Methods and apparatuses for multiple degree-of-freedom
fatigue testing of a specimen. The apparatus includes a first platform, a second platform, a plurality of
actuator assemblies, a
load cell, a mounting plate, a specimen support, a direct-
strain imaging system, and a local sense and
control system. Each
actuator assembly includes a
servo-control, a position
encoder, and a
piston that is constructed to move in a linear direction in accordance with the
servo-control. Each
piston is rotatably connected to the second platform. The
load cell is connected to the second platform and constructed to output force measurements in three orthogonal directions and torque measurements about the three orthogonal directions. The mounting plate is constructed to hold a portion a specimen. The specimen support is constructed to hold another portion of the specimen. The direct-strain-imaging
system includes a camera that is constructed to
record a plurality of images of the specimen during
fatigue testing. The local sense and
control system constructed to receive: a loading specification, the force measurements and torque measurements from the
load cell, and position information from each position
encoder, and output control commands to each
servo-control of the plurality of
actuator assemblies based on the received loading specification. The control commands are updated in time in accordance with the position information from each position
encoder and the force measurements and torque measurements from the load
cell.