Maximum Dynamic Load Research Articles

Full-scale test of a steel moment-resisting frame with composite floor under a penultimate edge column removal scenario

This study investigates the structural behavior and load-resisting mechanism of a typical composite floor system subjected to the penultimate edge column removal scenario. A 2 × 1 bay full-scale composite floor system is quasi-statically pushed down to failure under the displacement loading scheme. Full scale, moment-resisting connection, and continuous steel deck are three main features of this test. Based on this test, load-deflection responses, load-carrying mechanisms, deformation manners, and failure modes are discussed. The maximum load-carrying capacity was achieved at the flexural stage before the fracture of the girder-to-column connection, after that, the resistance decreased slightly and plateaued. The maximum static and dynamic load carrying capacities of the tested specimen is 4.2 times and 3.6 times of the ASCE load combination for accidental events, respectively. The damaged area of the composite floor is concentrated neighboring to the removed column, which is caused by the girder-to-column connection failure. Yield line method is used to predict the load-carrying capacity of this composite floor system, and the prediction agrees well with the maximum resistance measured in the test. After the failure of the girder-to-column connection in the removed column area, the measured loads are 15.9% ∼ 24.5% higher than the predicted values. This is because the yield line method does not count the contribution of the tensile membrane action in the slab. By comparing with the results from previous experimental studies, the effectiveness of the moment-resisting connection and the continuous steel deck on improving the load-carrying capacity of the composite floor system has been validated.

Numerical simulation of crack propagation behavior of a semi-cylindrical specimen under dynamic loading

To design and evaluate the analytical crack propagation of a specimen under dynamic load, measurement of dynamic fracture parameters is necessary. However, analytical methods have significant complexity, and experimental methods are also time-consuming that require high precision and considerable funding. Therefore, numerical methods can be used to solve these problems. The Extended Finite Element Method (X-FEM) as a powerful and efficient tool can be used for this purpose. In this paper, X-FEM code in ABAQUS software was used in order to simulate crack growth in a semi-circular specimen with pre-existed crack and also intact specimen to determine dynamic stress intensity factor (DSIF) using displacement extrapolation method. To verify the numerical modeling output, the curve of crack surface opening displacement (CSOD) in X-FEM model has been compared with the experimental curve. Moreover, concrete damage plastic (CDP) model was used to validate X-FEM simulation results. The results show that the DSIF for a cracked sample under a maximum dynamic load 3000 N is equal to 0.5 Mpa . Comparison between the CDP and X-FEM results showed that in both approaches, the same area for crack propagation was also determined.

Improved static and dynamic mechanical properties of multiscale bucky paper interleaved Kevlar fiber composites

Herein, the influence of bucky paper interleaves and dispersed MWCNT network on static and dynamic mechanical properties of Kevlar-epoxy composites, subjected to different loading conditions is investigated. Multiscale hybrid laminar Kevlar composites are prepared by vacuum impregnation followed by compression moulding technique. Subsequently, these hybrid composites are subjected to tensile, flexural, dynamic mechanical and low velocity impact and directly compared with basic Kevlar composite (KE) laminate. It is found that bucky paper interleaves along with dispersed MWCNT (KEBC) improve interlaminar and interfacial properties respectively. It is found that the maximum dynamic impact energy absorption and load carrying capacity of KEBC increase to 13.8 J and 2650 N respectively which shows an overall improvement of 31% over KE. These results are further confirmed by Charpy's impact test, in which maximum impact toughness reaches to 90.4 J/mm2, which is consistent with dynamic impact test results. After conducting various lab scale mechanical tests, ballistic test is also performed over KEBC and KE. It is found that, in case of KEBC, back face signature is reduced to 30% over KE, which confirms the collective effort of bucky paper interleaves and dispersed MWCNT in enhancing the energy absorption capability of hybrid laminar composite.

Study on Electromechanical Coupling Characteristics of an Integrated Electric Drive System for Electric Vehicle

In order to investigate the electromechanical coupling characteristics of the integrated electric drive system (IEDS) that consists of a surface-mounted permanent magnet synchronous motor (SPMSM) and a helical gear reducer, a transient dynamic model including the motor model and the driveline dynamic model is established. Based on this model, the interaction between the mechanical system and the electrical system of IEDS for electric vehicle is simulated and analyzed. To suppress the dynamic load of IEDS mechanical components caused by the sudden step electromagnetic torque during rapid acceleration, an active damping control strategy (ADCS) is proposed. With the effect of ADCS, the maximum mesh force and displacement of IEDS gear pair have reduced by 23.26% and 26.96% respectively, the maximum dynamic load of motor shaft and IEDS output shaft have reduced by 28.75% and 29.05% respectively. The simulation results indicate that ADCS could effectively suppress the driveline torsional vibration during rapid acceleration.

