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All sourcesNASA NTRSDOE OSTI
NASA NTRS2019

TriTruss: A New and Novel Structural Concept Enabling Modular Space Telescopes and Space Platforms

Modular structures that can be assembled on-orbit will be the backbone for all future persistent missions, including in-space assembled telescopes and platforms for science and communications. The TriTruss is a new and innovative structural module that has been conceived by researchers at the NASA Langley Research Center for platform and telescope applications. Some of the innovative features of the TriTruss include: very compact packaging for launch, the possibility of staged packaging, simple robotic deployment, ease of embedding payload components, an innovative structural connector that has linear structural performance, ease of module-to-module robotic assembly, design versatility, and ease of customizing its design for specific applications. This paper will introduce the TriTruss concept and describe how it can serve as the foundation for many different mission applications, in particular, a 20-meter diameter large space telescope and a beam-type platform that can host a variety of payloads and instruments. The geometry of the TriTruss will be described and the various truss design variables (such as truss depth, member diameter, material modulus, etc.) and each of their impacts on the truss performance will be illustrated. The TriTruss can be mapped to a variety of structural forms, such as beams, two-dimensional platforms and filled curved apertures (for antennas and telescopes), and examples will be illustrated. The TriTruss lends itself to a large variety of packaging schemes; the structural concepts associated with packaging and deployment will be described, as well as the means for robotically deploying TriTruss modules and locking them into their final configuration. TriTruss module-to-TriTruss module robotic assembly operations will also be described. Equations will be presented to structurally size TriTruss modules, such that when assembled into the final persistent platform, the platform achieves a desired level of global structural performance. A status of the TriTruss development will also be presented. This material will cover design and fabrication of TriTruss hardware for platform and telescope applications as well as structural testing of that hardware (the struts, connectors and platforms). Robotic assembly of TriTruss modules is also being performed, and the results of those tests will be summarized.

Doggett, William↗
NASA NTRSDate not supplied

Testing of Bonds in a TriTruss Module

The TriTruss is a novel structural module developed by researchers at NASA Langley Research Center (LaRC) that can be used in space to assemble large backing structures for a variety of applications. One such application is the metering truss or primary mirror backbone support structure of an in-space assembled telescope (iSAT). For the iSAT application, the TriTruss will be supporting mirror segments, payloads, and instruments, all of which require the TriTruss to have robust structural integrity. Structural proof tests are needed to ensure the integrity of the bonded interface between the joint and struts that make up a TriTruss module. The test setup configurations and loads to be applied to the TriTruss module will be described in this paper. Also, the results obtained from tests will be summarized, including a comparison with analytical results.

TriTruss, Finite Element Analysis, Testing, Design↗
NASA NTRS2024

Structural Characterization of a TriTruss Module

The TriTruss is a novel structural module developed by researchers at NASA Langley Research Center (LaRC) that can be used in space to assemble large support structures for a variety of applications. One such application is the metering truss or primary mirror backbone support structure of an In-Space Assembled Telescope (iSAT). For the iSAT application, the TriTruss will be supporting mirror segments, payloads, and instruments, all of which require the TriTruss to have a high stiffness. Structural characterization from testing and analysis is needed to ensure the integrity of the struts that make up a TriTruss module is maintained when subjected to loads representative of the application. The test setup and loads applied to the TriTruss module as well as the analytical methods used to predict the response of the structure under conditions representative of those implemented during testing will be discussed. Also, the results obtained from testing and analysis will be summarized. The goal for the characterization study was to achieve a correlation within 10% between the test data and the analysis. Overall, the correlation varied for the struts with a few struts still having a larger error margin after further studies were conducted to improve the correlation through additional analysis.

