This paper focuses on parameter identification of a target tracker robot possessing flexible joints using particle swarm optimization (PSO) algorithm. Since, belt and pulley mechanisms are known as flexible joints in robotic systems, their elastic behavior affecting a tracker robot is investigated in this work. First, dynamic equations governing the robot behavior are extracted taking into acco...

 In practice, clearances in the joints are inevitable due to tolerances, and defects arising from design and manufacturing. In the presence of clearance at a joint, a mechanism gains some additional, uncontrollable degrees of freedom which are the source of error. Moreover, joints undergo wear and backlashes and so cannot be used in precision mechanisms. In this study, the dynamic behaviour of ...

the joints between segmental rings can withstand a certain amount of bending moment as well as axial and shear forces. generally, in the structural analysis of tunnel segmental lining, the joints can be modeled as elastic hinges or rotational springs, and their rigidity should be demonstrated in terms of the rigidity of the joints or their rotational stiffness. therefore, the bending moment act...

For the present paper, we developed an output feedback chattering position regulator for n-degreesof-freedom (DOF) robot manipulators with elastic and frictional joints. A stability analysis of the closed-loop dynamic system in question was developed within the framework of Lyapunov functions. Performance issues related to the chattering regulator are illustrated in numerical simulations and ex...

The segmental and zonal variations in the quantitative relationships between elastic and collagen fibers within the lateral costotransverse ligaments have been investigated in the vervet monkey. The lateral costotransverse ligaments of the caudal segments have a largely elastic structure in contrast to those of the cranial segments, which are characteristically collagenous. In the transitional ...

For dynamic analyses of railway track structures, the algorithm of solution is very important. For estimating the important problems in the railway tracks such as the effects of rail joints, rail supports, rail modeling in the nearness of bridge and other problems, the models of the axially beam model on the elastic foundation can be utilized. For studying the effects of axially beam on the ela...

In this paper, the redundancy resolution methods for elastic joint redundant robots are researched. First, a redundancy resolution method called MD method is proposed by using joint elastic deflection as a performance index. And then, the influence of robots’ initial configuration on this method is discussed. Finally, simulations for a planar 3R redundant robot with elastic joints are conducted...

In European seismic areas timber structures are found as building frames, in combination with masonry infills, in bridges, but most frequently in roof structures and floor slabs of traditional buildings. Seismic strengthening of existing structures should provide a well-defined and simple path to seismic forces, maintain timber members elastic, and develop as much as possible the post-elastic b...