A finite element program based on elastic –plastic model of Mohr-Coulomb criterion was used to evaluate the bearing capacity coefficients of soil under shallow strip flexible footing . The results were compared with others’ analytical results and it was found that the present study could offer quite consistent and rather precise values for the bearing capacity coefficients . &#10&#10The effect ...

Reduced web section beams in shear-yielding moment-resistant steel frames are used for energy dissipating of earthquakes. The finite element analysis indicates that failure mode of these beams are governed by the combination of shear force and flexural moment. Therefore the analysis of frames with reduced web section beams needs consideration of shear-flexural interaction in those sections. In ...

This paper presents an investigation into the dynamic modelling and characterisation of a two-link flexible robot manipulator incorporating a payload. A planar two-link flexible manipulator incorporating structural damping, hub inertia and payload that moves in the horizontal plane is considered. A dynamic model of the system is developed using a combined Euler-Lagrange and assumed mode methods...

In this paper, a dynamic system consisting of a robot manipulator and a target is analyzed. The target is considered in a general way as a dynamic subsystem having finite mass and moments of inertia (e.g., a rigid body or a second robot). The situation investigated is when the robot establishes interaction with the target in such a way that it intercepts and captures a reference element of the ...

this work is conducted to obtain mechanical properties of microtubule. for this aim, interaction energy in alpha-beta, beta-alpha, alpha-alpha, and beta-beta dimers was calculated using the molecular dynamic simulation. force-distance diagrams for these dimers were obtained using the relation between potential energy and force. afterwards, instead of each tubulin, one sphere with 55 kda weight ...

A finite element program based on elastic –plastic model of Mohr-Coulomb criterion was used to evaluate the bearing capacity coefficients of soil under shallow strip flexible footing . The results were compared with others’ analytical results and it was found that the present study could offer quite consistent and rather precise values for the bearing capacity coefficients . The effect of d...

Abstract Dynamic equations used for feed-forward control of robotic mechanisms include interdependent variables between the constituting links, since they are normally evaluated in relative polar coordinates and in the dimension of torque. Accordingly, it will become highly complicated to derive inverse dynamics of closed-loop link systems, continuously transforming systems, or of flexible link...

This paper presents the dynamic model of a flexible-link, flexible-joint manipulator system with considerable stiffening effect flexible link. A gripper, along tip mass, is attached at one end By employing extended Hamilton’s principle, nonlinear governing equation motion derived several boundary constraints. Under assumption small deformation in free vibration, simplified deduced to determine ...

Robust nonlinear control of flexible-joint robots requires that the link position, velocity, acceleration, and jerk be available. In this paper, we derive the dynamic model of a nonlinear flexible-joint robot based on the governing Euler-Lagrange equations and propose extended and unscented Kalman filters to estimate the link acceleration and jerk from position and velocity measurements. Both o...