An engineering-oriented motion accuracy fluctuation suppression method of a hybrid spray-painting robot considering dynamics

Due to the complex dynamic characteristics of a hybrid spray-painting robot, the motion accuracy fluctuates in the workspace. In order to reduce the accuracy fluctuation of the hybrid robot, this paper proposes an engineering-oriented motion accuracy assurance method by considering dynamic characteristics, including workspace optimization and control parameters design. First, the dynamic model of the hybrid spray-painting robot is derived based on the virtual work principle, and a dynamic evaluation index is investigated to describe the possible maximum dynamic load. Then, based on the evaluation index, the relative location of the task workspace for painting an aircraft wing in the whole workspace is optimized. Then, a control parameters design approach is presented to ensure that the robot always has desired accuracy in the optimized task workspace. Finally, some experiments are performed, and the results show that the robot has better performance in the optimized task workspace with the designed control parameters, which proves the effectiveness of the proposed method.

Motion equations of cooperative multi flexible mobile manipulator via recursive Gibbs–Appell formulation

• The model of time-varying multi flexible mobile manipulators is proposed. • The cooperative mobile manipulator with the closed kinematic chain is illustrated. • The Gibbs–Appell formulation has been upgraded by using Lagrange multiplayer. • The maximum dynamic load caring capacity has been evaluates for a common object. In this paper, the developed model of an N-flexible-link mobile manipulator with revolute-prismatic joints is presented for the cooperative flexible multi mobile manipulator. In this model, the deformation of flexible links is calculated by using the assumed modes method. In additions, non-holonomic constraints of the robots’ mobile platforms that bound its locomotion are considered. This limitation is alleviated through the concurrent motion of revolute and prismatic joints, although it results in computational complexity and changes the final motion equations to time-varying form. Not only is the proposed dynamic model implemented for the multi-mobile manipulators with arms having independent motion, but also for multi-mobile manipulators in cooperation after defining gripper's kinematic constraints. These constraints are imported to the dynamic equations by defining Lagrange multipliers. The recursive Gibbs–Appell formulation is preferred over other similar approaches owing to the capability of solving the equations without the need to use Lagrange multipliers for eliminating non-holonomic constraints in addition to the novel optimized process of obtaining system equations. Hence, cumbersome simultaneous computations for eliminating the constraints of platform and arms are circumvented. Therefore, this formulation is improved for the first time by importing Lagrange multipliers for solving kinematic constrained systems. In the simulation section, the results of forward dynamics solution for two flexible single-arm manipulators with revolute-prismatic joints while carrying a rigid object are presented. Inverse dynamics equations of the system are also presented to obtain the maximum dynamic load-carrying capacity of the two-rigid-link mobile manipulators on a predefined path. Two constraints, namely the capacity of joint motors torque and robot motion stability are considered as the limitation criteria. The concluded motion equations are used to accurately control the movement of sensitive bodies, which is not achievable through the use of one platform.

Large deformation modeling of flexible manipulators to determine allowable load

This paper focuses on the study of complete dynamic modeling and maximum dynamic load carrying capacity computation of N-flexible links and N-flexible joints mobile manipulator undergoing large deformation. Nonlinear dynamic analysis relies on the Timoshenko theory of beams. In order to model the system completely and precisely, structural and joint flexibility, nonlinear strain-displacement relationship, payload, and non-holonomic constraints will be considered to. A finite element solution method based on mixed method is applied to model the shear deformation. This procedure is considerably more involved than displacement based element and shear deformation can be readily included without inducing the shear locking in the element. Another goal of this paper is to present a computational procedure for determination of the maximum dynamic load of geometrically nonlinear manipulators with structural and joint flexibility. An effective measure named as Moment-Height Stability (MHS) measure is applied to consider the dynamic stability of a wheeled mobile manipulator. Simulations are performed for mobile base manipulator with two flexible links and joints. The results represent that dynamic stability constraint is sensitive when calculating the maximum carrying load. Furthermore, by changing the trajectory of end effector, allowable load also changes. The effect of torsional spring parameter on the joint deformation is investigated in a parametric sensitivity study. The findings show that, by the increase of torsional stiffness, the behavior of system approaches to a system with rigid joints and allowable load of robot is also enhanced. A comparison is also made between the results obtained from small and large deformation models. Fluctuation range in obtained figures for angular displacement of links and end effector path is bigger for large deformation model. Experimental results are also provided to validate the theoretical model and these have good agreement with the simulated results.

