Active Force Correction of Off-Nominal Structures Using Intelligent Scaffolding
| dc.contributor.author | Everson, Holly Kathleen | en |
| dc.contributor.committeechair | Komendera, Erik | en |
| dc.contributor.committeemember | West, Robert L. | en |
| dc.contributor.committeemember | Sandu, Corina | en |
| dc.contributor.committeemember | Sarlo, Rodrigo | en |
| dc.contributor.committeemember | Southward, Steve C. | en |
| dc.contributor.department | Mechanical Engineering | en |
| dc.date.accessioned | 2024-10-18T08:00:12Z | en |
| dc.date.available | 2024-10-18T08:00:12Z | en |
| dc.date.issued | 2024-10-17 | en |
| dc.description.abstract | The culmination of this research focuses on the area of structural support and stability as it relates to the field of large space structures. Fitting into the branch of in-space assembly, servicing, and manufacturing (ISAM), this topic covers essential subject matter areas of robotic manipulation, repair, state estimation, and structural health. As the next generation of space structures includes increased areas of modularity, the nature of structures built in-space lends itself significantly to repair efforts. With plans for these repair efforts in place, the lifetime of damaged structures can be greatly extended leading to a greater chance of mission success. By considering how repair efforts factor into the assembly scope, critical failures in large trusses, especially those involving single-point structural failures, can be mitigated. To do this, external forces are applied to the damaged structure utilizing an intelligent scaffolding formulation. This methodology employs robots to strategically apply loads to re-route abnormal stress and strain paths, correct for resulting deflections, and stabilize the structure itself. These tasks are vital to the safety of the structure and must take place before any repair efforts are considered in an effort to prevent cascading damage. The following research explores this damage simulation and correction paradigm through a variety of truss initial conditions, which allow for a suite of deflection responses. Utilizing these deflection responses a safe path for applying loads incrementally through generated waypoints is created with the help of the finite element modeler Ansys and a Python script. The ability for this system to successfully realign the wide scope of truss cases showcases that it is a truly adaptive system. Although this work is primarily proven within a simulation space, efforts to contextualize in a physical system and explore the elements needed to implement this method are also described. Finally, although this research is presented within the scope of damage repair, the final chapter looks to apply this method to other similarly unsupported structures by examining how critical it can be during assembly scenarios. | en |
| dc.description.abstractgeneral | As the industry sits on the edge of new in-space assembly technologies, a need to maintain these systems has arisen. The backbone upon which these new space technologies exist is with truss frameworks. By being able to build these sparse structures, large structures can be made with few components. These structures serve as critical mounting support for various instruments, engines, communication devices, solar panels, and more. As these structures are so critical across the board being able to repair a member when it becomes damaged is crucial. This research provides an avenue to do this. When a structure becomes damaged it will start to deform and bend. This presents unique challenges in attempting to replace an element or return the structure back to an operational state. First, the structure must be driven back into alignment to prevent further damage and hold the truss steady in preparation for repair. The methodology laid out within the dissertation covers how the use of simulations and force solvers can be implemented to create a path that allows a robot to force a structure into a desired configuration. To mimic the original damaged strut a strong stable platform robot called a Stewart Platform applies specific loads to correct the structure. This research shows structures with different specifications to highlight how this system can be universally applied to a single member damage scenario. Within this, simulations to showcase how this forcing method can be applied to these varying structures produce unique correction paths. These correction paths must be accurately driven across to ensure the safety of the structure. To broaden the application, a use case for this active force implementation was also shown as a critical component for assembly steps when elements are not properly supported. Throughout this, the need for intelligent scaffolding is shown to be a critical step in addressing structural health. | en |
| dc.description.degree | Doctor of Philosophy | en |
| dc.format.medium | ETD | en |
| dc.identifier.other | vt_gsexam:41602 | en |
| dc.identifier.uri | https://hdl.handle.net/10919/121350 | en |
| dc.language.iso | en | en |
| dc.publisher | Virginia Tech | en |
| dc.rights | In Copyright | en |
| dc.rights.uri | http://rightsstatements.org/vocab/InC/1.0/ | en |
| dc.subject | Robotics | en |
| dc.subject | Structural Manipulation | en |
| dc.subject | Structural Health | en |
| dc.subject | In-Space Assembly | en |
| dc.subject | Space Truss | en |
| dc.title | Active Force Correction of Off-Nominal Structures Using Intelligent Scaffolding | en |
| dc.type | Dissertation | en |
| thesis.degree.discipline | Mechanical Engineering | en |
| thesis.degree.grantor | Virginia Polytechnic Institute and State University | en |
| thesis.degree.level | doctoral | en |
| thesis.degree.name | Doctor of Philosophy | en |
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