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Full-Text Articles in Engineering
Comparison Of Pseudo-Static And Pseudo-Dynamic Methods For Seismic Earth Pressures On Retaining Wall, D Choudhury, Sanjay S. Nimbalkar, J N Mandal
Comparison Of Pseudo-Static And Pseudo-Dynamic Methods For Seismic Earth Pressures On Retaining Wall, D Choudhury, Sanjay S. Nimbalkar, J N Mandal
Faculty of Engineering - Papers (Archive)
Design of retaining wall needs the complete knowledge of earth pressures for both active and passive conditions. Under earthquake condition, the design requires special attention to reduce the devastating effect of this natural hazard. But under seismic condition, the available literatures mostly give the pseudo-static analytical value of the earth pressures as an approximate solution to the real dynamic nature of the complex problem. In the present work, a recently developed pseudodynamic method, which incorporates time dependent effect of applied earthquake load and effect of shear and primary waves, is applied to study effect of variation of parameters like soil …
Contact State Determination For Robotic-Based Cylindrical Pair Height Adjustment Under Dynamic Conditions, Prasan I. De Waas Tilakaratna, Bijan Shirinzadeh, Gursel Alici
Contact State Determination For Robotic-Based Cylindrical Pair Height Adjustment Under Dynamic Conditions, Prasan I. De Waas Tilakaratna, Bijan Shirinzadeh, Gursel Alici
Faculty of Engineering - Papers (Archive)
This paper investigates fine motion strategies associated with the height adjustment manipulations of a cylindrical pair which can be utilised in dynamic assembly and reconfigurable workholding systems. The outer link of the cylindrical pair is held by the end-effector of a 6DOF serial articulated robot. The environment which holds the inner link can be dynamic. Formulations capable of identifying the type of contact between the links and parameters vital for control purposes based on the force and torque data provided by a wrist mounted F/T sensor are established for a generic spatial case. Experimental results indicate that the established methodology …
Dynamic Model Simplification Of Serial Manipulators, Subir Kumar Saha, Bijan Shirinzadeh, Gursel Alici
Dynamic Model Simplification Of Serial Manipulators, Subir Kumar Saha, Bijan Shirinzadeh, Gursel Alici
Faculty of Engineering - Papers (Archive)
Simplicity in the dynamics model of a serial robot manipulator greatly enhances the speed of its control and the associated hardware implementation. Since the motion of one link influences the torque or force required at the other joints, the control becomes difficult. This is referred as dynamic coupling. In this paper, it is proposed to simplify the robot's dynamic coupling by suitably choosing the manipulator’s kinematic and dynamic parameters. The intention is to make the Generalized Inertia Matrix (GIM) of the serial manipulator associated with its dynamic equations of motion diagonal and/or constant. Such choice automatically ensures the associated convective …