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 ...

in this paper a performance analysis is presented for a cable-suspended parallel manipulator. experimental results from some first tests are presented and discussed to validate the theoretical calculation of load carrying capacity. the load-carrying capacity during a given trajectory is obtained. this computational technique is tested on a typical planar cable suspended manipulator. the experim...

this paper focuses on the effects of closed- control on the calculation of the dynamic load carrying capacity (dlcc) for mobile-base flexible-link manipulators. in previously proposed methods in the literature of dlcc calculation in flexible robots, an open-loop control scheme is assumed, whereas in reality, robot control is achieved via closed loop approaches which could render the calculated ...

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 to calculat...

In this paper, a new formulation along with numerical solution for the problem of finding a point-to-point trajectory with maximum load carrying capacities for flexible manipulators is proposed. For rigid manipulators, the major limiting factor in determining the Dynamic Load Carrying Capacity (DLCC) is the joint actuator capacity. The flexibility exhibited by light weight robots or by robots o...

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 ...

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...

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...