Metal-composite joints connecting conventional steel to an advanced fiber composite are an attractive structural system for hybrid ship hulls as well as aircraft frames. The objective of this study is to analyze the size effect on the strength of hybrid joints numerically, theoretically and experimentally. In the numerical analysis, linear elastic continuum elements are used for the composite a...

We present some feedback control techniques recently developed for the exact solution of t rajectory tracking problems for manipulators with flexible elements. Two classes are considered: i) robots with rigid links but with elastic transmissions, in which flexibility is concentrated at the joints, and ii) robots with lightweight and/or long arms, where flexibility is distributed along the links...

A proportional-derivative (PD) control with on-line gravity compensation is proposed for regulation tasks of robot manipulators with elastic joints. The work extends a previous PD control with constant gravity compensation at the desired configuration. The control law requires measuring only position and velocity on the motor side of the elastic joints, while the on-line gravity compensation to...

An interface constitutive model which accounts for both reversible elastic, as well as irreversible inelastic separation-sliding deformations at the interface prior to failure has been developed and implemented in a finite-element computer program. A set of experiments has been conducted to determine the constitutive parameters in the interface model for adhesivelybonded components made from an...

A numerical study of the elastic-plastic mode-II fracture of adhesive joints is presented in this paper. A traction-separation law was used to simulate the mode-II interfacial fracture of adhesively-bonded end-notched flexure (E.N.F.) specimens loaded in three-point bending, with extensive plastic deformation accompanying failure. The fracture parameters for the traction-separation law were det...

We consider some theoretical aspects of the control problem for rigid link robots having some joints rigid and some with non-negligible elasticity. We start from the reduced model of robots with all joints elastic introduced by Spong, which is linearizable by static feedback. For the mixed rigid/elastic joint case, we give structural necessary and sufficient conditions for input—output decoupli...

This paper studies the stability of a class of PID controller to stabilize robot manipulators with elastic joints. It is shown that a PD action on the rotor position and an integral control action on the link position suffice to provide semiglobal asymptotic stability of the desired link position.

The lumping approximation us·ed fre'quently for dynamic analysis of distributed parameter sys.tems is facilitated for a class of flexible systems by a technique developed here using 4x4 coordinate transformation matrices to account for the deflection of elastic elements under load. This technique is used to develop the linear equations of spatial motion for a system of two rigid masses connecte...