'.

" ., .

. :"

ANALYSIS OF CURVED EXPANDABLE SPACE

BAR STRUCTURES.

by

.' JUAN P. VALCARCEL. Catedrático ETS Arquitectura La Coru~a. Spain .

FELIX ESCRIG. Proí. Titular ETS Arquitectura Sevilla. Spa1n.

SUM.KARY

The paper present a new way tor solution oí non-linear analysis oí

curved expandable space bar structures. Matricial methods are used combined
wi th the eífects oí stabili ty functions aad eífects oí geometric changes.
Several applications at cilindrical and spherical expandable structures ar9
1ncluded.

•• "1. -

---;-- ...---r--_..... . -- "~':.. :.... ~~ - ""'r'" tt-. _- ,.

 13

A.- INTRODUCTION.

Expandable bar structures are articulated structures that can mod1fy

their shape from completely folded, with a11 bar in a bundle, to expandeá,
covering a great area. They are isostatics or cuasi-isostatics structures
because there must be a mechanism during the expansiono

Structural components are bars articulated at the ends with a joint at

an inner point. Standard programs are unable to solve this problem and we
will define a computer program in order to solve that. Equilibrium matrix
methods are used.

Bar equilibrium is completely defined by the system oí forces Pl, P2,

Nl, N2 . Reíerences (2) and (3) explain linear calculus oí these
structures. However the efíect oí inner articulation make a bending on the
bars and axial íorces modifies the value oí the bending moments oí the
bars. Fig 1 shows the equilibrated system oí forces and reactions with non-
linear eífects ofaxial forces.

RZ2

,N~'
,,'.'
y

figure 1

STIFFNESS MATRIX IN LOCAL CooRDINATES.

- = K- .
P Z

E A E A

• l.,
Nl = --- Ul B2 = --- U2

11 12

3 E I 1 3 E 1 1
Pl = -------- 01 P2 = -------- 02
;11 12 122 ;211 2 122

.' .
"

. ',,- ~

.,.~ ..
';~'tl
- _--'-"'"':2.-~
...... ,_a'•• 4 ..... _ . . . . . ._ ~ _ _ ~_ • .. , ......... : . - .
 "
~

In matrix form

EA
11, 1 I --- O o o u,
1,

.'
EA
lb I I O o O I I U:z
12 I I
=I I I
I 3 E 11 1
p, I I O O -------- O I I o,
1,1,~122

3 E 1:2 1
p:z o o O -------- I I 02
121,21:z2

COMPATIBILITY MATRIX.- Orientation oí local axis like fig 2.

x axis ~ direction oí bar.

y axis ~ direction of normal to plane oi scissor. 'tie can obtIl1.11 by
vectorial product oi vectors of bars.
z axis ~ d1rectioo perpendicular of x and y axis.

figure 2

Direct10ns of three axis are io a general case:

- x axis ~ (cos a" cos ~ll cos ~,)

y axis ~ (cos ~Zl cos ~21 COS ~2)
z axis ~ (cos ~3, cos ~3, cos ~3)
'.

:'1
.;:'1.
.........'1 , """::'~ -'-r-"', .:,:•.
~.
-.-: , ..... ".--; •.. ~",~",.:"".,,..._r,._·,
 o

If the expandable structure is made by bundle madulus we can nat define

aplane ai scissqrs. In this case the definitian af local axis can be made
faro

x axis -l cas a , cas ~ • cas ~ )

cos j3 cas oc
y axis -l (- o)
sen 't sen 't

cas a . cas 't cas j3 . cas 't

z axis -l (- ------------- , sen 't )
sen't sen 't

After defining lacal axis, the relationship between local and global
systems are

U 1 = U'2 - U'l

------ ~
-._.-"_.- -

Ll __ ~ __ --------------r 1 UZ = Ul 3 - Ul 2

~., ..;r---
Y= OZ-Ol. L;:~/l­
, -03.11/1

~ ,!}~ :' ~
_---- I 1

'

