{"id":553,"date":"2022-01-15T23:03:45","date_gmt":"2022-01-15T23:03:45","guid":{"rendered":"https:\/\/labs.ri.cmu.edu\/moonranger\/?p=553"},"modified":"2022-01-15T23:03:45","modified_gmt":"2022-01-15T23:03:45","slug":"connector-torque-testing","status":"publish","type":"post","link":"https:\/\/labs.ri.cmu.edu\/moonranger\/connector-torque-testing\/","title":{"rendered":"Connector Torque Testing"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"553\" class=\"elementor elementor-553\" data-elementor-post-type=\"post\">\n\t\t\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-781aca5a elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"781aca5a\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-059d964\" data-id=\"059d964\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-ed6fe61 elementor-widget elementor-widget-text-editor\" data-id=\"ed6fe61\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><span style=\"font-weight: 400\">During the mission, MoonRanger\u2019s bolted connections are subject to tensile, shear, thermal loads, and the effects of vibration and creep. The desired initial tensioning of the bolt is computed based on these factors. <\/span><span style=\"font-weight: 400\">Determining and implementing the correct torque for each bolt on a space robot is essential engineering, process and discipline. Connectors for a space robot are small, strong, stainless steel.\u00a0 Many of these thread into and connect aluminum. Aluminum is much weaker than steel, so over tightening the bolts damages the (irreplaceable) aluminum threads and reduces the strength of the connection. This precision assembly happens once, and there is no margin whatever\u00a0 for error. If under tightened, the bolts preload will be too low and performance of the joint in both tension and shear will be reduced. The torque level initially set must also consider changes in joint tension when it is stressed, such as by shaking during launch. In addition to structural loads, differential thermal expansion of the bolt relative to the materials clamped by it induces strain in the joint. Given the temperature extremes experienced in space, this thermal loading is non-negligible. All of these factors must be considered when determining the installation torque of a fastener.\u00a0\u00a0<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-88db376 elementor-widget elementor-widget-heading\" data-id=\"88db376\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">TWISTR<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-ea05413 elementor-widget elementor-widget-text-editor\" data-id=\"ea05413\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><span style=\"font-weight: 400\">The TWISTR (Torque With Integrated Simultaneous Tension Reading) test apparatus is used to determine how much torque is required to generate the desired level of tension on each type of bolt for each of the robot\u2019s connections. This experimental result is used in conjunction with theoretical analysis to determine installation torque specifications for flight hardware. The torque threshold and sensitivity of the device can be used on fasteners as tiny as #2-56, and as large as\u00a0 \u00bc-28 in size.<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-c2f6856 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"c2f6856\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-709a5753\" data-id=\"709a5753\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-3c718349 elementor-invisible elementor-widget elementor-widget-image\" data-id=\"3c718349\" data-element_type=\"widget\" data-settings=\"{&quot;_animation&quot;:&quot;fadeIn&quot;}\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<img fetchpriority=\"high\" decoding=\"async\" width=\"955\" height=\"708\" src=\"https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/TWISTR.png\" class=\"attachment-large size-large wp-image-559\" alt=\"\" srcset=\"https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/TWISTR.png 955w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/TWISTR-300x222.png 300w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/TWISTR-768x569.png 768w\" sizes=\"(max-width: 955px) 100vw, 955px\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-33ab5320\" data-id=\"33ab5320\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-7e4da04c elementor-widget elementor-widget-text-editor\" data-id=\"7e4da04c\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><span style=\"font-weight: 400\">TWISTR applies a known amount of torque using a series-elastic actuator, which tightens a bolt on a load cell (hidden within the black plastic layer) to measure the resulting tension. All data is recorded by a data acquisition system.<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-75cedbd9 elementor-section-boxed elementor-section-height-default elementor-section-height-default elementor-invisible\" data-id=\"75cedbd9\" data-element_type=\"section\" data-settings=\"{&quot;animation&quot;:&quot;fadeIn&quot;}\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-477907b5\" data-id=\"477907b5\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-de75c0b elementor-widget elementor-widget-text-editor\" data-id=\"de75c0b\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><span style=\"font-weight: 400\">The most important factor for bolt torque is the friction factor within the joint. A collection of material plates were fabricated. These plates can be stacked in any combination to accurately represent the material make-up of any joint on the robot.<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-48870a15\" data-id=\"48870a15\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-1586ee37 elementor-widget elementor-widget-image\" data-id=\"1586ee37\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<img decoding=\"async\" width=\"1024\" height=\"455\" src=\"https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/Material-Plates-1024x455.jpg\" class=\"attachment-large size-large wp-image-555\" alt=\"\" srcset=\"https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/Material-Plates-1024x455.jpg 1024w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/Material-Plates-300x133.jpg 300w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/Material-Plates-768x342.jpg 768w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/Material-Plates.jpg 1500w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-2e8129fe elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"2e8129fe\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-769979c8\" data-id=\"769979c8\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-fa6a5cd elementor-widget elementor-widget-heading\" data-id=\"fa6a5cd\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">Matlab Interface<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-adf25ce gallery-spacing-custom elementor-widget elementor-widget-image-gallery\" data-id=\"adf25ce\" data-element_type=\"widget\" data-widget_type=\"image-gallery.