Modification of Algorithms for Determination of Dynamic Load Carrying Capacity in Flexible Joint Robots

2006 ◽  
Author(s):  
M. H. Korayem ◽  
A. Pilechian
Keyword(s):  
Dynamic Load ◽  
Carrying Capacity ◽  
Load Carrying Capacity ◽  
Flexible Joint ◽  
Flexible Joint Robots ◽  
Load Carrying

scholarly journals Determination of Load-Carrying Capacity of C-Profile Glued Ti-Al Column under Temperature Environment

Materials ◽  
2021 ◽  
Vol 14 (11) ◽  
pp. 3013
Author(s):  
Leszek Czechowski
Keyword(s):  
Carrying Capacity ◽  
Tensile Tests ◽  
Discrete Models ◽  
Image Correlation ◽  
Load Carrying Capacity ◽  
Lagrange Equations ◽  
Load Carrying ◽  
Different Temperatures ◽  
Influence Of Temperature On

The paper deals with an examination of the behaviour of glued Ti-Al column under compression at elevated temperature. The tests of compressed columns with initial load were performed at different temperatures to obtain their characteristics and the load-carrying capacity. The deformations of columns during tests were registered by employing non-contact Digital Image Correlation Aramis® System. The numerical computations based on finite element method by using two different discrete models were carried out to validate the empirical results. To solve the problems, true stress-logarithmic strain curves of one-directional tensile tests dependent on temperature both for considered metals and glue were implemented to software. Numerical estimations based on Green–Lagrange equations for large deflections and strains were conducted. The paper reveals the influence of temperature on the behaviour of compressed C-profile Ti-Al columns. It was verified how the load-carrying capacity of glued bi-metal column decreases with an increase in the temperature increment. The achieved maximum loads at temperature 200 °C dropped by 2.5 times related to maximum loads at ambient temperature.

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.

STABILITY PROBLEMS OF STEEL‐CONCRETE MEMBERS COMPOSED OF HIGH‐STRENGTH MATERIALS

2010 ◽  
Vol 16 (3) ◽  
pp. 352-362 ◽  
Author(s):  
Zdeněk Kala ◽  
Libor Puklický ◽  
Abayomi Omishore ◽  
Marcela Karmazínová ◽  
Jindřich Melcher
Keyword(s):  
Theoretical Analysis ◽  
Experimental Research ◽  
Carrying Capacity ◽  
High Strength ◽  
Statistical Characteristics ◽  
Load Carrying Capacity ◽  
Limit States ◽  
Load Carrying ◽  
Geometrical Imperfections

The presented paper deals with the stochastic analysis of the ultimate limit states of steel‐concrete building members. The load carrying capacity of steel‐concrete columns, comprising of steel profiles encased in high strength concrete, in compression is analyzed. The first part of the paper lists assumptions for the determination of the theoretical load carrying capacity of the column. Principles of elasticity and plasticity are used to determine stresses in the concrete and steel sections. Statistical characteristics of input material and geometrical imperfections are listed. Results of the theoretical analysis are then compared with results of experimental research. Statistical characteristics of obtained results of the theoretical analysis were verified using statistical characteristics obtained from experimental research. Numerical simulation LHS and Monte Carlo methods, which take into account the influences of variability of input imperfections, were employed. The influence of the utilization of the plastic reserve in the determination of the load carrying capacity of the analysed strut is shown. The influence of the initial geometric imperfections of initial strut curvature on the load carrying capacity is also presented. Santrauka Straipsnyje pateikta plienbetonio pastatu elementu didžiausiu ribiniu būkliu stochastine analize, analizuojama plienbetonio kolonu, sudarytu iš plieniniu profiliuočiu, padengtu didelio stiprio betonu, laikomoji galia gniuždant. Pirmoje straipsnio dalyje išvardytos kolonos teorines laikomosios galios nustatymo prielaidos. Tamprumo ir plastiškumo principai taikyti itempiams betono ir plieno skerspjūviuose nustatyti. Nustatytos medžiagu ir geometriniu defektu statistines charakteristikos, teorines analizes rezultatai palyginti su eksperimentiniu tyrimu rezultatais. Teorines analizes metu gautu rezultatu statistines charakteristikos patikrintos taikant iš eksperimentiniu tyrimu gautus statistinius rodiklius. Pritaikytas skaitinis modeliavimas LHS ir Monte Karlo metodais, kurie ivertina pradiniu defektu kintamumo itaka. Parodyta plastiškumo atsargos naudojimo itaka, nustatant analizuojamojo statramsčio laikomaja galia, pateikta pradinio statramsčio išlinkio pirminiu geometriniu defektu itaka laikomajai galiai.

Mechanical properties of confirmat screws corner joints made of native wood and wood-based composites

2019 ◽  
Vol 105 ◽  
pp. 76-84
Author(s):  
NADEŽDA LANGOVÁ ◽  
PAVOL JOŠČÁK
Keyword(s):  
Mechanical Properties ◽  
Carrying Capacity ◽  
Limit State ◽  
Calculated Data ◽  
Statistical Processing ◽  
Load Carrying Capacity ◽  
Load Carrying ◽  
Characteristic Values ◽  
State Method

Mechanical Properties of Confirmat Screws Corner Joints Made of Native Wood and Wood-Based Composites. The aim of this investigation was to design and determine the mechanical properties of confirmat screws corner joints made of native wood and wood-based composites. The objective of the study was to ascertain the stiffness and load carrying capacity of joints that differed in the diameter and length of confirmat type screw, as well as in the kind of materials. The results include statistical processing of measured and calculated data, and evaluation of the influence of selected factors on mechanical properties. The results are applied to the calculation of the characteristic values of the properties and to the determination of the equations for their calculation for other values of the selected factors. The characteristic values are used for the evaluation of the joints according to the limit state method.

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.

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