Characterization↗
NASA NTRSDate not supplied

TriTruss Packaging and Deployment Trade Study

An architecture and feasibility study of next generation In-Space Assembled Telescopes (iSAT) concluded that robotic in-space assembly of modular components is necessary to enable large (>15-meter diameter) primary apertures. The iSAT study recommended that the foundational structure be assembled from modular TriTruss modules that are packaged for launch, deployed on-orbit and robotically assembled into the final configuration. This paper will describe and summarize the results of a trade study that investigated viable concept of operations (ConOps) for the packaging and deployment (P&D) of individual planar TriTruss modules that could be assembled to form a large aperture iSAT. The ideal TriTruss P&D concept is defined as one that: allows for efficient packaging; has sufficient geometric versatility to be launch vehicle independent; provides a stiff and lightweight structure; has low mechanical complexity; and has component modularity. The P&D concept should allow for prelaunch subsystem or utility integration if required. The concept would be kinematically simple and be robotically deployed using a minimum number of specialized tools. In this first phase of an ongoing more comprehensive trade study, concepts were proposed and then evaluated based on initial metrics representing features of an ideal P&D concept. The P&D concepts evaluated are categorized as: core collapse, face collapse, and erectable structures. Sub-scale models were constructed to help understand the kinematics and mechanical complexity required to enable P&D. Based on a weighting scale, the most promising candidate P&D concepts have selected and will undergo more rigorous structural design, analysis, and testing in the study’s next phase. The ultimate goal of the comprehensive trade study will be to recommend a single TriTruss design and associated P&D concept that will be built and evaluated at NASA Langley Research Center’s In-Space Assembly Laboratory.

in-space assembly (ISA)↗
NASA NTRSDate not supplied

TriTruss Strut-to-Joint Bond Test: Analysis and Setup

The TriTruss is a novel structural module developed by researchers at NASA Langley Research Center (LaRC) that can be used in space to assemble large backing structures for a variety of applications. One such application is the metering truss or primary mirror backbone support structure of an in-space assembled telescope (iSAT). For the iSAT application, the TriTruss will be supporting mirror segments, payloads and instruments, all of which require them to have robust structural integrity. Structural proof tests are needed to ensure the integrity of the bonded interface between the joint and structural struts that make up a TriTruss module. For the first phase of the analysis and test setup effort, described in this paper, a series of analyses were performed to determine the optimal setup for applying a single set of loads to a module to verify the integrity of the bonds. This paper describes all the test setup configurations and loads considered and summarizes the final set of loading states that were selected for proof testing each module.

TriTruss↗
NASA NTRS2023

Elastic Modulus Testing for TriTruss Struts

The TriTruss is a novel structural module developed by researchers at NASA Langley Research Center (LaRC) that can be used in space to assemble large backing structures for a variety of applications. One such application is the metering truss and primary mirror backbone support structure of an in-space assembled telescope(iSAT). For the iSAT application, the TriTruss will be supporting mirror segments, payloads, and instruments, all of which require the TriTruss to have robust structural integrity. An accurate elastic modulus value is crucial to the finite element analysis(FEA) of the structure. Initial testing indicated that the equivalent elastic modulus provided by the manufacturer and used in the analyses did not accurately predict the behavior of the structure. In this paper, the in-house testing method developed at LaRC to accurately measure the equivalent elastic modulus of the composite struts for use in the analyses is described. A tensile and compressive equivalent elastic modulus was computed from the data obtained in this test. The testing resulted in a tensile equivalent elastic modulus of 24.6 Msi (standard deviation of 0.888 Msi) or 169 GPa (standard deviation of 6.20 GPa) and a compressive equivalent elastic modulus of 22.8 Msi (standard deviation of 0.780 Msi) or 157 GPa(standard deviation of 5.38 GPa) for the single wall thickness struts. For double wall thickness struts, the testing resulted in a tensile equivalent elastic modulus of32.1 Msi (standard deviation of 1.003 Msi) or 221 GPa (standard deviation of 6.91GPa) and a compressive equivalent elastic modulus of 31.9 Msi (standard deviation of 1.123) or 220 GPa (standard deviation of 7.74 GPa).1

TriTruss↗
NASA NTRSDate not supplied

TriTruss Packaging and Deployment Trade Study

A trade study was conducted that evaluated viable concepts of operation for the packaging and deployment (P&D) of novel deployable modular truss modules, called TriTruss modules, that can be assembled to form a large aperture In-Space Assembled Telescopes (iSAT). In this first phase of an ongoing more comprehensive trade study, concepts were proposed and then evaluated based on initial metrics representing features of an ideal P&D concept. The ideal TriTruss P&D concept is defined as one that: allows for efficient packaging, has sufficient geometric versatility to be launch vehicle independent, provides a stiff and lightweight structure, has low mechanical complexity, and has component modularity. The P&D concept should allow for prelaunch subsystem or utility integration if required. The concept should be kinematically simple and be robotically deployed using a minimum number of specialized tools. The P&D concepts evaluated are categorized as: core collapse, face collapse, and erectable structures. Sub-scale models were constructed to help understand the kinematics and mechanical complexity required to enable P&D. Based on a weighting scale, the most promising candidate P&D concepts have been selected and will undergo more rigorous structural design, analysis, and testing in the study’s next phase. The ultimate goal of the comprehensive trade study will be to recommend a single TriTruss design and associated P&D concept that will be built and evaluated at NASA Langley Research Center’s In-Space Assembly Laboratory.

