In the interest of providing more effective evaluations of impact wrench vibration exposures and the development of improved methods for measuring vibration emissions produced by these tools, this study focused on three variables: acceleration measured at the tool surface, vibration exposure duration per test trial, and the amount of torque required to unseat the nuts following a test trial. Fo...

This article proposes a nonlinear model predictive control (NMPC) strategy for the position tracking of cable-driven parallel robots (CDPRs). The NMPC formulation handles explicitly cable tensions and their limits. Accordingly, tension distribution is performed as an integral part feedback strategy, which notably allows CDPR to operate on wrench-feasible workspace boundaries without failure. In...

This paper provides a method for computing force-feasible paths on the Stewart platform. Given two configurations of the platform, the method attempts to connect them through a path that, at any point, allows the platform to counteract any external wrench lying inside a predefined six-dimensional region. In particular, the Jacobian matrix of the manipulator will be full rank along such path, so...

Recem Ocean Drilling Program sampling of the Ctte d'Ivoire-Ghana margin of West Africa provides for the first time the opportunity to study the development of a marginal ridge that formed along a sheared passive margin adjacent to the continent-ocean transition after the end of intmcontinemal wrenching. We model its evolution using a two dimensional flexural backstripping technique. The model i...