~.q;.e=' =~~~.~
e ' ' c. ' w= ,!2-';1' lzl1-

."
=-
1,
" '2
11 11.
-13.1111

Figure 3
I J I Xl
I Ul I I YI
I 1 I ZI
I Uz I I X2
In matrix form Z = A . X I I = A I Y2
I y I - 1 zz
I I 1 X3
I W I I Y3
I I I Z3

The compatibility matrix A is

-
-casal -COSj3l -COS'tl cosal cas~l COS'tl O O O

O O O -casal -COSf3l -COS'tl cosal COS,Bl COS'¡'I

-lzcasaz -12cosj32 -lzcos't2 -11cosa2 -11casf32 -llcos'tz

------- ------- ------- casaz cos.lh cos'tz -------- ------- -------
1 1 1 1 1 1

-lzcasa3 -b~cosJb -12cos't3 -11cosa3 -11COSf33 -11cas't3

------- ------- ------- cosa3 cos.lb COS't3 ------- ------- -------
1 1 1 1 1 1

';

.~, 'l'''' .. -~...- ..... :'":'"'. ...,...,...------,.. ~~'''''''''-''''''''''--'''--'''''-~-~-'-.~-' '''''~ ':; .""-".---
 e

STIFFNESS MATRIX IN GLOBAL COORDIRATES.

Matrix equation 15 L = A~ . K . A . X = S . X
Stiffness matrix in global eoordinates wi11 be.

a+m.kl b+n.kl e+o.kl -a-m.k3 -b~n.k3 -e-o.k3 m.k5 n.k5 0.k5

d+p.kl e+q.kl -b-n.k3 -d-p.k3 -e-q.k3 n.k5 p.k5 q. k5

f+r.kl -e-o.k3 -e-q.k3 -f-r.k3 o. k5 q.k5 r.k5

a+g+m b+h+n e+i+o 1-&-m.k4 -h-n.k4 -i-o.k4

I
S= I d+j+p e+k+q l-h-n.k4 -j-p.k4 -k-q.k4
I
f+l+r l-i-o.k4 -k-q.k4 -1-r.k4

g+m. k2 h+n.k2 ita. k2

j+p. k2 k+q.k2

l+r. k2

being

122 1,2 12 1, 11.1 2

kl= ---- k2= --- k3= --- k4= --- k5=
p~
12 1 1 12

E.A E.A
a = ----- eos2 al g = ----- eos2 a,
1, b~

E.A E.A
b = ----- eos a, cos .13, h = ----- cos a, cas .131
1, 12

E.A E.A
e = ----- cos a, cos ~, i = ----- cos al cos ~,
1, h~

E.A E.A
d = ----- cos 2 .13, j = ----- eos2 ~1
1, 12

E.A E.A
e = ----- cos .13, cos y, k = ----- COS ~1 COS ~,
1, 12

E.A E.A
f = ----- cos2 ~, 1 = ----- cos~ ~1
1, 12

.~ ¡
......-. •• .._~~ •. III.\·_-·~ .... ~.•.~_.'-:-~"",~.:_.,.-_. .<;...... ·••",......... --;·v .... _ . .,..... -.~.... .. ,.L1"":"':·....~--~~:--:-··~-~ ..·"""""':'.-:-------:~7~~~1.;-.- " -:':~:~ --;,~
 &

..

