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Full-Text Articles in Engineering
Effect Of A Robot's Geometrical Parameters On Its Optimal Dynamic Performance, M. Yousef Ibrahim, Christopher D. Cook, A K. Tieu
Effect Of A Robot's Geometrical Parameters On Its Optimal Dynamic Performance, M. Yousef Ibrahim, Christopher D. Cook, A K. Tieu
Faculty of Engineering - Papers (Archive)
This paper presents a study that was conducted at Monash University College - Gippsland on the effect of a robot’s geometrical parameters on its dynamic performance. This research was undertaken in pursuit of an optimal dynamic performance of industrial robots. In this study an indicator was established to quantitatively measure the dynamic performance of a robot arm with respect to changes in the geometrical parameters. Since the dynamic behaviour of a robot’s arm is largely dependent on its inertia terms; the performance indicator was based on the Logarithmic function of the sensitivity of the inertia matrix’s eigenvalues to changes in …
Performance Of Test Embankment Constructed To Failure On Soft Marine Clay, Buddhima Indraratna, A S. Balasubramaniam, S Balachandran
Performance Of Test Embankment Constructed To Failure On Soft Marine Clay, Buddhima Indraratna, A S. Balasubramaniam, S Balachandran
Faculty of Engineering - Papers (Archive)
This paper describes the observed and the predicted performance of a full-scale trial embankment built to failure on a soft Malaysian marine clay. Predictions of the subsoil deformation. the critical height of fill and the corresponding slip surface are made and subsequently compared to the field measurements. It is of importance to realize that all the predictions were made prior to the actual failure of the embankment. The comparison with measurements was possible only after the International Symposium on Trial Embankments on Malaysian Marine Clays, was held in Kuala Lumpur, Malaysia, in November 1989, during which the field data were …