1. ABOUT THE PRESENTER
Prof. Jose J. Granda, PhD, Professor of Mechanical Engineering, California State University in Sacramento. He obtained his M.S, and Ph.D. degrees in Mechanical Engineering from the University of California, Berkeley and Davis respectively. He is Chairman of the Technical Activity Committee on Bond Graph Modeling and Simulation of the Society for Modeling and Simulation International (SCS). The University of California, Davis gave him an award as the Distinguished Engineering Alumni Award. The California State University awarded him the Outstanding Scholarly Achievement Award.
Prof. Granda is an expert in computer modeling and simulation of Mechatronics Dynamic Systems with experience in dynamics and design of ground and space vehicles. Since 2002, he has worked with NASA as a NASA Faculty Fellow, first at the NASA Langley Research Center as part of the Morphing Project and then at NASA Johnson Space Center as part of the engineering team of STS-114 Space Shuttle mission and the International Space Station. Prof. Granda also worked for NASA Ames and the Kennedy Space Center, invited by the Exploration Systems Mission Directorate (ESMD). He is one of NASA missions representatives who has served as NASA’s engineer Public Affairs Spokesman for STS-126, STS-124, STS-123, STS-122, STS-118, STS-117, STS-114, Space Shuttle and the International Space Station Missions. Currently a Visiting Professor at ETH in Zurich.

2. José J. Granda §, Louis Nguyen †, Sukhbir S Hundal§
MODELING THE COMPLETED SPACE STATION A THREE DIMENSIONAL RIGID-FLEXIBLE DYNAMIC MODEL TO PREDICT MODES OF VIBRATION AND STRESS ANALYSIS
José J. Granda §, Louis Nguyen †, Sukhbir S Hundal§
§ California State University, Sacramento.
Department of Mechanical Engineering
Sacramento, California, 95819
† NASA Johnson Space Center
Integrated Navigation, Guidance and Control Analysis Branch, Houston, TX 77058
AIAA 2011 Conference and Exhibit
28 – 31 March, Hyatt Regency by the Arch St Louis, Missouri

3. Outline
Introduction, Background Previous Work, Problem Statement and Approach
Solid Modeling of the International Space Station
SOLIDWORKS, PRO-ENGINEER
From ISS Mission 12A to ISS Expedition 26 (STS-133 Model Assembly
Dynamic Finite Element Analysis (NASTRAN 4D)
Mission 3a, 12A Modes of Vibration
Mission STS 124, STS-133 Modes of Vibration
Dynamic Finite Element Analysis of ISS Missions with Space Shuttle, robotic arms SSRMS and SRMS
Verification Results
Conclusions

4. Analysis, of the International Space Station Mission 12A
BACKGROUND WORK
Simplified Dynamic Model Generation and Vibration
Analysis, of the International Space Station Mission 12A
José J. Granda §, Louis Nguyen†, Montu Raval§
§ California State University, Sacramento.
Department of Mechanical Engineering Sacramento, California, 95819
† NASA Johnson Space Center
Integrated Navigation, Guidance and Control Analysis Branch, Houston, TX 77058
AIAA 2007 Conference and Exhibit
May Doubletree Hotel Sonoma Wine Country Rohnert Park, California

5. OBJECTIVES to be achieved
Need for dynamic engineering analysis for the study of stresses, modes of vibration, control of space maneuvers for ISS and Space Shuttle
Analysis of Shuttle, Robotic Arms, ISS as a whole system
Modal analysis
Guidance and control of flight
Orbiter Repair Maneuvers
Provide NASA engineers with new alternative methods to study:
Deflections
Forces
Vibrations on ISS
Position Control

6. Fundamental Methodology

8. Development of the International Space Station Model Mission 3A
Real System
Computer Model
OBJECTIVES:
Modes of vibration analysis,
Contact Analysis,
Stress Analysis,

