Abstract: This paper proposes a control strategy for a cable-suspended robot based on sliding mode approach (SMC) which is faced to external disturbances and parametric uncertainties. This control algorithm is based on Lyapunov technique which is able to provide the stability of the end-effecter during tracking a desired path with an acceptable precision. The main contribution of the paper is t...

In this paper, a computational method for obtaining the maximum Dynamic Load Carrying Capacity (DLCC) for the 6-UPS Stewart platform manipulator is developed. In this paper, the manipulator is assumed to be non-rigid and the joint actuator torque capacity and accuracy of motion are considered major limiting factors in determining the maximum payload. The maximum dynamic payload carrying capacit...

This paper proposes a control strategy for a cable‐suspended robot based on an optimal sliding mode approach confronted by external disturbances and parametric uncertainties. This control algorithm is based on the Lyapunov technique, which is not only able to provide the stability of the end‐effector with an acceptable precision but also provides the optimal path in...

in this paper, finding dynamic load carrying capacity (dlcc) of flexible link manipulators in point to-point motion was formulated as an optimal control problem. the finite element method was employed for modelling and deriving the dynamic equations of the system. the study employed indirect solution of optimal control for system motion planning. due to offline nature of the method, many diffic...

In this paper, finding Dynamic Load Carrying Capacity (DLCC) of flexible link manipulators in point to-point motion was formulated as an optimal control problem. The finite element method was employed for modelling and deriving the dynamic equations of the system. The study employed indirect solution of optimal control for system motion planning. Due to offline nature of the method, many diffic...

planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. the problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

background : experts and staff of rehabilitation centers often do their activities without following the appropriate ergonomic principles and the correct methods of manual load handling. therefore, gradually and with the repetition of these activities they place themselves at risk of musculoskeletal disorders. the aim of this research is the assessment of lifting capacity by the niosh equation ...

INTRODUCTION The dynamic load carrying capacity of a robot is defined as “the maximum load that a robotic system can carry provided that the motors' torques do not exceed the saturation limits”. DLCC is one of the criteria for selection of robotic systems. Generally, two methods (direct and indirect) exist for solving the problem of DLCC (1-2). Direct method: This method is based on the discret...

In this paper, load-carrying capacity in steel shear wall (SSW) was estimated using artificial neural networks (ANNs). The SSW parameters including load-carrying capacity (as ANN’s target), plate thickness, thickness of stiffener, diagonal stiffener distance, horizontal stiffener distance and gravity load (as ANN’s inputs) are used in this paper to train the ANNs. 144 samples data of each of th...

cfrp composites have unique application qualities such as high resistance and durability to environmental conditions, having relatively low weight and easy to install in strengthening concrete structure elements. the brackets should be strengthen sufficiently if they are not calculated and implemented well. application of the cfrp is one of the methods for such purposes. the study involves usin...