Clevis joint for deployable space structures

This invention relates generally to pin clevis joints, and more particularly, to zero play pin clevis joints for connecting structural members of a deployable space structure. A joint includes a pin, a tang, and a shackle. The pin is tapered at the same angle as the bores extending through the projections of the shackle and the tang. A spring washer biases the tang onto the tapered sidewall of the pin. The invention solves the free play problem associated with deployable space structures by using a tapered pin which is held in tapered holes by the spring washers

Preloaded space structural coupling joints

A coupling device for tubular members of large truss structures with a locking collar being the only moving part is described. Each tubular member is constructed with an end bell section that has a belled flange with a mating face, and a necked area which is smaller in diameter than the tubular members to be joined. A split ring is affixed to each tubular member and is constructed so that when two tubular members are laterally moved into axial alignment and the collar is rotated over it, the split ring loads the joint with axial forces by pressing the belled flange mating surfaces together, and a preloading force is provided by the collar mating with a taper on the outside of the split rings. All free play is thereby removed by preloaded force. A major object is to provide an ability to remove and replace individual tubular members without disturbing other structural parts of a truss structure. An additional anticipated use of this joint is to couple high pressure fluid lines

Design considerations for joints in deployable space truss structures

All of the structures considered for the Control of Flexible Structures (COFS) flight experiments are deployable truss structures and their response will be dominated by the structural response of the joints. To prepare for these experiments some fundamental research work is being conducted in the Structures and Dynamics Division at LaRC which will provide insight into structurally efficient and predictable deployable truss joints. This work involves generic studies of the static and dynamic response of joints as well as the development of analytical models which can be used to predict the response of a large multijointed truss. In addition to the generic joint studies, the research effort encompasses the design and fabrication of a 20-meter long deployable truss beam for laboratory evaluation of its structural characteristics and correlation with developed prediction methods. The experimental results have indicated the importance of attention to detail in the design and fabrication of joints for deployable truss structures. The dimensional relations and material considerations for efficient pin-clevis joints have been outlined. Results of tests on the near-center latch are discussed

Synchronously deployable double fold beam and planar truss structure

A deployable structure that synchronously deploys in both length and width is disclosed which is suitable for use as a structural component for orbiting space stations or large satellites. The structure is designed with maximum packing efficiency so that large structures may be collapsed and transported in the cargo bay of the Space Shuttle. The synchronous deployment feature allows the structure to be easily deployed in space by two astronauts, without a complex deployment mechanism. The structure is made up of interconnected structural units, each generally in the shape of a parallelepiped. The structural units are constructed of structural members connected with hinged and fixed connections at connection nodes in each corner of the parallelepiped. Diagonal members along each face of the parallelepiped provide structural rigidity and are equipped with mid-length, self-locking hinges to allow the structure to collapse. The structure is designed so that all hinged connections may be made with simple clevis-type hinges requiring only a single degree of freedom, and each hinge pin is located along the centerline of its structural member for increased strength and stiffness

Automated assembly of large space structures

Viewgraphs and discussion on automated assembly of large space structures are presented. The program research objective is to develop technology and demonstrate the potential for automated inspace assembly of large erectable structures. This is accomplished by merging experience in structural assembly and robotics at LaRC into an interdisciplinary program with focused effort on automated assembly of a generic structural configuration with a standard cell and by building into the system the capability to do expanded research with complex configurations

Structural evaluation of concepts for a solar energy concentrator for Space Station advanced development program

