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120 Joint articulation actuator length ratio allowable tip velocities Analysis articulated-truss joint concepts Articulating joint batten plane depth Beam root Bending mode bending stiffness central batten plane crane articulated-truss joint Critically loaded member deflection for joint deg Figure emergency stop scenario finite element model frequencies for point geometric design parameters hinge axis A-A hinged node joint articulation angle joint configurations joint hinge axis joint length Langley Research Center lateral deflection length ratio required longerons maximum allowable tip Maximum tip velocity midspan mode 2 Second mode T Torsional NASA natural frequencies NUMBER Point Designs Selection positive articulation limit root J Articulating rotation and lateral scenario point design Second mode shown in figure space crane articulated-truss stop scenario point structural performance three point designs Three Space Crane three-longeron truss bays tip mass Torsional mode trunnion node truss booms truss member X-axis tip rotation Z-axis tip deflection