The stability analysis of sleeve stiffened pin-ended slender hollow columns of pipe or box section is performed in the present study. This is accomplished by using energy method, employing three terms in the assumed approximate deflection function. The lengthy and tedious algebraic manipulations involved in solving the relevant eigenvalue problem, necessitates employing the "MATHEMATICA" softwa...

although bearing capacity of footings on top of slopes under monotonic loadings have been investigated widely so far, safety and bearing capacity of these structures against repeated dynamic loads have not been considered well enough. in this paper, lower bound dynamic shakedown theorem in its numerical form has been employed to firstly obtain bearing capacity of strip footings on top of slopes...

In this paper, two methods are presented for solving closed loop optimal control problem and finding dynamic load carrying capacity (DLCC) for fixed and mobile manipulators. These control laws are based on the numerical solution to nonlinear Hamilton-Jacobi-Bellman (HJB) equation. First approach is the Successive Approximation (SA) for finding solution of HJB equation in the closed loop form an...

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 presents an indirect method for computing optimal trajectory, subject to robot dynamics, exibilities and actuator constraints. One key-issue that arises from mechanism exibility is nding the Dynamic Load Carrying Capacity (DLCC). The motion planning problem is rst formulated as an optimization problem, and then solved using Pontryagin's minimum principle. The basic problem is convert...