in-space assembly (ISA)↗
NASA NTRSDate not supplied

Modeling Effort of TriTruss Modular Structure for In-Space Assembled Telescope Foundational Structure

The TriTruss is a novel and innovative structural module developed by researchers at the NASA Langley Research Center to construct modular structures which can be assembled on-orbit for future persistent missions, including in-space assembled telescopes and platforms for science and communications. The TriTruss offers unique modular structural features including compact packaging for launch, the possibility of staged packaging, simple robotic deployment and assembly, and design versatility for specific space mission applications. This paper presents the modeling and analysis procedure for the TriTruss modular structure and the predicted frequency response of an In-Space Assembled Telescope’s (iSAT) primary reflector.

Structural Modeling↗
NASA NTRSDate not supplied

Structural Analysis, Modeling, and Testing of Multi-nut Joint for TriTruss Structure

The Multi-nut joint, developed at NASA Langley Research Center (LaRC), was designed to assemble TriTruss modules for a doubly curved 65.6-feet telescope support structure. Axial and bending tests for a multi-nut joint in the TriTruss structure were conducted to characterize the structural performance of the multi-nut joint and to obtain the installation torque value of the attachment fastener. This paper describes the summary of the axial and bending tests of the multi-nut joint, along with the test results. The equivalent axial stiffness (EA) and equivalent bending stiffness (EI) of the multi-nut joint were characterized based on these test results and are presented in this report. Additionally, finite element models (FEMs) of the axial and bending test specimens were developed, and the predicted axial and bending responses of the multi-nut joint were compared with the test results. Test-analysis comparison results show that the predicted axial load-displacement response of the test specimen was within 5 percent of the test results, while the predicted load-bending response of the test specimen exhibited a consistent trend with the test data.

TriTruss↗
NASA NTRSDate not supplied

Structural Analysis, Modeling, and Testing of Multi-nut Joint for TriTruss Structure

The Multi-nut joint, developed at NASA Langley Research Center (LaRC), was designed to assemble TriTruss modules for a doubly curved 65.6-feet telescope support structure. Axial and bending tests for a multi-nut joint in the TriTruss structure were conducted to characterize the structural performance of the multi-nut joint and to obtain the installation torque value of the attachment fastener. This paper describes the summary of the axial and bending tests of the multi-nut joint, along with the test results. The equivalent axial stiffness (EA) and equivalent bending stiffness (EI) of the multi-nut joint were characterized based on these test results and are presented in this report. Additionally, finite element models (FEMs) of the axial and bending test specimens were developed, and the predicted axial and bending responses of the multi-nut joint were compared with the test results. Test-analysis comparison results show that the predicted axial load-displacement response of the test specimen was within 5 percent of the test results, while the predicted load-bending response of the test specimen exhibited a consistent trend with the test data.

Structural analysis↗
NASA NTRS2024

Structural Analysis and Testing of Multi-nut Joint for TriTruss Structure

Axial and bending tests for a multi-nut joint in the TriTruss structure were conducted at NASA Langley Research Center (LaRC). This report describes the test procedures used for the axial and bending tests of the multi-nut joint, along with the test results. The joint's equivalent axial stiffness (EA) and equivalent bending stiffness (EI) were characterized based on these test results and are presented in this report. Additionally, finite element models (FEMs) of the axial and bending test specimens were developed, and the predicted axial and bending responses of the multi-nut joint were compared and validated with the test results.

Joint Test↗
NASA NTRSDate not supplied

Test Results for Autonomous Assembly of Modular Space Structures

This paper presents test results for autonomous assembly of a modular space structure. A Universal Robots UR10e manipulator with a custom end-effector, known as the Grapple Tool, was used to join TriTruss structural modules. The TriTrusses and their assembly configuration were developed for an in-space assembled telescope conceptual design. The tests presented here were performed with a 1:2.8 dimensionally scaled version of the Tri-Trusses. Robot trajectories were generated autonomously using a sample-based motion planner and an a-priori worksite model. The test results verify the assembly concept of operations as well as the software requirements for the Grapple Tool. While the Grapple Tool used in the tests was designed for the 1:2.8 scale Tri-Trusses, it has the same actuators, software, and computation architecture as the version designed for the full scale structure. The test operations consist of picking up two TriTrusses from their stowed locations and joining them to a third TriTruss mounted on a test stand and joining them to each other. This constitutes the first three modules of the in-space assembled telescope conceptual design. The paper presents the robot behavioral architecture, the generated trajectories commanded, the actual trajectories of the robot, and actuator performance of the Grapple Tool.