Evaluation of vehicular dynamic effects for the life cycle fatigue design of short‐span bridges

AbstractDedicated to Prof. Dr. Akimitsu Kurita on his 70th birthdayIn current bridge design codes or specifications, the dynamic effects of vehicles are considered by using a dynamic amplification factor (DAF) or dynamic load allowance (IM). However, a DAF is defined based on the ratio of the maximum dynamic load responses to the static load responses, and it is more appropriate for maximum value‐based strength design. For fatigue design, stress cycles other than the maximum stress ranges could contribute to fatigue damage accumulations. Meanwhile, on the capacity side, a reduction in fatigue strength due to structural deterioration, which is related to local environmental conditions, including temperature, humidity, etc., could introduce more uncertainties into structural safety and reliability evaluation. However, such multiple stress range effects and structural deterioration are not included in current bridge fatigue design. To evaluate the vehicular dynamic effects for the life cycle fatigue design of short‐span bridges, the present study proposes a new dynamic amplification factor for life cycle bridge fatigue design (DALC), which is defined as the ratio of the life cycle nominal live load stress range to the maximum static stress range. In contrast to other traditionally defined dynamic factors, the newly defined DALC includes information about both the structural loading and the structural capacity. Therefore, the multiple stress cycles from vehicle‐induced vibrations and the structural deteriorations from road surface conditions and corrosion of structural members are included. Parametric studies of DALC were carried out for multiple parameters and variables in the bridge's design life cycle, for instance, possible faulting days in each year, fatigue strength exponent, corrosion parameters and corrosion level. The stochastic properties and uncertainties from these variables are also considered in the DALC calculation.

A method for designing control parameters of a 3-DOF parallel tool head

The mechatronic system of a parallel tool head consists of the mechanical subsystem and the control subsystem, and appropriate control parameters have a significant effect on the performance of the parallel tool head. Thus, it is a core issue of how to make the right choice of the control parameters. However, due to the time-varying and coupling dynamic characteristics, there is still not an effective control parameters design method during industrial machining process. In this paper, by taking a 3-DOF parallel tool head with proportional control and velocity feedforward compensation as an object of study, a complete method for designing control parameters is investigated. First, a coupling variable is specified to reflect the dynamic properties between the mechanical subsystem and the control subsystem. Next, a novel dynamic index is proposed to evaluate the dynamic load of each driving shaft in the workspace, and the shaft with maximum dynamic load should be mainly pay attention. Then, based on the typical movement experiments, two design indices are proposed to ensure that the coupling variable has appropriate properties during the motion process. Finally, a parameters design experiment and a cutting experiment of an S-shaped test piece are performed, the results show that compared with the original control parameters used in industry, the tracking error of the driving shaft is much better when using the optimized control parameters, and the test piece meets the accuracy requirement. This design thought can also be applied to other parallel manipulators in industry.

Pressure drop of two-phase helium along long cryogenic flexible transfer lines to support a superconducting RF operation at its cryogenic test stand.

BackgroundEstablishing a stand-alone cryogenic test stand is of vital importance to ensure the highly reliable and available operation of superconducting radio-frequency module in a synchrotron light source. Operating a cryogenic test stand relies strongly on a capability to deliver two-phase helium along long cryogenic transfer lines. A newly constructed cryogenic test stand with flexible cryogenic transfer lines of length 220 m at National Synchrotron Radiation Research Center is required to support a superconducting radio-frequency module operated at 126.0 kPa with a 40-W dynamic load for a long-term reliability test over weeks. It is designed based on a simple analytical approach with the introduction of a so-called tolerance factor that serves to estimate the pressure drops in transferring a two-phase helium flow with a substantial transfer cryogenic heat load. Tolerance factor 1.5 is adopted based on safety factor 1.5 commonly applied in cryogenic designs to estimate the total mass flow rate of liquid helium demanded. A maximum 60-W dynamic load is verified with experiment measured with heater power 60 W instead after the cryogenic test stand has been installed.ResultsAligning the modeled cryogenic accumulated static heat load with the results measured in situ, actual tolerance factor 1.287 is obtained. The feasibility and validity of our simple analytical approach with actual tolerance factor 1.287 have been scrutinized by using five test cases with varied operating conditions. Calculated results show the discrepancies of the pressure drops between the estimated and measured values for both liquid helium and cold gaseous helium transfer lines have an underestimate 0.11 kPa and an overestimate 0.09 kPa, respectively. A discrepancy is foreseen, but remains acceptable for engineering applications from a practical point of view.ConclusionsThe simple analytical approach with the introduction of a tolerance factor can provide not only insight into optimizing the choice of each lossy cryogenic piping element of the transfer lines in the design phase but also firm guidance for upgrading the present cryogenic transfer lines for its subsequent application.

