Even though robots can be operated in end effector mode and joint mode, for motion sensing commanding, end effector mode will be more compatible regardless of different DOFs configuration.
Most of those researches have focused on studying the joint failure modes and ultimate joint strength of specimens utilizing strong beams and columns with weak joints.
In this study, pin-loaded specimens are subjected to static in-plane tensile loading to establish the sequence and severity of failure modes and ultimate joint capacity.
In [26], a unified model was proposed to represent four hybrid relay modes and a joint relay mode selection and power allocation algorithm was developed.
One major result is that the joint behavior is qualitatively the same under quasi-static and impact loading: the failure mode and the joint ranking (based on their strength) remain identical.
We identified four species that differ in preferred locomotor mode and hence joint range of motion (Lithobates catesbeianus, Rhinella marina, Xenopus laevis and Kassina senegalensis) and hypothesized that smaller in vivo angles (more flexed) at the knee and ankle joint would be associated with more compliant extensor muscles.
The performance of connections loaded cyclically in flexure was assessed by comparing: (1) the initial damage and failure loads; (2) the types of failure modes; and (3) the joint initial rotational stiffness.
The paper also compares the strength properties of round timber joints which include the load displacement characteristics, failure loads and failure modes, permissible joint loads and joint stiffnesses, with the strength properties of equivalent sawn timber joints designed according to the recommendations of the British Standards for timber structures.
It is noted that the purpose of this study was to investigate the seismic performance beam column joints failed in J failure mode, and thus the joint shear strength of a control specimen J-0 was determined to be less than the joint shear demand corresponding to flexural yielding of the beams (Lee et al. 2009).
Results in terms of interstorey drifts, base shear, failure mode, ductility requirements and joints rotational requirements demonstrate that neglecting the possible local damage of the exterior joints may lead to erroneous conclusions and unsafe design or seismic behaviour evaluation that subsequently may become critical in some cases.
