Compensating the flexibility uncertainties of a cable suspended robot using SMC approach

Robotica ◽  
2014 ◽  
Vol 33 (3) ◽  
pp. 578-598 ◽  
Author(s):  
M. H. Korayem ◽  
M. Taherifar ◽  
H. Tourajizadeh
Keyword(s):  
Sliding Mode ◽  
Longitudinal Vibration ◽  
Experimental Tests ◽  
Sliding Mode Controller ◽  
Parametric Uncertainties ◽  
Load Carrying Capacity ◽  
Load Carrying ◽  
Varying Length ◽  
The Impact ◽  
Positive Effect

SUMMARYA sliding mode controller is designed to compensate for the flexibility uncertainties of a cable robot and improve its tracking performance. Of the most significant sources of these uncertainties are the elasticity of the cables and the flexibility of the joints. A favorable approach to improve the accuracy of the system is first to model the cable and joint flexibilities and then convert the model uncertainties into parametric uncertainties. Parametric uncertainties are the product of imprecise flexibility coefficients and are finally neutralized by a sliding mode controller. The flexibility in cables is modeled by considering the longitudinal vibration of the time-varying length cables. A simulation study is carried out to confirm the presented model and the positive effect of the designed controller. Then the impact of these uncertainties on the dynamic load carrying capacity (DLCC) of the robot is examined and compared for different cases. Finally, experimental tests are conducted on the IUST (Iran University of Science and Technology) cable-suspended robot to validate the presented theories and simulation results.

scholarly journals Analytical Study of the Confining Medium Diameter Impact on Load-Carrying Capacity of Rock Bolts

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Jianhang Chen ◽  
Xin Dai ◽  
Junwen Zhang
Keyword(s):  
Carrying Capacity ◽  
Experimental Tests ◽  
Load Carrying Capacity ◽  
Rock Bolts ◽  
Rock Reinforcement ◽  
Variation Trend ◽  
Analytical Work ◽  
Load Carrying ◽  
The Impact ◽  
Medium Diameter

The force transfer of fully grouted rock bolts is playing a significant effect in determining the rock reinforcement quality. To evaluate the performance of rock bolts, laboratory pulling tests were commonly used. Experimental tests proved that the confining medium diameter had an effect on the rock bolting performance. However, little analytical work has been performed to investigate the impact of the confining medium diameter on rock bolt load-carrying capacity. Therefore, this paper analytically studied the confining medium diameter effect on the load-carrying capacity of rock bolts. It was found that the load-carrying capacity of rock bolts was obviously affected by the confining medium diameter. Moreover, the larger the confining medium diameter, the higher the load-carrying capacity of rock bolts. However, the ascending rate of the load-carrying capacity gradually declined. This load-carrying capacity variation trend consistently agreed with experimental results. Moreover, with the confining medium diameter ascending, the load-carrying capacity variation trend was consistent when the confining medium modulus was under different levels. Last, it was found that, with the confining medium modulus ascending, the critical influence diameter gradually dropped.

scholarly journals Manufacturing, Characterisation and Mechanical Analysis of Polyacrylonitrile Membranes

Polymers ◽  
2020 ◽  
Vol 12 (10) ◽  
pp. 2378
Author(s):  
Mertol Tüfekci ◽  
Sevgi Güneş Durak ◽  
İnci Pir ◽  
Türkan Ormancı Acar ◽  
Güler Türkoğlu Demirkol ◽  
...  
Keyword(s):  
Mechanical Properties ◽  
Main Idea ◽  
Mechanical Analysis ◽  
Operating Conditions ◽  
Load Carrying Capacity ◽  
The Finite Element Method ◽  
Load Carrying ◽  
The Impact ◽  
Static Behaviour ◽  
Modelling Process

To investigate the effect of polyvinylpyrrolidone (PVP) addition and consequently porosity, two different sets of membranes are manufactured, since PVP is a widely used poring agent which has an impact on the mechanical properties of the membrane material. The first set (PAN 1) includes polyacrylonitrile (PAN) and the necessary solvent while the second set (PAN 2) is made of PAN and PVP. These membranes are put through several characterisation processes including tensile testing. The obtained data are used to model the static behaviour of the membranes with different geometries but similar loading and boundary conditions that represent their operating conditions. This modelling process is undertaken by using the finite element method. The main idea is to investigate how geometry affects the load-carrying capacity of the membranes. Alongside membrane modelling, their materials are modelled with representative elements with hexagonal and rectangular pore arrays (RE) to understand the impact of porosity on the mechanical properties. Exploring the results, the best geometry is found as the elliptic membrane with the aspect ratio 4 and the better RE as the hexagonal array which can predict the elastic properties with an approximate error of 12%.

