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Actuator Force Actuator Displacement North End Force South End Force Vs. Time, All 12 Actuations.

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Presentation on theme: "Actuator Force Actuator Displacement North End Force South End Force Vs. Time, All 12 Actuations."— Presentation transcript:

1 Actuator Force Actuator Displacement North End Force South End Force Vs. Time, All 12 Actuations

2 Actuator Force Actuator Displacement North End Force South End Force Vs. Time, First 5 Actuations

3 Actuator Force Actuator Displacement North End Force South End Force Vs. Time, Last 7 Actuations

4 First 5 Actuations Last 7Actuations Actuator Force vs. Time

5 North End Force vs. Time First 5 Actuations Last 7Actuations

6 South End Force vs. Time First 5 Actuations Last 7Actuations

7 proportionally behaved region up to actuation #5 softening and sudden stiffness actuation #7 Hardening

8 J2 – Rotation & Translation

9 J2 - First 5 Actuations

10 J2 - Last 7 Actuations

11 J3 – Rotation & Translation

12 J3 – First 5 Actuations

13 J3 – Last 7 Actuations

14 J4 – Rotation & Translation

15 J4 – First 5 Actuations

16 J4 – Last 7 Actuations

17 J5 – Rotation & Translation

18 J5 – First 5 Actuations

19 J5 – Last 7 Actuations

20 End Force vs. Displacement End Force vs. Actuator Force

21 Pipe 1 LONGITUDINAL STRAIN GAUGE

22 Pipe 2 LONGITUDINAL STRAIN GAUGE

23 Pipe 3 N/A LONGITUDINAL STRAIN GAUGE

24 Pipe 4 N/A LONGITUDINAL STRAIN GAUGE

25 Pipe 5 N/A LONGITUDINAL STRAIN GAUGE

26 Rotation and Translation Timeline 1. Actuation 2 – 4 ___J3 & J4 continuously broken. 0.6 – 0.7 cm translation and around 1.7 degrees rotation in J3 & J4. Trivial rotation and displacement in other joints. 2. Actuations 5 &6 ___________J2 rotation and telescoping 0.7 degrees rotation and 1.3 cm translation in these two J2. 3.Actuation 7&8 ______________ J5 rotation and telescoping 0.6 degrees rotation and 1.3 cm translation in these two J5. 4.Actuations 8-11 ___________J3 & J4 continuously broken J3 & J4 reaching 5 – 5.3 degrees rotation and 2.1 – 2.5 cm translation. 5.Actuation 12 ______________ J4 broken Loss of sensor ability during 12 th J4 due to significant joint damage.

27 Actuations 2-4, Joint

28 Actuations 2-4, Joint

29 Actuation 5&6, Joint

30 Actuation 7 & 8, Joint

31 South North Actuations

32 Actuations 8-10, Joint

33 Actuations 8-10, Joint

34 Actuation 12, Joint 4 12

35 Vertical Rotation J2 & J3

36 Vertical Rotation J4 & J5

37 Accelerometer : Actuation 1 N/A

38 Accelerometer : Actuation 2 N/A

39 Accelerometer : Actuation 5 N/A

40 Accelerometer : Actuation 6 N/A

41 Accelerometer : Actuation 7 N/A

42 Accelerometer : Actuation 8 N/A

43 Accelerometer : Actuation 9 N/A

44 Accelerometer : Actuation 10 N/A

45 Accelerometer : Actuation 11 N/A

46 Accelerometer : Actuation 12 N/A

47 Horizontal Rotation

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61 Vertical Rotation

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