Robust optimal motion planning approach to cooperative grasping and transporting using multiple UAVs based on SDRE

In this paper, we consider the problem of controlling a team of Quadrotors that cooperatively grasp and transport a common payload in three dimensions in the presence of external disturbances and parametric uncertainties such as wind field effects. The main contribution of this work is to propose a cooperative control algorithm based on a decentralized strategy. This algorithm consists of two main parts: first calculating the control vectors for each Quadrotor using Moore–Penrose theory and second combining these control vectors with individual control vectors, which are obtained from a closed-loop non-linear robust optimal controller. In this regard, a robust optimal sliding mode controller (ROSMC), which incorporates the state-dependent Riccati equation (SDRE) method with sliding mode control (SMC) technique, is designed. It also has the capability of maximum dynamic load carrying capacity (DLCC) to increase the carrying capacity and the efficiency of the group of Quadrotors. The proposed method inherits the advantages of both approaches including robustness against model uncertainties and high flexibility in designing the control parameters to provide an optimal solution for the non-linear dynamic of the system. The control algorithm is based on the Lyapunov technique, which is able to provide the stability of the end-effecter during tracking of the desired trajectory with acceptable precision. Finally, the simulation results demonstrate the effectiveness of the control strategy for the cooperative Quadrotors to grasp and transport a common payload in various manoeuvres.

Influence of Cr element on impact fracture process of ductile Ni-resistant alloyed iron at low temperature

In this study, in order to investigate the influence of Cr element on the impact fracture process of ductile Ni-resistant alloyed iron at low temperature, different contents of Cr element were added to ductile Ni-resistant (DNR) austenitic alloyed iron. The experimental results show that Cr addition can increase the hardness of the DNR alloyed iron, but it has an destructive effect on low-temperature impact properties. Through the analysis of the dynamic load and absorbed energy of samples with different Cr contents in the impact fracture process, and the comparison of the impact fracture process at room and low temperatures, it reveals that Cr addition into the DNR alloyed iron can facilitate the formation of the carbide mixture in Mn23C6 and Cr23C6 with homogeneous and discontinuous distribution. Meanwhile, Cr addition also can improve the the maximum dynamic load and crack initiation energy at low temperature, but has no obvious effect on the yield behavior of the DNR alloyed iron in the impact fracture process. Compared with the impact crack propagation process at room temperature, the metastable propagation energy at low temperature declines significantly with an increase in Cr content. This is because the micro-cracks that caused by the carbides weaken the matrix, resulting in the decline of impact crack propagation resistance. The fracture analysis results also show that the impact fracture mechanism gradually transforms from ductile to brittle with an increase in Cr content at low temperature. It explains that too much Cr addition can lead to brittle fracture even though the austenitic matrix has a good toughness at low temperature.

Deterministic Analysis of Wind Loads Effects on High-Rise Buildings

This paper studies the effect of mean wind velocity on tall building. Wind velocity, wind profile and wind pressure have been considered as a deterministic phenomenon. Wind velocity has been modelled as a half-sinusoidal wave. Three exposures have been studied B, C, and D. Wind pressure was evaluated by equation that joined wind pressure with mean wind velocity, air density, and drag coefficient.
 Variations of dynamic load factor for building tip displacement and building base shear were studied for different building heights, different mode shapes, different terrain exposures, and different aspect ratios of building plan. SAP software, has been used in modelling and dynamic analysis for all case studies.
 Results For different building heights considered maximum dynamic load factor (DLF) occurs in height range from 100-150m because fundamental building frequency is so close as to dominate wind frequency. Effects of higher modes become insignificant for height greater than 175m. Effect of three different terrain exposures B, C, and D on DLF for tips displacement and building base shear have been insignificant effect on response of tip displacement and building base shear. . Finally, effect of aspect ratio for different building heights with dynamic load factor (DLF) for tips displacement and for building base shear have approaching 2, fundamental building frequency is so closed to dominate wind frequency.
 