Solar dynamic power systems have a higher thermodynamic efficiency than conventional photovoltaic systems; therefore they are attractive for long-term space missions with high electrical power demands. In an investigation conducted in support of a preliminary concept for Space Station Freedom, an approach for a solar dynamic power system was developed and a number of the components for the solar concentrator were fabricated for experimental evaluation. The concentrator consists of hexagonal panels comprised of triangular reflective facets which are supported by a truss. Structural analyses of the solar concentrator and the support truss were conducted using finite-element models. A number of potential component failure scenarios were postulated and the resulting structural performance was assessed. The solar concentrator and support truss were found to be adequate to meet a 1.0-Hz structural dynamics design requirement in pristine condition. However, for some of the simulated component failure conditions, the fundamental frequency dropped below the 1.0-Hz design requirement. As a result, two alternative concepts were developed and assessed. One concept incorporated a tetrahedral ring truss support for the hexagonal panels: the second incorporated a full tetrahedral truss support for the panels. The results indicate that significant improvements in stiffness can be obtained by attaching the panels to a tetrahedral truss, and that this concentrator and support truss will meet the 1.0-Hz design requirement with any of the simulated failure conditions

A smart end-effector for assembly of space truss structures

A unique facility, the Automated Structures Research Laboratory, is being used to investigate robotic assembly of truss structures. A special-purpose end-effector is used to assemble structural elements into an eight meter diameter structure. To expand the capabilities of the facility to include construction of structures with curved surfaces from straight structural elements of different lengths, a new end-effector has been designed and fabricated. This end-effector contains an integrated microprocessor to monitor actuator operations through sensor feedback. This paper provides an overview of the automated assembly tasks required by this end-effector and a description of the new end-effector's hardware and control software

Baseline tests of an autonomous telerobotic system for assembly of space truss structures

Several proposed space missions include precision reflectors that are larger in diameter than any current or proposed launch vehicle. Most of these reflectors will require a truss structure to accurately position the reflector panels and these reflectors will likely require assembly in orbit. A research program has been conducted at the NASA Langley Research Center to develop the technology required for the robotic assembly of truss structures. The focus of this research has been on hardware concepts, computer software control systems, and operator interfaces necessary to perform supervised autonomous assembly. A special facility was developed and four assembly and disassembly tests of a 102-strut tetrahedral truss have been conducted. The test procedures were developed around traditional 'pick-and-place' robotic techniques that rely on positioning repeatability for successful operation. The data from two of the four tests were evaluated and are presented in this report. All operations in the tests were controlled by predefined sequences stored in a command file, and the operator intervened only when the system paused because of the failure of an actuator command. The tests were successful in identifying potential pitfalls in a telerobotic system, many of which would not have been readily anticipated or incurred through simulation studies. Addressing the total integrated task, instead of bench testing the component parts, forced all aspects of the task to be evaluated. Although the test results indicate that additional developments should be pursued, no problems were encountered that would preclude automated assembly in space as a viable construction method

A telerobotic system for automated assembly of large space structures

Future space missions such as polar platforms and antennas are anticipated to require large truss structures as their primary support system. During the past several years considerable research has been conducted to develop hardware and construction techniques suitable for astronaut assembly of truss structures in space. A research program has recently been initiated to develop the technology and to demonstrate the potential for automated in-space assembly of large erectable structures. The initial effort will be focussed on automated assembly of a tetrahedral truss composed of 2-meter members. The facility is designed as a ground based system to permit evaluation of assembly concepts and was not designed for space qualification. The system is intended to be used as a tool from which more sophisticated procedures and operations can be developed. The facility description includes a truss structure, motionbases and a robot arm equipped with an end effector. Other considerations and requirements of the structural assembly describe computer control systems to monitor and control the operations of the assembly facility

Component count and preliminary assembly considerations for large space truss structures

Expressions for the number of truss components per truss division are presented along with expressions for the area and dimensions of mosaic hexagonal panel arrangements. The expressions were developed by substituting the number of truss components in specific truss divisions into associated polynomial equations and solving for the coefficients of the polynomials. To assist in automated or astronaut truss/panel assembly operations, a concept for assembling a tetrahedral truss with hexagonal panels is presented. The assembly concept minimizes the exchange of truss assembly devices and panel attachment devices, assuming that the number of exchanges is a driving assembly concern