens and control specimens was 16.1 MPa and 14.1 MPa. A significant advantage of the proposed method is that strains internal to the joint are measured, rather than strains at an external edge. The presence of the gage was found to be not detrimental to bond performance.