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Published byCeleste Anderton Modified over 2 years ago

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

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

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

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First 5 Actuations Last 7Actuations Actuator Force vs. Time

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

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

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

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J2 – Rotation & Translation

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J2 - First 5 Actuations

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J2 - Last 7 Actuations

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J3 – Rotation & Translation

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J3 – First 5 Actuations

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J3 – Last 7 Actuations

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J4 – Rotation & Translation

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J4 – First 5 Actuations

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J4 – Last 7 Actuations

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J5 – Rotation & Translation

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J5 – First 5 Actuations

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J5 – Last 7 Actuations

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End Force vs. Displacement End Force vs. Actuator Force

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Pipe 1 LONGITUDINAL STRAIN GAUGE

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Pipe 2 LONGITUDINAL STRAIN GAUGE

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Pipe 3 N/A LONGITUDINAL STRAIN GAUGE

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Pipe 4 N/A LONGITUDINAL STRAIN GAUGE

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Pipe 5 N/A LONGITUDINAL STRAIN GAUGE

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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 steps @ J2. 3.Actuation 7&8 ______________ J5 rotation and telescoping 0.6 degrees rotation and 1.3 cm translation in these two steps @ 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 actuation @ J4 due to significant joint damage.

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Actuations 2-4, Joint 3 2 4 3 2 2 3 3 4 4 2 3 4

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Actuations 2-4, Joint 4 2 4 3 2 2 3 3 4 4 2 3 4

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Actuation 5&6, Joint 2 5 5 5 6 6 6 5 6

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Actuation 7 & 8, Joint 5 7 8 7 8 7 7 8 8

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South North Actuations 5 - 7 5 7 6

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Actuations 8-10, Joint 3 8 9 10 11 8 9 1011 8 9 10 11 8 9 10 11

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Actuations 8-10, Joint 4 8 9 10 11 8 9 10 11 8 9 10 11 8 9 10 11

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Actuation 12, Joint 4 12

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Vertical Rotation J2 & J3

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Vertical Rotation J4 & J5

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Accelerometer : Actuation 1 N/A

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Accelerometer : Actuation 2 N/A

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Accelerometer : Actuation 5 N/A

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Accelerometer : Actuation 6 N/A

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Accelerometer : Actuation 7 N/A

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Accelerometer : Actuation 8 N/A

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Accelerometer : Actuation 9 N/A

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Accelerometer : Actuation 10 N/A

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Accelerometer : Actuation 11 N/A

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Accelerometer : Actuation 12 N/A

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Horizontal Rotation

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Vertical Rotation

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