3E1,1 3EIz1
ro = ces 2 a2 + ces.2 a8
;, 1,2 1:;:::: 'J2 1 , 2 122

3E1,1 3E121
n = ---------- ces a, ces j3, + ---------- ces a, ces j3,
11' 1,~ 122 12 1,2 12 2

3E1,1 38121
e = ---------- ces a, ces ~, + ---------- ces a, ces '11
1, 1,2 122 12 1, 2 12 2

3E1,1 3Eb1
P = ---------- ces.2 j3, + ---------- ces2 j3,
1, 1,:2 1:;:2 ;2 1,2 b: 2

3E1,1 3E121
q = ----------2 ces ~1 ces 'i, + ---------- ces j3, ces 't,
~, 1,2 12 '2 1,2 122

3E1,1 3E121
r = cas2 'tl + ces.2 'i,
;, 1,::;: 1:;:2 ;2 1,2 122

C.- STRESS ANALYS1S.- Frem stlffness equatien in 1eca1 ceerdinates:

E.A E.A
N, = ----- u, Ji:¡: = ----- U2
1, 12

3.8.1,.1 3.E.b.1
p, = ---------- P2 = ----------
~, 1,2.1 2 :2 ;2 1 , 2 .12 2

Being

u, = -x, ces a, - y, ces j3, - z, ces 'il + X2 ces a, + Y2 ces j3, + Z2 ces 'i,

U2 = -X:;: ces a, - y:;: cas j3, - Z:2 cas 1, + X8 cas a, + Y8 cas t3, + Z8 ces 'i,

v = -x, <1:;:/1) ces a:;: - y, (1211) cas 132 - z, <12/1> ces 'h + X2 ces a2 +
Y2 cas j32 + Z2 ces 'i2 - X3(1,/1)ces a2 - Y3(1,/l)ces j32- z3<l,/1)ces 'i2

w = -x, (1211) ces 0:3 - y, (1211) cas ~s - z, (12/1) cas 'i3 + x:;: cas a3 .;
Y2 ces j33 + Z;z ces 'is - x3(1,/1)cas a3 - Y3(1,/l)ces j33- z3(l,/1)cas 'i3

Bending mements
P, 1, 12 N, 1 2 lb 1,
M., = -------- - ----- ó, - ----- Ó,
1 "1 1

: . " P2 1, 1:;: N, 12 lb 1,
~
I
M2 = -------- - ---7- Ó2 - ----- Ó2
1 1 1

:- ,. -~----.-'''"7,.. ....-,....... ...-------." ..r.-:..

:.-::~'_ ~~~~ -~ 7!'.-......-::-:-::-:;.. :~ •.-: .,,"To#-:.:'--:_+IV; ... ~.~-.. ~·:"':7~.r-:.;-:-_'r~-"'·"· :.- -~. #~
 •
:>

Shear stresses

p, 12 N,-8 2 P2 12 8,-82
V,,= ----- + ----- O, V2'= ----- + ----- 02
1 1 1 1

P, 1, 11', -82 P2 1, B,-82

V'2= ----- - ----- o, V22 = ----- - ----- 02
1 1 1 1

CALCULUS OF STABILITY FUICTIOIS.

The process of ca1culus above explained needs the formulation of

stability functions because the effect of inner articulation makes that, in
general, axial forces are different in two spans. The way chosen is the
integration of differential equations of bar in two spans and apply the
boundary conditlons. Axial forces can be compression, traction or null. By
comblnation of two forces there are five differents cases.

a.- N, <O N2 <O

We suppose the bar in deflected position <fig 4).

1, -_._-.__.__=_:::~_=._~.

L/l --;i;¡
...
• 1,
_=-:_._

N'''~
t~~ J:7 fh,li1-ék~
.Eh. + N2-N, á ----- . I l
I I N2 _ NI

Figure 4

being
N,-lb N,-N2
q, = q2 =
x, N2
Bending moments in both spans are

P 12 N,-N2
M:, = ------ x + ó x + B, y
1 1

PI, 8,-82
M:2 = ------ <l-x) + ------- Ó <l-x) + N2 y
1 1

:'.~, _~,..,..,
.... - -'~l .~'~~":;7t""~"'?~."""""'::'~.~':..rl"""'.'~ ....-r--~.-.~--
• .. -,' _ ~ --: - ...,...-, •• ;~>:-~ ~. "-.~.~ , - _""'r>'''_'~~:_'''' .... ••., ~.-u-, .---- ~-~.--- - -.' .-:- r: ~;;.""~':-;r'"".,-;. - ~", o:. ~.
•
o