Mechanical evaluation of newly developed mouthpiece using polyethylene terephthalate glycol for transoral robotic surgery.

Transoral robotic surgery (TORS), performed with the da Vinci surgical system (da Vinci), has been classified as a surgical approach for benign and malignant lesions of the oral cavity and laryngopharynx. It provides several unique advantages, which include a three-dimensional magnified view, ability to see and work around curves or angles, and the availability of two or three robotic arms. At present, however, the da Vinci surgical system does not provide haptic feedback. The potential risks specific to the transoral use of the da Vinci include tooth injury, mucosal laceration, ocular injury, and mandibular fracture. To prevent such intra-operative tooth injuries, we created a mouthpiece made of polyethylene terephthalate glycol (PETG) individually shaped for the patient’s teeth. We compared the safety and efficacy of the PETG mouthpiece with those of a conventional mouthpiece made of ethylene–vinyl acetate (EVA). To determine the difference in tooth injury resulting from the two types of mouthpiece, we constructed an experimental system to measure load and strain. We measured the dynamic load and the strain from the rod to the tooth using the PETG and EVA mouthpiece. The rod was pressed against the tooth model outfitted with two types of mouthpiece and the dynamic load was measured with a load cell and the strain with a strain gage. The maximum dynamic load was 1.29 ± 0.03 kgf for the PETG mouthpiece and 2.24 ± 0.05 kgf for the EVA mouthpiece. The load against the tooth was thus less for the EVA mouthpiece. The strain was −166.84 ± 3.94 and 48.24 ± 7.77 με, respectively, while the load direction was parallel to that of the tooth axis for the PETG mouthpiece and perpendicular to the tooth axis for the EVA mouthpiece. The PETG mouthpiece reduced the tooth load compared with the EVA mouthpiece and the load direction was in parallel to the tooth axis. The PETG mouthpiece thus enhances tooth safety for TORS.

Research on the Influence of Dynamic Load on Suspended Monorail

The influence of the moving load on suspended monorail was studied. During the movement of suspended carriages were established inertial forces, which lead to the additional monorail curvature. Found the dependence of the maximum dynamic load of the trucks speed along the monorail. Established speed of truck at which load of the monorail is practically static. The dependence of the bending section of the monorail under the influence of moving dynamic forces and the value of dynamic coefficient for suspended monorail track were found.

Load evaluation of the da Vinci surgical system for transoral robotic surgery.

Transoral robotic surgery, performed with the da Vinci surgical system (da Vinci), is a surgical approach for benign and malignant lesions of the oral cavity and laryngopharynx. It provides several unique advantages, which include a 3-dimensional magnified view and ability to see and work around curves or angles. However, the current da Vinci surgical system does not provide haptic feedback. This is problematic because the potential risks specific to the transoral use of the da Vinci include tooth injury, mucosal laceration, ocular injury and mandibular fracture. To assess the potential for intraoperative injuries, we measured the load of the endoscope and the instrument of the da Vinci Si surgical system. We pressed the endoscope and instrument of the da Vinci Si against Load cell six times each and measured the dynamic load and the time-to-maximum load. We also struck the da Vinci Si endoscope and instrument against the Load cell six times each and measured the impact load. The maximum dynamic load was 7.27±1.31kg for the endoscope and 1.90±0.72 for the instrument. The corresponding time-to-maximum loads were 1.72±0.22 and 1.29±0.34s, but the impact loads were significantly lower than the dynamic load. It remains possible that a major load is exerted on adjacent structures by continuous contact with the endoscope and instrument of da Vinci Si. However, there is a minor delay in reaching the maximum load. Careful monitoring by an on-site assistant may, therefore, help prevent contiguous injury.