Experimental and numerical investigation on ultimate strength of four-legged latticed columns

2021 ◽  
pp. 136943322110015
Author(s):  
Yinqi Li ◽  
Feng Liu ◽  
Wenming Cheng ◽  
Huasen Liu
Keyword(s):  
Ultimate Strength ◽  
Structural Engineering ◽  
Analytical Techniques ◽  
Experimental Tests ◽  
Load Carrying Capacity ◽  
Load Carrying ◽  
Compressive Loads ◽  
Initial Geometric Imperfections ◽  
Combined Data ◽  
Loading Eccentricity

Latticed built-up columns are applied more extensively than solid columns in structural engineering because of their excellent load-carrying capacity and light weight. Studies on the bearing capacity of latticed columns, particularly multiple-legged latticed columns, need to be conducted in detail. In this investigation, seven four-legged latticed column specimens of different bar sections, bar distributions and loading eccentricities under compressive loads were subjected to experimental tests. The initial geometric imperfections of the legs and bars were measured and introduced into the FE numerical method. The experimental results were then compared with those of Geometrical and Material Non-Linear Analysis with Imperfection in ABAQUS software. The combined data indicate that the bar section, bar distribution and loading eccentricity significantly influenced the ultimate strength of four-legged latticed columns, producing maximum variations of 105.67%, 65.7% and 48.48%, respectively. This investigation demonstrates the influence of lacing bars and improves the results obtained from FE numerical analytical techniques.

scholarly journals Quantifying the Impact of Mounted Load Carrying on Equids: A Review

Animals ◽  
2021 ◽  
Vol 11 (5) ◽  
pp. 1333
Author(s):  
Syed S. U. H. Bukhari ◽  
Alan G. McElligott ◽  
Rebecca S. V. Parkes
Keyword(s):  
Carrying Capacity ◽  
Creatine Kinase Activity ◽  
Serum Cortisol Level ◽  
Load Carrying Capacity ◽  
Gait Symmetry ◽  
Brick Kilns ◽  
Potential Marker ◽  
Load Carrying ◽  
The Impact ◽  
Working Equids

There are approximately 112 million working equids in developing countries, many of which are associated with brick kilns. Brick kilns and overloading are associated with welfare problems in working equids. Understanding equids’ abilities and influencing factors are important for both effective performance and welfare. Traditionally, measurement of the amount of ‘bone’ was used, and more recently, gait symmetry has been identified as a potential marker for loading capacity. Assessment of stride parameters and gait kinematics provides insights into adaptations to loading and may help determine cut-off loads. Physiological factors such as the ability to regain normal heart rates shortly after work is an important tool for equine fitness assessment and a more accurate measure of load-carrying capacity than absolute heart rate. Oxidative stress, plasma lactate, and serum creatine kinase activity are reliable biochemical indicators of loading ability. For monitoring stress, salivary cortisol is superior to serum cortisol level for assessment of hypothalamus-pituitary-adrenal axis and is related to eye temperatures, but this has yet to be interpreted in terms of load-carrying ability in equids. Further research is needed to standardize the evidence-based load-carrying capacity of working horses and donkeys.

An Adaptive PI/Sliding Mode Controller for a Speed Drive

1989 ◽  
Vol 111 (3) ◽  
pp. 409-415 ◽  
Author(s):  
R. M. DeSantis
Keyword(s):  
Performance Improvement ◽  
Sliding Mode ◽  
Experimental Tests ◽  
Industrial Applications ◽  
Open Loop ◽  
Sliding Mode Controller ◽  
Switching Element ◽  
Parallel Addition ◽  
Self Tuning ◽  
Theoretical Results

A classical PI speed drive controller modified with the parallel addition of an on-off switching element appears to offer a potential for reasonable improvement over the performance of the original version. This improvement is obtained by combining classical transfer function techniques, sliding mode systems ideas, and self-tuning. While theoretical results, extended simulations, and preliminary experimental tests are encouraging, they do suggest that in actual industrial applications performance improvement may be conditioned by the usage of better performing open loop components.

scholarly journals A STUDY OF FERROFLUID LUBRICATION BASED ROUGH SINE FILM SLIDER BEARING WITH ASSORTED POROUS STRUCTURE

2019 ◽  
Vol 59 (2) ◽  
pp. 144-152
Author(s):  
Mohmmadraiyan M. Munshi ◽  
Ashok R. Patel ◽  
Gunamani B. Deheri
Keyword(s):  
Porous Structure ◽  
Carrying Capacity ◽  
Graphical Representation ◽  
Negative Impact ◽  
Positive Impact ◽  
Numerical Approach ◽  
Load Carrying Capacity ◽  
Slider Bearing ◽  
Load Carrying ◽  
The Impact

