Structural Analysis of Three Space Crane Articulated-Truss Joint Concepts

TL;DRAbstract

Three space crane articulated-truss joint concepts are studied to evaluate their static structural performance over a range of geometric design parameters. Emphasis is placed on maintaining the four-longeron reference truss performance across the joint while allowing large-angle articulation. A maximum positive articulation angle and the actuator length ratio required to reach that angle are computed for each concept as the design parameters are varied. Configurations with a maximum articulation angle less than 120 degrees or actuators requiring a length ratio over 2 are not considered. Tip rotation and lateral deflections of a truss beam with an articulated-truss joint at the midspan are used to select a point design (with fixed values of the design parameters) for each concept. Deflections for one point design are up to 40 percent higher than for the other two designs. Dynamic performance (natural frequencies, mode shapes, and maximum allowable velocity for an emergency stop scenario

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