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 loadcarrying capacity during a given trajectory is obtained. This computational technique is tested on a typical planar cable suspended manipulator. The experime...

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...

of a Suspended Load with a Robotic Crane Jae Y. Lew Ahmed Khalil Dept. of Mechanical Engineering Ohio University Athens, OH 45701 USA controlled velocity source which may not hold under a heavy load. In addition, it often requires an exact model of the overall system. This paper presents a feedback control algorithm for a robotic crane carrying a suspended load. The proposed controller suppress...

Trace metal clean plankton tows, river samples, aerosol leachates, and porewater samples from the Amazon River system were measured for their iron isotopic composition. The overall isotopic range observed was 1.5‰ with Fe isotopic variability observed between different types of tributaries. Dissolved Fe and suspended load Fe from two main channel sites were isotopically similar (≈ −0.1 to −0.3‰...

Cargo-bearing Unmanned aerial vehicles (UAVs) have tremendous potential to assist humans in food, medicine, and supply deliveries. For time-critical cargo delivery tasks, UAVs need to be able to navigate their environments and deliver suspended payloads with bounded load displacement. As a constraint balancing task for joint UAV-suspended load system dynamics, this task poses a challenge. This ...

abstract in this study, the effect of suspended load transport on the characteristics of submerged hydraulic jump (shj) in a rectangular channel was investigated experimentally. sediment concentration and jet froude numbers in the range of 0.424%-16.15% and 1.93-4.96, respectively, were considered. tow grain size 0.15 and 0.03 mm were used in the experiments. characteristics of submerged hydrau...