In this article, we tried to emphasis in how the range of torsionally stiff and flexible single story buildings works. The designed base was according to provisions of the Canadian standard, 2005 NBCC. The behavior of nonlinear dynamic time history of eight building models subjected to seven horizontal bi-directional ground motions compatible with design spectra are investigated. These models c...

With the goal of creating a flexible spatial parallel robot system in which elastic deformation link causes rigid moving platform to produce small vibrations, we proposed an adaptive sliding mode control algorithm based on neural network. To improve calculation efficiency, finite element method was used discretize link, and then displacement field described floating frame reference coordinates,...

in this paper, according to high load capacity and rather large workspace characteristics of cable driven robots (cdrs), maximum dynamic load carrying capacity (dlcc) between two given end points in the workspace along with optimal trajectory is obtained. in order to find dlcc of cdrs, joint actuator torque and workspace of the robot constraints concerning to non-negative tension in cables are ...

Taking a spatial parallel robot with flexible joints and links as the research object, dynamic modeling method for multi-flexible-body system is proposed. Its effectiveness verified by comparing numerical model simulation model. (1) Background: The elastic deformation of in under high-speed operation coupling effect between rigid components substantially affect stability trajectory accuracy. Th...

in this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. the design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a pid control law. one novelty of this paper is the use of a pso algorithm for optimizing the contro...

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...

This paper presents investigations into the development of linear quadratic regulator (LQR) robust control of a flexible link manipulator. The dynamic model of the system is developed using a finite element methods (FEM). The problems of a flexible link manipulator are uncertainties and parametric nonlinearities. Previous researches have fathom around control methods for the system, few present...

It was purposed to understand the dynamic response of frame which are subjected to moving point loads. The finite element method and numerical time integration method (New mark method) are employed in the vibration analysis. The effect of the speed of the moving load on the dynamic magnification factor which is defined as the ratio of the maximum dynamic displacement at the corresponding node i...

This paper starts with developing kinematic and dynamic model of a snake shape robot in serpentine locomotion and finishes with actual experimentation. At the beginning the symmetrical and unsymmetrical serpenoid curves are introduced. Kinematics and dynamics of a snake robot on flat and inclined surfaces are obtained for a general n-link robot. SimMechanics toolbox of MATLAB software is employ...