Modelling and identification of flexible-joint robots is required for dynamic simulation and model based control of industrial robots. A nonlinear finite element based method is used to derive the dynamic equations of motion in a form suitable for both simulation and identification. The latter requires that the equations of motion are linear in the dynamic parameters. For accurate simulations o...

Abstract. Due to their microstructure, quasi brittle materials present rough cracks. Under sliding of the crack lips, this roughness involves in one hand induced opening and in the other hand some apparent plasticity which is due to the interlocking of the crack lips combined with Coulomb’s friction. The proposed model is written under the irreversible thermodynamics framework. Micromechanics u...

The Mohr-Coulomb theory of strength identifies cohesion and internal friction as the two principal contributions to the shear strength of a granular material. The contribution of cohesion in over-compacted granular materials has been challenged and replacing cohesion with interlocking has been proposed. A theory of rupture strength that includes interlocking is derived herein. The physics-chemi...

the influence of lime on the shear strength of soil has been known for centuries. the conventional method to increase the lime content of a soil is to add less than 10% hydrated lime in the form of powder or grout to the soil. this method is convenient for soils to be used as fill material in projects such as road construction, land fill pavements or lime pile; but is not applicable where a lar...

In the present investigation, basic studies were conducted using an inclined pin-on-plate sliding tester to understand the influence of tilt angle and grinding marks direction of the plate on coefficient of friction and transfer layer formation during sliding against soft aluminium (Al) pin. 080 M40 steel plates were ground to attain different surface roughness with unidirectional grinding mark...

In this research work, a 3D numerical modeling technique is proposed based on the 3D particle flow code in order to investigate the failure mechanism of rock foundations. Two series of footings with different geometries and areas are considered in this work. The failure mechanism obtained is similar to that of the Terzaghi’s but there is a negligible difference in between. Lastly, one equation ...

There are several parameters that have significant influence in metal forming process. One of the most important of them is friction coefficient. Friction can change the pattern of metal flow and the force needed for deformation. It is necessary to determine the friction coefficient to study the effect of friction on metal forming process. This study is concerned with numerical and experimental...

in the current study, an effort is made to determine three dimensional bearing capacity of rectangular foundations using discrete element method. the soil mass is modeled as discrete blocks connected with winkler springs. different factors affect the geometry of failure surface. six independent angles are used to define the failure surface. by trial and error, the optimum shape of failure surfa...