Maximum Load-carrying Capacity Research Articles

Parametric analysis and simplified approach for steel-framed subassemblies with reverse channel connection under falling-debris impact

Up to now, most studies corresponding to building structures against progressive collapse are based on the column-removal scenario. However, other cases, i.e., falling-debris impact scenario, which may cause progressive collapse of building structures were limitedly studied. This paper presents numerical simulations and a simplified approach of steel-framed subassemblies with Reverse Channel connection with Extended End Plate (RC-EEP) under the falling-debris impact scenario. The numerical results demonstrate the ductility, load-carrying capacity, and energy-absorption capacity of the steel-framed subassemblies with different Span-to-Depth Ratio under various impacted locations. All specimens showed the same global deformation profile and same load-resistance mechanism under the impact load on the same locations. Under mid-span-impact scenario, axial elongation of connection primarily affected the ductility. Both catenary action and flexural action affected the load-carrying capacity. Failure displacement, maximum load-carrying capacity and energy-absorption capacity all decreased with the increase of the Span-to-Depth ratio. Under beam-end-impact scenario, both the ductility and the load-carrying capacity were primarily controlled by the shear deformation and shear strength of the connection close to the impacted location. The increase of the Span-to-Depth ratio had little effect on failure displacement while slightly reduced the maximum load-carrying capacity and energy absorption capacity. Smaller Span-to-Depth Ratio was recommended in the impact-resisting design for impact load on both impact locations. A simplified approach was also developed to predict the behaviour of the steel frame subassemblies up to total failure. The validation study indicated that the proposed models can represent the key responses of steel-framed subassemblies with different Span-to-Depth Ratio subjected to impact load on various locations, including the flexural action at pure bending stage, the development of flexural action and catenary action at the tension-bending stage, and the failure stage. The accuracy of the proposed approach was validated against the experimental tests and numerical simulations, in the aspects of internal force-displacement relationships, load-carrying capacity-displacement relationships, and energy absorption-displacement relationships. The proposed approach provided an accurate and efficient way to predict the impact resistance of specimens with various Span-to-Depth Ratios under both of the mid-span impact and the beam-end impact scenarios.

Muscle hypertrophy and ladder-based resistance training for rodents: A systematic review and meta-analysis.

This study aimed to review the effects of ladder‐based resistance training (LRT) on muscle hypertrophy and strength in rodents through a systematic review with meta‐analysis. We systematically searched PubMed/Medline, SportDiscuss, Scopus, Google Scholar, Science Direct, and Scielo database on May 18, 2020. Thirty‐four studies were included measuring total (mCSA) or mean muscle fibers cross‐sectional area (fCSA) or maximum load‐carrying capacity (MLCC) or muscle mass (MM). About the main results, LRT provides sufficient mechanical stimulation to increase mCSA and fCSA. Meta‐analysis showed a significant overall effect on the fCSA (SMD 1.89, 95% CI [1.18, 2.61], p < .00001, I 2 = 85%); however, subgroup analysis showed that some muscle types might not be hypertrophied through the LRT. Meta‐analysis showed a significant training effect on the MM (SMD 0.92, 95% CI [0.52, 1.32], p < .00001, I 2 = 72%). Sub‐group analysis revealed that soleus (SMD 1.32, 95% CI [0.11, 2.54], p = .03, I 2 = 86%) and FHL (SMD 1.92, 95% CI [1.00, 2.85], p < .0001, I 2 = 71%) presented significant training effects, despite moderate heterogeneity levels (I 2 = 72%). MLCC increases considerably after a period of LRT, regardless of its duration and the characteristics of the protocols (SMD 12.37, 95% CI [9.36, 15.37], p < .00001, I 2 = 90%). Through these results, we reach the following conclusions: (a) LRT is efficient to induce muscle hypertrophy, although this effect varies between different types of skeletal muscles, and; (b) the ability of rodents to carry load increases regardless of the type and duration of the protocol used.

