Theoretical and experimental study of dynamic load-carrying capacity for flexible robotic arms in point-to-point motion

2017 ◽  
Vol 38 (6) ◽  
pp. 963-972 ◽  
Author(s):  
A. M. Shafei ◽  
M. H. Korayem
Keyword(s):  
Experimental Study ◽  
Dynamic Load ◽  
Carrying Capacity ◽  
Load Carrying Capacity ◽  
Robotic Arms ◽  
Load Carrying ◽  
Point Motion ◽  
Point To Point

Evaluation of Dynamic Load-Carrying Capacity for Free-Floating Space Manipulators

2015 ◽  
Vol 713-715 ◽  
pp. 795-799 ◽  
Author(s):  
Yong Liu ◽  
Qing Xuan Jia ◽  
Gang Chen ◽  
Han Xu Sun ◽  
Jun Jie Peng
Keyword(s):  
Dynamic Load ◽  
Carrying Capacity ◽  
Function Method ◽  
Feasible Region ◽  
Penalty Function Method ◽  
Load Carrying Capacity ◽  
One Dimensional ◽  
Space Manipulators ◽  
Load Carrying ◽  
Point To Point

Two kinds of dynamic load-carrying capacity (DLCC) evaluation methods for free-floating space manipulators (FFSM) in two typical on-orbit operating missions are proposed in this paper. DLCC evaluation is transformed into nonlinear programming problem (NPP) by introducing load-carrying coefficient to measure DLCC: in point-to-point task, penalty function method is adopted to approach the boundary of feasible region rapidly, then DLCC can be obtained through following iterations; in trajectory tracking task, NPP is solved by using multiple one-dimensional search, the dynamic load-carrying coefficient in discontinuous feasible region can be quickly solved through adjusting the searching boundary constantly. The effectiveness of the mentioned methods is verified by simulations.

scholarly journals A New Methodology for Solving Trajectory Planning and Dynamic Load-Carrying Capacity of a Robot Manipulator

2016 ◽  
Vol 2016 ◽  
pp. 1-28 ◽  
Author(s):  
Wanjin Guo ◽  
Ruifeng Li ◽  
Chuqing Cao ◽  
Xunwei Tong ◽  
Yunfeng Gao
Keyword(s):  
Trajectory Planning ◽  
Dynamic Load ◽  
Carrying Capacity ◽  
Robot Manipulator ◽  
Time Interval ◽  
Planning Problem ◽  
Load Carrying Capacity ◽  
Objective Functions ◽  
Decision Variables ◽  
Load Carrying

A new methodology using a direct method for obtaining the best found trajectory planning and maximum dynamic load-carrying capacity (DLCC) is presented for a 5-degree of freedom (DOF) hybrid robot manipulator. A nonlinear constrained multiobjective optimization problem is formulated with four objective functions, namely, travel time, total energy involved in the motion, joint jerks, and joint acceleration. The vector of decision variables is defined by the sequence of the time-interval lengths associated with each two consecutive via-points on the desired trajectory of the 5-DOF robot generalized coordinates. Then this vector of decision variables is computed in order to minimize the cost function (which is the weighted sum of these four objective functions) subject to constraints on joint positions, velocities, acceleration, jerks, forces/torques, and payload mass. Two separate approaches are proposed to deal with the trajectory planning problem and the maximum DLCC calculation for the 5-DOF robot manipulator using an evolutionary optimization technique. The adopted evolutionary algorithm is the elitist nondominated sorting genetic algorithm (NSGA-II). A numerical application is performed for obtaining best found solutions of trajectory planning and maximum DLCC calculation for the 5-DOF hybrid robot manipulator.