test↗
NASA NTRSDate not supplied

Test Results for Autonomous Assembly of Modular Space Structures

This paper presents test results for autonomous assembly of a modular space structure. A Universal Robots UR10e manipulator with a custom end-effector, known as the Grapple Tool, was used to join TriTruss structural modules. The TriTrusses and their assembly configuration were developed for an in-space assembled telescope conceptual design. The tests presented here were performed with a 1:2.8 dimensionally scaled version of the Tri-Trusses. Robot trajectories were generated autonomously using a sample-based motion planner and an a-priori worksite model. The test results verify the assembly concept of operations as well as the software requirements for the Grapple Tool. While the Grapple Tool used in the tests was designed for the 1:2.8 scale Tri-Trusses, it has the same actuators, software, and computation architecture as the version designed for the full scale structure. The test operations consist of picking up two TriTrusses from their stowed locations and joining them to a third TriTruss mounted on a test stand and joining them to each other. This constitutes the first three modules of the in-space assembled telescope conceptual design. The paper presents the robot behavioral architecture, the generated trajectories commanded, the actual trajectories of the robot, and actuator performance of the Grapple Tool.

test↗
NASA NTRSDate not supplied

Designing a Software Architecture for the Precision Assembly of Space Structures

As NASA’s space exploration and science missions expand in complexity, longevity, anddistance beyond earth’s orbit, Orbital Servicing, Assembly and Manufacturing (OSAM)technologies and concepts have become a critical area of ongoing research and innovation.Artemis’ Moon-to-Mars goals of building sustainable elements on and around the Moon andMars that allow our robots and astronauts to explore and conduct more scientific researchwill demand in situ resource utilization, construction, and maintenance to succeed. In-spaceAssembly (ISA), as a sub-component of OSAM, focuses on the on-orbit building or fabricationof mission infrastructure and payloads. One such ISA application is highlighted by the recentNASA In-Space Assembled Telescope (iSAT) study, which stated that the next generation ofspace observatories will exceed the fairing size of existing or even planned launch vehicles andISA has emerged as a viable approach for observatory assembly. Research efforts at NASALangley Research Center have led to the design of a novel TriTruss structural concept for themodular construction of large complex persistent platforms. The TriTruss design and otherdeveloping OSAM technologies enable larger and persistent space missions that would notbe possible with single-launch-sized structures. For example, 20 meter or larger telescopesor orbital platform applications. However, the increased complexity will require autonomousoperations for the construction and maintenance of long-term infrastructure to achieve missionsuccess. NASA’s Precision Assembly of Space Structures (PASS) project is focused on thestructural and autonomy capabilities required to construct an iSAT in deep space. PASSresearch efforts will develop and validate critical technologies needed for effective efficienton-orbit assembly that can be confidently adopted for future systems. PASS will utilize theTriTruss modules to demonstrate the autonomous modular assembly of a 20m-class iSAT mirrorbackbone structure including simulated mirrors and wiring harness. In this paper, we addressthe software and hardware design considerations, technologies, and challenges of designing arobust robotics framework for assembling modular space structures in support of In SpaceAssembly missions in general as well as for PASS specifically.

Benjamin N Kelley↗
NASA NTRSDate not supplied

In-Space Modular Assembly: An Approach for Reliable, Affordable, Precision Space Apertures

In-space assembly will revolutionize the creation, upgrade, and evolution of future space systems. In-space assembly represents an alternative deployment strategy that is not constrained by the requirement of using a single launch vehicle and enables a greater freedom of design for the initial emplacement of assets and their evolution over time. In-space assembly enables assets, such as observatories and science platforms, to become persistent, evolving over time like their terrestrial counterparts. Also, in-space assembly provides a direct path for utilization of in-space manufactured components designed exclusively for the operational environment. To highlight the advantages of an in-space assembly approach, the modular assembly of a 3 m to 4 m precision optical aperture based on thin meniscus technology coupled with structurally efficient TriTruss modules is presented. The 3 m to 4 m aperture stows compactly within two standard ride share slots (0.61 m by 0.71 m by 0.97 m). Placing instruments and the robotic system used for assembly in an adjacent ride share slot enables a capable observatory to be placed into service via modest ride share opportunities. Further, recent hardware assembly tests of similar modules and progress toward hardware tests to validate the overall architecture via diffraction limited testing will be summarized.

Design↗