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"elementor-image-gallery\">\n\t\t\t<div id='gallery-1' class='gallery galleryid-553 gallery-columns-2 gallery-size-large'><figure class='gallery-item'>\n\t\t\t<div class='gallery-icon landscape'>\n\t\t\t\t<a data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-slideshow=\"adf25ce\" data-elementor-lightbox-title=\"MATLAB Interface\" data-e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6NTU2LCJ1cmwiOiJodHRwczpcL1wvbGFicy5yaS5jbXUuZWR1XC9tb29ucmFuZ2VyXC93cC1jb250ZW50XC91cGxvYWRzXC9zaXRlc1wvMjRcLzIwMjJcLzAxXC9NQVRMQUItSW50ZXJmYWNlLnBuZyIsInNsaWRlc2hvdyI6ImFkZjI1Y2UifQ%3D%3D\" href='https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/MATLAB-Interface.png'><img decoding=\"async\" width=\"1024\" height=\"409\" src=\"https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/MATLAB-Interface-1024x409.png\" class=\"attachment-large size-large\" alt=\"\" srcset=\"https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/MATLAB-Interface-1024x409.png 1024w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/MATLAB-Interface-300x120.png 300w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/MATLAB-Interface-768x306.png 768w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/MATLAB-Interface.png 1288w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/a>\n\t\t\t<\/div><\/figure><figure class='gallery-item'>\n\t\t\t<div class='gallery-icon landscape'>\n\t\t\t\t<a data-elementor-open-lightbox=\"yes\" data-elementor-lightbox-slideshow=\"adf25ce\" data-elementor-lightbox-title=\"Annotated MATLAB\" data-e-action-hash=\"#elementor-action%3Aaction%3Dlightbox%26settings%3DeyJpZCI6NTU0LCJ1cmwiOiJodHRwczpcL1wvbGFicy5yaS5jbXUuZWR1XC9tb29ucmFuZ2VyXC93cC1jb250ZW50XC91cGxvYWRzXC9zaXRlc1wvMjRcLzIwMjJcLzAxXC9Bbm5vdGF0ZWQtTUFUTEFCLnBuZyIsInNsaWRlc2hvdyI6ImFkZjI1Y2UifQ%3D%3D\" href='https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/Annotated-MATLAB.png'><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"548\" src=\"https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/Annotated-MATLAB-1024x548.png\" class=\"attachment-large size-large\" alt=\"\" srcset=\"https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/Annotated-MATLAB-1024x548.png 1024w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/Annotated-MATLAB-300x161.png 300w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/Annotated-MATLAB-768x411.png 768w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/Annotated-MATLAB-1536x822.png 1536w, https:\/\/labs.ri.cmu.edu\/moonranger\/wp-content\/uploads\/sites\/24\/2022\/01\/Annotated-MATLAB.png 1737w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/a>\n\t\t\t<\/div><\/figure>\n\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-6b42b914 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"6b42b914\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-40f4c913\" data-id=\"40f4c913\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-6233ef3 elementor-widget elementor-widget-text-editor\" data-id=\"6233ef3\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><span style=\"font-weight: 400\">The device is controlled by a custom Matlab interface. After collection, the data is automatically processed by the program. There are generally four distinct phases of fastener installation, as visible in the data plot on the left. First, prior to clamping, there is a non-zero \u201crunning torque\u201d that results from the friction of the fastener in the threaded hole. MoonRanger uses many \u201cdistorted thread helicoils\u201d that intentionally increase the running torque to prevent the fasteners from loosening when they are vibrated. The second phase is \u201celastic tightening\u201d, visible as the first sharp rise in tension. This indicates that the bolt is now clamping the joint tightly. A correctly designed joint should operate exclusively in this regime. Thirdly comes plastic deformation of the bolt or threaded hole, indicated by the sharp decrease in slope on the data plot. At this point, the bolt or threaded hole is being permanently stretched and damaged. Lastly comes the sharp drop in bolt tension, indicating that the bolt has fractured. At this point the bolt provides zero clamping and the joint is non-functional.<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"<p>During the mission, MoonRanger\u2019s bolted connections are subject to tensile, shear, thermal loads, and the effects of vibration and creep. The desired initial tensioning of the bolt is computed based on these factors. Determining and implementing the correct torque for each bolt on a space robot is essential engineering, process and discipline. Connectors for a &hellip; <a href=\"https:\/\/labs.ri.cmu.edu\/moonranger\/connector-torque-testing\/\">Continued<\/a><\/p>\n","protected":false},"author":28,"featured_media":558,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"footnotes":""},"categories":[25],"tags":[],"class_list":["post-553","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-mechanical"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v26.5 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Connector Torque Testing - MoonRanger<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/labs.ri.cmu.edu\/moonranger\/connector-torque-testing\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Connector Torque Testing - MoonRanger\" \/>\n<meta property=\"og:description\" content=\"During the mission, MoonRanger\u2019s bolted connections are subject to tensile, shear, thermal loads, and the effects of vibration and creep. The desired initial tensioning of the bolt is computed based on these factors. Determining and implementing the correct torque for each bolt on a space robot is essential engineering, process and discipline. 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