solvig different1al equations and roaking

IN, I Ilbl
p,~ = pZ2 =
El El

and with the boundary conditions

x =O y =O
x =1 Y= O
x = 1, y, = ó
x = 1, yz =Ó
dy, dY2
x = 11 =
dx dx

we can obtain

1 1 1 1
( ----- + ----- ) - ---------- - ----------
Pl,2l z 2 p,2l, p2 2 l2
p, tg p,l, P2 tg p2 l2
Ó = -------- 3 ---------------------------------------------------------
31 El p, P2
1,12 [ (l-q ,1,) + (1+q 2 12) + <q,-q2)]
tg p,l, tg p2h

Deflection in lineal calculus 1s

Pl,21 2 2
v =
31 El

we can see that in non lineal calcu1us

Pl,2l z 2
Ó = v.; = -------- ;
31 El

Being ; the stability function

"
1 1 1 1
( ----- + ----- ) - ---------- - ----------
p,2l, P22 12 p, tg p, 1, P2 tg p2b
I = 3 ---------------------------------------------------------
p, P2
1,12 [ <l-q, 1,) + (1+q212) + <q,-q2)]
tg p,l, tg p2h

~ . _._.. . . . 4"'_~_ +- "1',." --" .... ~~. ...."..-...

I~-'I""""'-'r- _:::~"'~~~.r-~ :.~." ....
 •
ti

•
~ b. - N, ) O N:<: ) O
·•
1 1 1 1
- ( ----- + ----- ) + ---------- + ----------
p,21, p2 2 12 p, th p,1, P2 th p212
; = 3 ---------------------------------------------------------
PI P2
111 2 [ ------- (1-ql11) + ------- <l+q2b) + <ql-q2»)
th p,l, th p2b

c. - N, <O N:<: ) O

1 1 1 1
( ----- - ----- ) - ---------- + ----------
p,21, p2 2 12 PI tg PI 1, P2 th p2b
1 = 3 ---------------------------------------------------------
p, P2
1,12 l (l-ql1,) + (1+q212) + (q,-q2»)
tg pl1, th p2b

d.- N, <O N2 =O
3 3
- ---------- + 1 2
p,:21, p, tg P,11
; =
p, 12 1 1 p,="h: 2
1,1 2 + --- + ---- - --------
tg p,l, 1 1 12 3 1

e.- N, ) O lh =O
3 3
- ----- + ---------- + 1 2
p,21, p, tg pd,
; =
p, 1, 1 1 p,212 2
1,12 [ ------- + --- + + --------
tg p,11 1 1 12 3 1

. '
BEHAVIOUR OF STABILITY FUNCTIO~S .

For the study oí the behaviour oi stabili ty functions we take a

reference in the critical load R' oí bar with the sama axial force in bot~
spans.

1'(2. E. 1
}J' = ------
12

.l;

-,'-- ---'''- -:; .... .;.,.. ,,-

 ~

"

In fig 5 we can observe the behaviour oí several stability functions

for different relationship of lengh in both spans.

-\.S

-1.1
... 1
.... 1
,
~
... " ,'':J'>
......... ..." I

.. ..
.... 1 , ...,.....,.",>'" -la-. .'"'
.1 )' -.1
...., ,, .... S·l
. '"');:" __ ¡.J
.1
.. \..
,::'
..T
o!···1

\.1 ,1.1
FunclonG& utcbllldcxlt 11- I l2- 1 \.S t.,'

....

