/g120/g39/g68/g80/g83/g72/g85/g3/g39/g72/g68/g71/g69/g68/g81/g71/g29 The dampers have a deadband, which is a span of a few degrees of rotation  where there is no damping. Once the damper rotates past the deadband angle, damping suddenly  comes into play. Some of the deadband is due to mechanical play in the damper attachment to the hinge while the rest is internal to the damper. Below the deadband angle, damping was simply switched off in the ADAMS model. Note that the deadband of the elbow damper and that of the shoulder damper were not the same. /g120/g54/g92/g81/g70/g3 /g38/g68/g69/g79/g72/g3 /g38/g82/g80/g83/g79/g76/g68/g81/g70/g72/g29 Based on bench test data of a flight-like cable and tensioner, the  compliance of the sync cable was incorporated into the ADAMS model. It was added as a non-linear  /g86/g83/g85/g76/g81/g74/g3/g73/g88/g81/g70/g87/g76/g82/g81/g3/g68/g83/g83/g79/g76/g72/g71/g3/g87/g82/g3/g87/g75/g72/g3/g72/g79/g69/g82/g90/g3/g75/g76/g81/g74/g72/g3/g87/g75/g68/g87/g3/g90/g68/g86/g3/g87/g75/g72/g3/g507/g3/g73/g88/g81/g70/g87/g76/g82/g81/g3/g83/g85/g72/g89/g76/g82/g88/g86/g79/g92/g3/g71/g76/g86/g70/g88/g86/g86/g72/g71/g17/g3/g36/g3/g83/g82/g86/g76/g87/g76/g89/g72/g3/g507/g3indicates the elbow is leading the shoulder and an internal resistive torque would be applied to the /g72/g79/g69/g82/g90/g3/g69/g92/g3/g87/g75/g72/g3/g80/g82/g71/g72/g79/g17/g3/g36/g3/g81/g72/g74/g68/g87/g76/g89/g72/g3/g507/g3/g76/g81/g71/g76/g70/g68/g87/g72/g86/g3/g87/g75/g72/g3/g72/g79/g69/g82/g90/g3/g76/g86/g3/g87/g85/g68/g76/g79/g76/g81/g74/g3/g87/g75/g72/g3/g86/g75/g82/g88/g79/g71/g72/g85/g3/g68/g81/g71/g3/g68/g81/g3/g76/g81/g87/g72/g85/g81/g68/g79/g3/g68/g86/g86/g76/g86/g87/g76/g89/g72/g3/g87/g82/g85/g84/g88/g72/g3 /g90/g82/g88/g79/g71/g3 /g69/g72/g3 /g68/g83/g83/g79/g76/g72/g71/g3 /g87/g82/g3 /g87/g75/g72/g3 /g72/g79/g69/g82/g90/g17/g3 /g47/g68/g85/g74/g72/g85/g3 /g80/g68/g74/g81/g76/g87/g88/g71/g72/g3 /g507/g182/g86/g3 /g90/g82/g88/g79/g71/g3 /g85/g72/g86/g88/g79/g87 in greater internal elbow  torque magnitudes applied by the spring-/g79/g76/g78/g72/g3 /g80/g82/g71/g72/g79/g17/g3 /g58/g75/g72/g81/g72/g89/g72/g85/g3 /g87/g75/g72/g3 /g507/g3 /g90/g68/g86/g3 /g93/g72/g85/g82/g15/g3 /g87/g75/g72/g3 /g75/g76/g81/g74/g72/g86/g3 /g68/g85/g72/g3/g86/g92/g81/g70/g75/g85/g82/g81/g76/g93/g72/g71/g3/g68/g81/g71/g3/g81/g82/g3/g76/g81/g87/g72/g85/g81/g68/g79/g3/g87/g82/g85/g84/g88/g72/g3/g90/g82/g88/g79/g71/g3/g69/g72/g3/g68/g83/g83/g79/g76/g72/g71/g3/g87/g82/g3/g87/g75/g72/g3/g72/g79/g69/g82/g90/g3/g69/g92/g3/g87/g75/g72/g3/g80/g82/g71/g72/g79/g17/g3/g36/g81/g3/g72/g91/g68/g80/g83/g79/g72/g3/g82/g73/g3/g87/g75/g72/g3/g507/g3is plotted as elbow angle delta in Figure 5. A mathematical construct known as a “coupler” in ADAMS was used to tie the elbow hinge to the shoulder hinge with a 2:1 ratio. The compliance torque function was serially applied at the elbow end of this coupler to simulate the compliance in the sync cable system. /g120/g56/g86/g72/g3/g82/g73/g3/g48/g72/g68/g86/g88/g85/g72/g71/g3/g48/g68/g86/g86/g72/g86/g29  Actual measured masses were used for the booms, gimbal, and antenna. The mass used for HGAS harnesses were from the flight spares. Blanket and instrumentation  masses are approximated. Center of gravity (CG) locations were not known for the flight  subassemblies so the ADAMS model CG locations were matched to that of the CAD model. /g120/g57/g68/g85/g76/g68/g69/g79/g72/g3/g43/g68/g85/g81/g72/g86/g86/g3/g55/g82/g85/g84/g88/g72/g29 The HGAS harness torque as a function of angle imparted at each hinge  was measured on the qualification unit at various temperatures. That data was incorporated into the  ADAMS model. /g120/g41/g79/g72/g91/g76/g69/g79/g72/g3/g37/g82/g71/g92/g3/g54/g87/g85/g88/g70/g87/g88/g85/g72/g86 : Both booms, the lower actuator bracket, middle linkage bracket, and the  antenna bracket were modeled as flexible elements. ADAMS uses Timoshenko beam relations for  such structures.  /g120/g47/g53/g48/g3/g54/g83/g85/g76/g81/g74/g3/g40/g81/g72/g85/g74/g92/g29 The LRM retractor springs were assumed to be 90% efficient in terms of the  energy they would deliver to the retractors when fired. The design value for the preload and stiffness  was used for each retractor spring. /g120/g41/g85/g76/g70/g87/g76/g82/g81 : Frictions in hinges, deployment springs, dampers, and cable pulleys were not load or rotation  angle dependent. For these frictions, maximum expected vendor values were used. /g120/g46/g76/g70/g78/g16/g82/g73/g73/g3/g54/g83/g85/g76/g81/g74/g86/g3/g68/g87/g3/g47/g53/g48/g86/g29 The kick-off springs at LRM B and LRM C are included in the model as  preloaded linear springs. The ADAMS model could be run either as an on-orbit model or as a ground test model (“g-negated”).  Starting with the g-negated model, the ADAMS model could be easily converted to the on-orbit model by  turning off gravity and disabling all the g-negating components of the model and vice-versa. The model was calibrated using the results of g-negated ground tests. As the model evolved and more gnegated tests were performed, the model’s calibration was iteratively tuned. The target for calibration was  deployment time and damper deadband performance. The adjustments made to the model during  calibration were to the hinge deadband angles and g-negation system stow bias. On plots of hinge angles vs. time for ground tests, one can pick out the deadband angle of the particular  dampers as there is an inflection point in the slope of the curve. The slope changes sign as the dampers  activate outside their deadband angle. These characteristic inflection points are noted in Figure 6. Once  the deadband angle was picked off the graph, that angle could be incorporated into the model. The model simulation would then be repeated to ensure that the inflection points occurred at approximately the same angle as seen in the test data. 51