Longitudinal modeling and properties tailoring of functionally graded carbon nanotube reinforced composite beams: A novel approach

Carbon Nanotubes (CNTs) are considered a promising reinforcement for engineering advanced structures, such as aerospace applications. It became inevitable to tailor structures not only by conventional geometric but also by mechanical properties tailoring, to acquire the maximum load-carrying capacity. Therefore, this research presented a novel Finite Element (FE) modeling of Axially Functionally Graded CNT Reinforced Composite (AFG-CNTRC) beams, based on Timoshenko beam theory. However, an obstacle is raised due to properties discontinuity produced between consecutive elements in axial gradation. A solution is proposed based on the ladder-pattern concept. It defined a locally specific value at each element, satisfying the overall required distribution. It followed by a convergence test, static, and dynamic analysis with comprehensive parametric studies. The obtained results showed that the model is convergent, accurate, free of shear-locking, and suitable for axial gradation. Moreover, this study introduced an advanced technique for axial properties tailoring, utilizing privileges of CNT and aggregation. The longitudinal tailoring depends on both the CNT orientation angle and gradation index, which played a crucial role in response control and adjusting beam stiffness together with strength. This approach could solve enormous engineering problems, especially at critical cross-sections design and constraint response, without affecting the total weight.

Composite sandwich repair using through-thickness reinforcement with robotic hand micro-drilling

The novel through-thickness reinforcement and repair (TTR) method of composite sandwich structures with delamination or disbond damage is proposed. The technique allows to restore the load-carrying capacity of composite sandwich structures with delamination and disbond damage and after complete facesheet laminate failure. The developed TTR repair technique was investigated using 4-point bending configuration. The conducted digital image correlation analysis showed that TTR allowed to suppress buckling in disjointed laminate. The TTR method offers the potential way for reinforcing and repair of composite sandwich structures, providing improvement of maximum load-carrying capacity. The high level of reconfigurability of the present TTR technique was achieved by incorporating the robotic hand micro-drilling setup, which uses a force-controlled drilling process with safe human-robot collaboration features. The effectiveness of the method was shown to strongly depend on the aspect ratio of the embedded TTR carbon fiber pin.

Experimental investigation of engineered cementitious composites (ECC) retrofitted masonry structures

Earthquake has proven the most damaging natural hazard in the world. So, structures in the earthquake-prone areas are need to be retrofitted prior and post of the calamity. It has been observed that most of the research solutions available focus upon reinforced concrete and steel constructions. Engineered cementitious composites (ECC) developed for economical utilization of fibres in retrofitting of masonry structures have been focused herein. The performance of beam-like masonry specimens subjected to their out-of-plane forces are experimentally and numerically investigated in this paper. Twelve beam-like specimens were cast and retrofitted with polyvinyl alcohol engineered cementitious composites (PVA-ECC) for the purpose. The casting of the retrofitting layer was done by varying percentages of PVA fibres that are 1%, 1.5% and 2% addition by the total volume of mortar. The performance of out-of-plane direction is investigated trough static two-point loading. The specimens were tested at a constant load increment of 0.1 mm per second. Work was conducted to simulate the ultimate cracking loads, maximum tension/deflection and load to deflection relationships of retrofitted and non-retrofitted specimens. Preliminary experimental data were used for numerically modelling the specimens in finite element package. Numerical results for deflection and strength were finally compared with experimental results. Experimental results revealed that the maximum load-carrying capacity with retrofitted samples increased by 11.8, 10.15 and 11.13% for 1%, 1.5% and 2% fibre addition, respectively. Simultaneously, deflection before complete collapse increases 5, 8 and 10% for 1%, 1.5% and 2% fibre additions. It can be finally said that utilization PVA-ECC as retrofitting material is an economical and easy method available.

Fragility analysis of an ageing monopile offshore wind turbine subjected to simultaneous wind and seismic load

The loads induced as a result of seismic activities may jeopardize the serviceability of offshore wind turbines or may even lead the structure to reach the ultimate strength. The maximum load-carrying capacity of a support structure can be estimated by performing a structural assessment which accounts for the nonlinear effects arising from the material and geometry. The present work aims to analyze the fragility of a 5 MW monopile offshore wind turbine structure subjected to seismic activities accounting for soil interactions and time-variant structural degradation. The offshore wind turbine structure is subjected to different ground motions with different intensity. The nonlinear full transient dynamic structural analysis is carried out based on the finite element method, and the nonlinear monopile structural response during the different seismic activities is discussed. Finally, the fragility curves associated with the serviceability limit state design and the ultimate strength limit state are developed.