,<::
<. <.<:):=.
... . \L~
.,.! )(-<.. ,.,:-
.c.. ,,0( ......
.,,< ..("...... '> ....... l~
~"'''''''>~<'''''''''''-:''''''''v>'''
-t.I
«~<.:<, 'J....<;~
.... '" ....... >......" ....
-u
..... l
"'_', _','
........ ~""',< .,... .... ~'.., _\.,
~.•
..... , '>', J _\.,
...1 , ....., , : : - . . ; . -.1
....S '<.' ....: ' , . , ' " •. ;.T
-.S ... , ' ...., , ; ... ,,"""" _•••• 1
',<
'~,
.1 .1
•• .1
., '.... .S
.7 ........ -< ".l
.• ',< r)
La ........... l0
1.1 L5 l.J
FLK1CIOflQIt ..tcbllldado 11- I l2.3

Figure 5

EXAMPLES.- From the corresponding analytlcal program, we have studied

several kinds of curved expandable space grids, with the following results.

.'

.,. ~~ C~-:-:---"'~~~.,· ---'.~'': , ....... ~l!''"':'"' .....,

 o

CYLINDRICAL TVlD-IiAY GRIDS. <Fig 6). - 10 achieve angular stiffness, cable

were diagonaly placed to improve the behaviour of textil cover. Most part
oí them are compressed and are not 'necessary except as stirfers. The better
behaviour is for the grids fixed at boundary or with stiffers connecting
boundary joints of two 1ayers.
_. ! '
0., •

t
2m

r
"

';" .0 9.82 m

,
.' '
"
' 1
11=14= 2,73 m
I
j 12=13= 2,45 m i q= 50 kg/mr
15m

LINEAR CALCULUS. <Lower boundary joints are fixed). 4 iterations.

Dma,,: = 30,5 cm P = 4939,9 kg

NON-LINEAR CALCULUS. 2 iterations.

Omax = 31, O cm P = 4967,9 kg

NON-LINEAR CALCULUS <great def1ections):

7~h iteration 60 max = 1,75 cm P = 4967,9 kg

Stresses in bars.

I I I
Bar I O' (linear) I O' <non-linear) M <great defl.)
I I
I I
6 I 1866,8 I 1896,2 231,6
I
I
46 I 1980,9 I 2011,5 113,2
I
I
80 I 2380,4 I 2415,4 68,0
I I
I I
114 I 2477.9 I 2501,7 66,5

I
.!
-,
-~~.~_,_ .. ,".--,--_ "C_'---:--~_-:-_''''_'''~'" ."l".c.-'""':-' • ..,. ~ •• ~ -- -"-.~ '-e- .-- _ ..,
 !'l

CILINDRICAL THREE-WAY GRIDS. <Fig 7>. - Calculus oí these structures have

special characteristics as impose initial bending in several bars íor
geometric compat1bility during the expansiono Structural behaviour 1s very
good but their weight is relativily high.

" .. 11=Lt= 1,05 m

12=1 3 = 0,95 m
0:= 12,5"
r= 4 m : h= 2 ro
q= 50 kg/JIt'Z
..
.. '

• 't.

LINEAR CALCULUS. <Lower boundary joints are fixed>. 5 iterations.

Omax = 9,96 cm P = 843,03 kg.

NON-LINEAR CALCULUS. 2 iterations.

o",.x = 1O, 1 cm P = 843,03 kg

NON-LINEAR CALCULUS <great deflectians>;

8~h iteración 6om~x = 0,071 cm P = 8-43,03 kg

stresses in bars.

I I I
Bar I O' <linear) I O' <non-linear> I M <great defl. >
I
I
11 I 1314,9 1 1317,2 I 12,1
!
I
41 I 545,3 897,8 1 13,2
I
I
68 I 652,1 656,2 I 8,7
I
I
""
!
93 I 1879,0 1892,5 I 6,5

:.1

. '~j

.,
;:'.'
".l
" j
 n

SPHERICAL TWO-WAY GRIDS WITH BUNDLE MODULUS <F1g. 8),- Is a very

1nterest1ng application to cover great areas. Structural behaviour 1s good
if boundary jo1nts are f1xed.

" '(

~I 12.95 m

11=1,751 mi 12=1,713 m
13=1,713 mi 14=1,751 m
q= 50 kg/m2 a = 4º
LINEAR CALCULUS, <Lower boundary joints are fixed). 9 iterations.