9. Zarya

10. Soyuz

11. Mobile Base Station, Robotic Arm and Space Shuttle

12. Assembly of Mission12a, Shuttle and Station Arm

13. Missions Focus: Missions Launch Dates* STS-126
November 14, 2008 (Launched)
STS-119
February 12, 2009
STS-125
Under Review
STS-127
May 15, 2009
STS-128
July 30, 2009
STS-129
October 15, 2009
STS-130
December 10, 2009
STS-131
February 11, 2010
STS-132
April 23, 2010
STS-133
May 31, 2010
STS = Space
Transportation
System *

14. Mission STS 119 NASA’s Model: SOLIDWORKS Model’s: Solar Arrays
S6 Truss Segment and
Solar Arrays Assembled
S6 Truss Segment

15. Mission STS 127 NASA’s Model: SOLIDWORKS Model’s: JEM Exposed Facility
JEM-EF and ELM-ES
Assembled
ELM-ES

16. Mission STS 130 NASA’s Model: SOLIDWORKS Model’s: Node 3 and Cupola
Assembled
Node 3
Cupola

17. Mission STS 132 NASA’s Model: SOLIDWORKS Model’s:
Multipurpose Laboratory Module
Multipurpose Laboratory Module

18. Mission STS 132 NASA’s Model: SOLIDWORKS Model’s:
European Robotic Arm (ERA)
European Robotic Arm (ERA)

19. Configuration at STS-124

20. Configuration at STS-133

21. DYNAMIC ANALYSIS Solid Model becomes Dynamic Finite Element Model
Export the solid model into a dynamic Finite Element analysis environment Visual Nastran4D
FEA analysis of Mission 3A, 12A
Continue on to Expedition 26
Dynamic Stress Analysis
Modes of vibration

22. Dynamic Finite Element Model Mission 3A Flexible Body Modes
10th Mode
9th Mode
11th Mode
12th Mode

23. FEA stress Analysis with Rigid Constraints

24. FEA Stress Analysis With Displacement Output (Damping Constraints)

25. Model data comparison
Validating the computer model with the real system
Verification of the model center of mass with real system center of mass.
NASA’s
Center of Mass Location:
Computer Model’s
Center of Mass Location
X-axis (m)
Y-axis (m)
Z-axis (m)
-4.18
-0.90
+3.02
Center of Mass Location
X-axis (m)
Y-axis (m)
Z-axis (m)
-4.40
-0.50
+4.04

26. Center of Mass Location
Data comparison
Comparison between Computer Model and NASA Model Center of Mass Location:
Conclusion:
Differences in CG Location is very small
Model can proceed with analysis
Center of Mass Location
X-axis (m)
Y-axis (m)
Z-axis (m)
+0.22
+1.02 26

27. Dynamic Analysis in Nastran4D
Modes of Vibration
ISS Station at 15 modes
Space Shuttle and Station Arm 25 modes
Stress Analysis on ISS Station

28. Nastran 4D – Modes of Vibration of Space Shuttle and Station Arm
21st Mode of Vibration at 23 Hz
22nd Mode of Vibration at 23.7 Hz
24th Mode of Vibration at 26.9 Hz
25th Mode of Vibration at 27.5 Hz 28

29. Nastran 4D – Modes of Vibration of Space Shuttle and Station Arm
7th Mode of Vibration at Hz
10th Mode of Vibration at 3.25 Hz
15th Mode of Vibration at 12.1 Hz
16th Mode of Vibration at 13.8 Hz 29

30. FEA Results – Modes of Vibration of Station Arm.
Space Shuttle
Coupling
Arm4-1
Arm3-1
Arm2-1
Arm1-1 1
3.31E-5 2
2.56E-5 3
6.91E-5
8.04E-5 4
1.19E-5
7.66 5
1.69E-5
8.43 6
3.14E-5
15.9 7
17.1
17.3 8
21.1
47.9 9
25.9
49.9 10
26.5
87.6 11
42.3
95.9 12 49
120 13
58.8
131 14
641
193

31. Mode 9
Mode 10
Mode 12
Mode 11

32. Mode 14
Mode 13
Mode 15

33. FEA Results of Space Shuttle
Msc. Nastran Results
Modes
Frequency(Hz) 1
2.55E-5 2
2.17E-5 3
2.05E-5 4
2.42E-5 5
3.12E-5 6
3.57E-5 7
17.1 8
21.2 9
25.9
Msc. Nastran Results
Modes
Frequency(Hz) 10
28.5 11
42.3 12 45 13
58.9 14
64.1 15
75.6