A study into the ability of SPD to restore the buckling strength and modes of rib stiffened panels with simulated stress corrosion cracks

2017 ◽  
Vol 8 (1) ◽  
pp. 63-78 ◽  
Author(s):  
Rhys Jones ◽  
Neil Matthews ◽  
Daren Peng ◽  
Nicholas Orchowski
Keyword(s):  
Experimental Study ◽  
Stress Corrosion ◽  
Carrying Capacity ◽  
Particle Deposition ◽  
Load Carrying Capacity ◽  
Load Path ◽  
Premature Failure ◽  
Content Type ◽  
Buckling Strength ◽  
Load Carrying

Purpose The purpose of this paper is to describe the results of a combined numerical and experimental study into the ability of supersonic particle deposition (SPD) to restore the load carrying capacity of rib stiffened wing planks with simulated stress corrosion cracking (SCC). Design/methodology/approach In this context the experimental results reveal that SCC can result in a dramatic reduction in the load carrying capacity of the structure and catastrophic failure via cracking that tears the length of the structure through buckling. A combined numerical and experimental study then reveals how this reduction, in the load carrying capacity can be overcome by using SPD. Findings This paper is the first to show that SPD can be used to restore the load carrying capacity of rib stiffened structures with SCC. It also shows that SPD repairs can be designed to have only a minimal effect on the local stiffness and hence on the load path. However, care should be taken to ensure that the design is such that premature failure of the SPD does not occur. Originality/value This is the first paper to show that a thin layer of SPD deposited 7,075 aluminium alloy powder on either side of the SCC-simulated stiffener has the potential to restore the load carrying capability of a rib stiffened structure. As such it represents an important first step into establishing the potential for SPD to restore the buckling strength of rib stiffened wing panels containing SCC.

Shape Optimization of Robotic Manipulators for Maximum Stiffness and Load Carrying Capacity

1989 ◽  
Author(s):  
S. Lamancusa ◽  
D. A. Saravanos ◽  
H. J. Sommer
Keyword(s):  
Carrying Capacity ◽  
Robotic Manipulators ◽  
Performance Criteria ◽  
Geometrical Shape ◽  
Load Carrying Capacity ◽  
Robotic Arms ◽  
Specific Strength ◽  
Specific Stiffness ◽  
Maximum Stiffness ◽  
Load Carrying

Abstract Structural optimization can result in robotic arms with significantly improved stiffness and load carrying capacity. The geometrical shape of the manipulator links can be optimized for maximum stiffness-to-weight and strength-to-weight ratios. The problem of stiffening and strengthening a manipulator is solved by optimal redistribution of the available material without increasing the total mass of the manipulator. Since manipulators are programmed to move through a range of postures, thereby creating different loading conditions on the links, a multi-posture design criteria is implemented to provide a more uniform stiffness and strength over the range of possible postures. Finite element based performance criteria are developed which facilitate the simultaneous maximization of specific stiffness and strength. Three application examples on a SCARA class arm illustrate the dramatic potential for simultaneous improvements in specific stiffness and specific strength. The significance of multiple postures on the optimal design, the merits of tapered versus straight link shapes, and the relation of maximum stiffness to maximum strength, are also examined.

Experimental Study for Single-Angle Beam-Column Members Attached by one Leg

2010 ◽  
Vol 163-167 ◽  
pp. 433-438
Author(s):  
Xian Lei Cao ◽  
Ji Ping Hao ◽  
Chun Lei Fan
Keyword(s):  
Experimental Study ◽  
Finite Element ◽  
Carrying Capacity ◽  
Model Experiment ◽  
Ultimate Load ◽  
High Strength ◽  
Load Carrying Capacity ◽  
Compression Members ◽  
Load Carrying ◽  
Ultimate Load Carrying Capacity

To obtain a better understanding of the behavior and load-carrying capacity of Q460 high-strength single-angle compression members bolted by one leg, using static loading way to 48 angles carried out experimental study. The experiments show test specimens produce biaxial bending, most small slenderness ratio members are controlled by local buckling, and slender specimens are controlled by overall buckling. In addition to these factors in model experiment, influences of residual stresses on ultimate load-carrying capacity were analyzed by finite element numerical simulation analysis, the results show the residual stresses affect the ultimate load-carrying capacity of angles by about 5％ or less. Comparison of the load-carrying capacity of experimental and theoretical results indicate the difference of experimental and finite element values ranges from -9.99％ to +9.76％, American Design of Latticed Steel Transmission Structure (ASCE10-1997) and Chinese Code for Design of Steel Structures (GB50017-2003) underestimate separately the experimental load-carrying capacity by about 2.34％～33.93％ and 1.18％～63.3％, and the agreement is somewhat good between experimental program and the finite element analysis. Based on model experiment and simulated experiment, the formula of stability coefficient of single-angle compression members was established. It provides basic data for spreading Q460 high-strength single-angles members attached by one leg.

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