6 msx = 9,28 cm P = 788,9 kg

NON-LINEAR CALCULUS. 3 iterations.

Ó O's >.: = 9.60 cm P = 788,9 kg

NON-LINEAR CALCULUS <great deflections):

13~h iteración 6ó m ax = 0,0228 cm

Stresses in bars.

Bar O' <linear) O' (non-11 near) 60' <great defl.)

2 1061,4 1087,4 4.9

12 1041,8 1084,2 16,6

. 22 372,2 417,3 14,4

32 1090,9 1009,2 1,0

",~
 "

SPHERICAL THREE-WAY GRIDS VIT» SCISSOR MODULUS (F1g 9).- In these

structures 1t 15 only poss1ble to guarantee tbe compatibility oí geometry
in tolded and unfalded posit1ons. Tbe structure goes through 1ntermediate
stages in which i t has to be forced with an energy input. lf it 1s
coropletely deployed has a very good structural behaviour, specially if tbe
lower jaints of boundary are fixed.

I
I
I
I
I

_._~._.-
I - - - - --- I
'-'-30m
I

q= 50 kg/nt2
d= 30 m

LINEAR CALCULUS. (Lower boundary joints are fixed). 4 iterations.

0,,, ... ><: = 2,59 cm P = 1743,8 kg

NON-LINEAR CALCULUS. 3 1terations.

Om&><: = 3,07 cm P = 1743,8 kg

NON-LINEAR CALCULUS (great deflections):

'8~n 1teration: 60 mb "" = 0,044 cm

\_..:.- _... _- __ ._-.._.. = ,~,,_~.,,"""""9 , _... .. ,_..._..........

~ ... ;•.-.-..... ... ~ - 't", '.'- - • .
~_·1';"·."":·n-~~_""'"'T'ó:.-"f' ~"!o",\,,,,,,~,-~........ , -';:",,: ... ~.-- ~~= "l ....... _.~::':. "_-.._r --.~r"':··"":",,·"'··"··- ~ -- -.- ,--""",-",
'!'l

Stresses in bars.

I I
Bar I ()' <linear) I ()' (non-linear) I ~()'{great defl.)
I
1
2 I 160,7 I 161,5 I 6,3
I I
I I
13 I 394,1 I 410,7 I 19,3
I I I
1 I
17 I 425,1 507,1 I 15,3
I
I
49 I 846,2 936,2 I 36,2
I
I
76 I 103,0 139,5 38,3

109 I 779,3 811,6 27,5

137 1 927,0 I 901,8 23,6

1
I
184 I 2565,5 I 2522,1 113,8

REFERENCES.

(1)- P. Pifíero E."Estructures reticulées". L'Architecture d'Aujourd'hui.

Vol 141. Dec. 1968. pp. 76-81

(2)- Escrig F. y P.Valcárcel J."lntroducción a la geometría de las estruc-

turas espaciales desplegables de barras". Boletín Académico de la ETSA de La
Corufía. NQ 3. íeb 1986.

(3)- Escrig F. y P.Valcárcel J. "Analysis oí Expandable Space Bar Structu-

res". lnt. Symposium on Kembrane Structures and Space Frames. lASS. Osaka
1986,

(4)- Escrig F. y P. Valcárcel J. "Great Size Umbrellas solved w1th Expanda-

.ble Bar Structures". First International Conference on Lightweight
Structures in Architecture. Sydney 1986.

(5)- P.Valcárcel J. y Escrig F. "Bases para el cálculo no lineal de estruc-

turas espaciales". Boletín Académico de la E.T.S.A. de La Coruna. NQ 7. sep
1987.

(6)- Escrig F. y P.Valcárcel J. "Curved Expandable Space Grids". Non-

Conventional Structures '87. Londres 1987.

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.\
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JOSS-¡:°S
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........ -
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J ,... ..... . .'
,,'
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r\ 'o o
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:.: .
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