34. Solid model converted into Analysis model
Imported SOLIDWORKS Model into Nastran 4D as a Parasolid File

35. Nastran 4D – Mesh Analysis
Properties of Modes of Vibration

36. Nastran4D – Modes of Vibration of ISS
6th Mode of Vibration
7th Mode of Vibration
8th Mode of Vibration
9th Mode of Vibration

37. Nastran 4D – Modes of Vibration of ISS
13th Mode of Vibration
11th Mode of Vibration
14th Mode of Vibration
15th Mode of Vibration 37

38. Nastran 4D – Modes of Vibration of Space Shuttle and Station Arm
Applied Properties and Meshed in Nastran 4D 38

39. Stress Analysis on ISS Truss
Applied Dual Forces at 6000 Newton

40. Stress Analysis on Station Arm
Applied a 6000 N Force

41. Computer Simulation of Space Maneuvers linking Model to Control Analysis
Roll/Yaw/Pitch Moment Feedback Control:
Simulink attempt to control the Station in X, Y, Z Direction 41

42. Conclusion/Future Work
Complete computer models of ISS Shuttle and Arms were developed as solid models in 3D
Models were converted into Analysis Models for vibration and control analysis of ISS Station, Space shuttle and Station arms
Modes of vibration were studied individually and together
Data comparison validates the approach
Further research:
Using thee models develop and study methodologies for controlling ISS Station in all six degrees if freedom.
Integration with MATLAB and SIMULINK
Revisit previous studies and compare new results and evaluate improvement

43. THE END 34

58. 3D Modeling and FEA Analysis of Shuttle Arm.
Length
15.2m (50ft.)
Diameter
38cm (15 in.)
Weight on Earth
410Kg (905 lbs.)
Speed of
Movement
Unloaded 60 cm/sec. (2 ft. /sec.) 
Loaded 6 cm/sec. (2.4 in. /sec.)
Upper & Lower
Arm Boom
Carbon Composite Material
Wrist Joint
Three degrees of movement
(pitch +/- 120º, yaw  +/- 120º,
roll +/- 447º)
Elbow Joint
One degree of movement
(pitch +2º to - 160º)
Shoulder Joint
Two degrees of movement
(pitch +145º to -2, yaw +/- 180º)
Translational
Hand Controller
Right, up, down forward, and
backward movement of the arm
Rotational Hand
Controller
Controls the pitch, roll, and yaw
of the arm

59. Modes of Vibration of Shuttle Arm.

60. Mode 6
Mode 5
Mode 7
Mode 8

61. Mode 10
Mode 9
Mode 11
Mode 12

62. Considerations for ORM’s
Mobile Base Station has 7 degrees of freedom achieved by movement of 7 motorized joints
Mobile Base Station moves at a slow speed with max. speed of 37 cm/s and low speed of 1.2 cm/s
At any point of time, no more than 6 motorized joints can be operated
Define motion of each individual Motor constraint as angular position, velocity, or acceleration

63. Modes of Vibration of Space Shuttle

64. Mode 6
Mode 5
Mode 7
Mode 8

65. Future work Different ORM configurations
Analyze FEA (stress analysis) during the ORM
Guidance and Control System together with Finite Element model
Interface Visual Nastran and Simulink

66. Conclusions
New procedure to generate complex computer models for dynamic analysis of a set of flexible and rigid bodies has been presented
Method mixes two technologies (SOLIDWORKS-NASTRAN4D)
Drafting and three dimensional conceptual designs
Dynamic Finite Element Models
Plant model can be extracted from three dimensional model in the form of a multi-input, multi-output block
Therefore the guidance and control system can also be designed (NASTRAN4D-SIMULINK)

67. QUESTIONS ? And SUGGESTIONS ?

68. END

69. Assembly of Mission 3a

80. Mode 14
Mode 13
Mode 15