Maximum Allowable Dynamic Load of Mobile Manipulators with Stability Consideration

Abstract High payload to mass ratio is one of the advantages of mobile robot manipulators. In this paper, a general formula for finding the maximum allowable dynamic load (MADL) of wheeled mobile robot is presented. Mobile manipulators operating in field environments will be required to manipulate large loads, and to perform such tasks on uneven terrain, which may cause the system to reach dangerous tip-over instability. Therefore, the method is expanded for finding the MADL of mobile manipulators with stability consideration. Moment-Height Stability (MHS) criterion is used as an index for the system stability. Full dynamic model of wheeled mobile base and mounted manipulator is considered with respect to the dynamic of non-holonomic constraint. Then, a method for determination of the maximum allowable loads is described, subject to actuator constraints and by imposing the stability limitation as a new constraint. The actuator torque constraint is applied by using a speed-torque characteristics curve of a typical DC motor. In order to verify the effectiveness of the presented algorithm, several simulation studies considering a two-link planar manipulator, mounted on a mobile base are presented and the results are discussed.

Maximum Dynamic-Load Allowance of Bridge with GFRP-Reinforced Concrete Deck

AbstractThe 26.87-m, single-span Beaver Creek Bridge on U.S. Highway 6 in Utah was built in 2009. Elements of the bridge included AASHTO Type IV prestressed concrete girders and posttensioned, full-depth, precast concrete deck panels reinforced with glass fiber reinforced polymer (GFRP) bars. The bridge was given three static and five dynamic truck load–controlled tests before it was opened to traffic. Vertical acceleration data was also collected from random truck traffic. Dynamic truck load data was used to verify a finite element model and obtain dynamic load allowance (DLA) values. DLA was determined to be a function of the number of axles, axle group weight, and axle spacing. The maximum DLA for the bridge with a GFRP-reinforced concrete deck was found to be less than the value specified in the AASHTP LRFD Bridge Design Specifications.

Using weigh-in-motion data to determine bridge dynamic amplification factor

The dynamic component of bridge traffic loading is commonly taken into account with a Dynamic Amplification Factor (DAF) - the ratio between the maximum dynamic and static load effects on a bridge. In the design codes, this factor is generally higher than in reality. While this is fine for new bridges that must account for various risks during their life-time, it imposes unnecessary conservativism into assessment of the existing well defined bridges. Therefore, analysis of existing bridges should apply more realistic DAF values. One way of obtaining them experimentally is by bridge weigh-in-motion (B-WIM) measurements, which use an existing instrumented bridge or culvert to weigh all crossing vehicles at highway speeds. The B-WIM system had been equipped with two methods of obtaining an approximation to the static response of the. The first method uses the sum of influence lines. This method relies on accurate axle identification, the failure of which can have a large influence on the DAF value. The other method uses a pre-determined low-pass filter to remove the dynamic component of the measured signal; however an expert is needed to set the filter parameters. A new approach that tries to eliminate these two drawbacks has been developed. In this approach the parameters for the filter are determined automatically by fitting the filtered response to the sum of the influence lines. The measurement of DAF on a typical bridge site agrees with experiments performed in the ARCHES (1) project: dynamic amplification decreases as static loading increases.

Optimal path planning of a cable-suspended robot with moving boundary using optimal feedback linearization approach

In this paper, the optimal path of a cable-suspended robot between two boundaries is assessed subject to its maximum load, while the initial and target points are moving boundary. Considering the fact that the most important application of cable robots is load carrying between two boundaries, planning the optimal path in which the heaviest load can be carried is extremely applicable. A closed loop optimal path planning algorithm is proposed in this paper for non-linear dynamic of a cable robots based on optimal feedback linearization. This method not only produces the optimal path of the end-effector, but also is robust to external disturbances and parametric uncertainties as a result of its closed loop nature. Moreover, considering the fact that in many automation applications the target of load handling is a sort of moving boundary like conveyors, finding the optimal point of this boundary which produces the optimal path with the maximum dynamic load carrying capacity (DLCC) amongst the other points of the boundary is obviously a useful study. Therefore, an online solution, based on variational algorithm is proposed here to solve the moving boundary problem which is compatible with the presented closed loop optimal path planning. This method is developed for both the initial and final moving boundaries. Finally maximum DLCC is obtained using an iterative method to check the optimality of the proposed method. The efficiency of the proposed algorithm is verified at the end by the aid of some simulation scenarios performed on a spatial six DOFs cable robot with six cables. The motors’ torque, motors’ speed, and resultant DLCCs are calculated for both simple optimal path and moving boundary cases and comparison of the results proves the mentioned claims based on superiority of the proposed algorithm of moving boundary in saving the energy and increasing the DLCC. All simulation results are supported by conducting an experimental study on the cable robot of IUST (ICaSbot) for regulation movement of the end-effector with moving boundary.