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Machines: Problem Solving II

Machines: Problem Solving II

Machines are complex structures consisting of movable, pin-connected multi-force members that work together to transmit forces. Consider a lifting tong carrying a 100 kg load. It comprises movable sections DAF and CBG linked together with member AB.

Cable Subjected to Concentrated Loads

Cable Subjected to Concentrated Loads

Flexible cables are commonly used in various applications for support and load transmission. Consider a cable fixed at two points and subjected to multiple vertically concentrated loads. Determine the shape of the cable and the tension in each portion of the cable, given the horizontal distances between the loads and supports.

Cable: Problem Solving

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When dealing with a cable that is fixed to two supports and subjected to uniform loading, it is crucial to determine the maximum tension in the cable. This process can be broken down into several key steps, as outlined below:

Stability of structures

Stability of structures

In mechanical engineering, the stability of systems under various forces is critical for designing durable and efficient structures. One fundamental way to explore these concepts is by analyzing systems like two rods connected at a pivot point, O, with a torsional spring of spring constant k at the pivot point. This system is similar in appearance to a scissor jack used to change tires on a car. In this case, the arms of the linkage (equivalent to the rods in this system) are entirely vertical,...

Frames: Problem Solving I

Frames: Problem Solving I

Consider a jib crane with an external load suspended from the pulley. The dimensions of the crane members are shown in the figure. A systematic analysis of the frame structure is required to determine the reaction forces at the pin joints, assuming that the pulleys are frictionless.

Machines

Machines

Machines are complex structures consisting of movable, pin-connected multi-force members that work together to transmit forces. One example of a machine is the cutting plier, which is used to cut wires by applying forces to its handles. When equal and opposite forces are exerted on the handles of the cutting plier, they cause the cutting edges to come together and apply equal and opposite reaction forces on the wire, which are greater than the applied forces.
A free-body diagram of the...

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Related Experiment Video

Updated: Aug 19, 2025

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

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Published on: November 14, 2015

Structural Optimisation and Design of a Cable-Driven Hyper-Redundant Manipulator for Confined Semi-Structured

Rami Al-Khulaidi¹, Rini Akmeliawati¹, Steven Grainger¹

¹Robotics and Automation Research Group, School of Mechanical Engineering, The University of Adelaide, Adelaide, SA 5005, Australia.

Sensors (Basel, Switzerland)

|November 26, 2022

Summary

Optimizing hyper-redundant cable-driven manipulators with short, rigid links enhances dexterity for confined agricultural tasks. This structural improvement addresses limitations of conventional robots in challenging, semi-structured environments.

Keywords:

confined environments hyper-redundant redundant manipulators robotics in agriculture semi-structured environments structural optimisation

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Last Updated: Aug 19, 2025

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Area of Science:

Robotics
Mechanical Engineering
Agricultural Technology

Background:

Conventional robotic manipulators struggle with dexterity and singularity issues in confined, semi-structured environments like agriculture.
Existing designs often mirror industrial robots, proving inadequate for the flexibility required in non-uniform settings.

Purpose of the Study:

To structurally optimize a hyper-redundant cable-driven manipulator for improved performance in confined, semi-structured agricultural environments.
To enhance manipulator manipulability and kinematics for better precision and obstacle avoidance.

Main Methods:

Structural optimization focusing on link lengths and joint angles.
Kinematic and manipulability analysis to minimize end-effector position/orientation errors.
Optimization aimed at maximizing flexibility for obstacle avoidance maneuvers.

Main Results:

Optimized designs with rigid, short links demonstrated superior dexterity in simulations for confined, semi-structured spaces.
The proposed optimization strategy effectively reduced errors in end-effector positioning and orientation.
Enhanced flexibility allowed for diverse joint configurations crucial for navigating cluttered environments.

Conclusions:

Structural optimization is key to improving robotic manipulator performance in challenging agricultural settings.
Hyper-redundant, cable-driven robots with optimized short, rigid links offer a viable solution for enhanced dexterity and operational capability.
This approach addresses the limitations of conventional manipulators in confined, semi-structured task spaces.