This paper attempts to study a ferrofluid lubrication based rough sine film slider bearing with assorted porous structure using a numerical approach. The fluid flow of the system is regulated by the Neuringer-Rosensweig model. The impact of the transverse surface roughness of the system has been derived using the Christensen and Tonder model. The corresponding Reynolds’ equation has been used to calculate the pressure distribution which, in turn, has been the key to formulate the load carrying capacity equation. A graphical representation is made to demonstrate the calculated value of the load carrying capacity which is a dimensionless unit. The numbers thus derived have been used to prove that ferrofluid lubrication aids the load carrying capacity. The study suggests that the positive impact created by magnetization in the case of negatively skewed roughness helps to partially nullify the negative impact of the transverse roughness. Further investigation implies that when the Kozeny-Carman’s model is used, the overall performance is enhanced. The Kozeny-Carman’s model is a form of an empirical equation used to calculate permeability that is dependent on various parameters like pore shape, turtuosity, specific surface area and porosity. The success of the model can be accredited to its simplicity and efficiency to describe measured permeability values. The obtained equation was used to predict the permeability of fibre mat systems and of vesicular rocks.

The Wear Characteristics of Graphene as an Atomically-Thin Protective Coating

2012 ◽  
Author(s):  
Emil Sandoz-Rosado ◽  
Elon J. Terrell
Keyword(s):  
Protective Coatings ◽  
Solid Lubricants ◽  
Atomistic Simulations ◽  
Great Promise ◽  
Load Carrying Capacity ◽  
Sliding Velocity ◽  
Substrate Rigidity ◽  
Macro Scale ◽  
Load Carrying ◽  
The Impact

Lamellar atomically-thin sheets such as graphene (and its bulk equivalent graphite) and molybdenum disulfide have emerged as excellent solid lubricants at the macro scale and show great promise as protective coatings for nanoscopic applications. In this study, the failure mechanisms of graphene under sliding are examined using atomistic simulations. An atomic tip is slid over a graphene membrane that is adhered to a semi-infinite substrate. The impact of sliding velocity and substrate rigidity on the wear and frictional behavior of graphene is studied. In addition, the interplay of adhesive and abrasive wear on the graphene coating is also examined. The preliminary results indicate that graphene has excellent potential as a nanoscale due to its atomically-thin configuration and high load carrying capacity.

Contact shear stresses in dowel-type joints with expansive kits of timber structures

2016 ◽  
Vol 231 (1) ◽  
pp. 140-149
Author(s):  
Jose G Fueyo ◽  
Manuel Domínguez ◽  
Jose A Cabezas
Keyword(s):  
Experimental Tests ◽  
Element Model ◽  
Shear Stresses ◽  
Load Carrying Capacity ◽  
Timber Structures ◽  
Expansion Process ◽  
Global Response ◽  
Load Carrying ◽  
Overall Performance ◽  
The Relationship

This paper studies the shear stresses appearing in the contact zones of dowel-type joints of timber structures using expansive kits. To achieve this goal, a finite element model capable of determining the effect of using these kits on the global response of the joint has been prepared. For its development, different tools have been used to model the expansion process, the contact between the different parts of the joint, the compression pressures triggered by this contact, the resulting shear stresses caused by friction and, finally, the effect of all these circumstances on the overall performance of the joint, especially on the relationship between the applied load and the related displacement. The design of the model has been checked for correctness using experimental tests. The results obtained show that the use of expansive kits slightly improves the load-carrying capacity of the dowel through the rope effect.

scholarly journals Response of Skirted Foundations Resting on Dry Medium Dense Sand

2018 ◽  
Vol 4 (6) ◽  
pp. 1193 ◽  
Author(s):  
Lujain Haider ◽  
Haider M. Mekkiyah
Keyword(s):  
Cross Section ◽  
Carrying Capacity ◽  
Considerable Increase ◽  
Experimental Tests ◽  
Load Carrying Capacity ◽  
Dense Sand ◽  
Load Carrying ◽  
Different Diameters ◽  
Large Soil ◽  
Settlement Behaviour

Experimental model tests were carried out to study the response of skirted foundation resting on dry sand.  The experiments were performed in a large soil container (1000  1000 mm in cross section and 800 mm in height).  Skirts with three different lengths (L) varied from 0.5D to 1.5D was attached to the edge of shallow circular foundations having three different diameters (D=60, 90 and 120 mm). Different parameters have been studied; these parameters involve skirt length, foundation size and skirt conditions. Skirts with open end and closed end were used. The relative density was kept constant and equals to 60%. The case of foundation without skirt (L=0) was initially tested and set as a reference for comparison purpose. From the results of experimental tests, it was found that the skirt modifies the load-settlement behaviour, increasing the load carrying capacity and reducing the foundation settlement. The results also indicate that load carrying capacity of skirted foundation increases with increase skirt length as well as foundation size. The results show that using skirt with closed end brought a considerable increase in load carrying capacity than that of open end.

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