Upgrading of normal concrete service life by using SIFCON layers

Slurry infiltrated fibrous concrete (SIFCON) is a form of superior performance fiber reinforced concrete made by penetrating steel fiber bed with an exceptionally designed slurry of cement-based. Researches have demonstrated that SIFCON is an imaginative building material having both extensive ductility and high strength. In the current study, the use of SIFCON has been investigated as a strengthening layer for conventional concrete section. The effects of the SIFCON layer position (bottom, top & bottom, and jacket), thickness (1.5, 2.5, and 3.5) cm, and steel fiber volume fraction (6, 7.5, and 9) % on the flexural strength, toughness, and ductility of hybrid prisms were reported. The results showed that the increase in thickness of the SIFCON layer and the steel fiber volume fraction improves load bearing capacity, toughness, and ductility of the composite sections. The maximum ductility and load carrying capacity achieved from the jacketing case. Also, the toughness enhanced greatly in the case of jacketing composite section, it was 23 times higher than that of control prisms.

Tensile Properties of Boron Nitride-Carbon Nanosheet-Reinforced Aluminum Nanocomposites Using Molecular Dynamics Simulation

The recently discovered hybrid boron nitride-carbon (BN-C) nanostructures have triggered enormous attention in the research on innovative nanocomposite design. Molecular dynamics simulation is conducted in this study to analyze the load-carrying capacity of aluminum nanocomposites reinforced with different types of BN-C nanosheets. By adopting a realistic loading condition in actual composites, the study found that the mechanical performance of the nanocomposite is predominantly affected by the interfacial mechanics between the nanosheet and the inner surface of the matrix. The computed Young’s modulus of Al matrix reinforced by graphene, BN and BN-C nanofiber are 74.61 GPa, 74.65 GPa and 76.48 GPa respectively by using the realistic loading condition. The tensile loading behavior of the nanocomposite is also strongly dependent on the angle of recline of the nanosheet relative to the loading direction. The nanocomposite with a nanofiber reinforcement aligned at 0° to the principal loading axis exhibited maximum tensile resistance compared to that of nanofiber reinforcements aligned at 15° or 30°. The maximum load-carrying capacity under tension decreases with increasing temperature. However, increasing the BN concentration in the reinforcing nanosheet improves the thermal stability of the nanocomposite.

Flexural behaviour of glass fibre reinforced polymer (GFRP) laminated hybrid-fibre reinforced concrete beams

The flexural behaviour of externally bonded glass fibre reinforced polymer (GFRP) reinforced concrete (RC) beams incorporating both ‘basalt’ and ‘polyolefin’ fibres at a constant ratio of 70:30 and in several combinations of fibre volume fractions (Vf) ranging from 0–2% (at a constant increment of 0.5%) were investigated, to highlight to role of strengthening and the hybrid fibres in beams. Three different types of beams, namely: a control beam (1 No.); GFRP laminated RC beam (1 No.) and laminated and hybrid fibre reinforced (HFRC) beams (4 Nos.) were cast, and tested under a four-point bending. The load-deflection response at: first crack, yield point, at initiation of debonding lamination and at ultimate stages were recorded by appropriate instrumentation. The results indicate that there is a ‘combined effect’ of lamination and incorporation of the above hybrid fibres in contributing to the very high load-carrying capacity and enhanced ductility of laminated HFRC beam, especially at a fibre volume content of 1.5%. Further, the maximum yield and ultimate load-carrying capacity of laminated HFRC beam is found to be 59% and 49% higher than the laminated RC beam and 125% and 98% higher than the control beam. However, the deflections are higher, and their permissibility have to be ascertained with respect to relevant codal provisions. All the laminated HFRC beams exhibited ‘gradual debonding’ and ‘ductile’ failure, whereas, the control beam exhibited ‘flexural mode’ of failure. The ‘combined effect’ can be used advantageously in structural applications, where both ‘strength’ and ‘ductility’ are important.

Flexural behavior of fiber reinforced concrete incorporation with lathe steel scrap

Fiber reinforced concrete when used in construction the major concern is about the Environmental impact or acceptance of the material by all the environmental conditions so when the material like lathe steel scrap is used in the concrete as a fibrous material which helps to reduce the major solid waste like lathe steel scrap from the steel manufacturing industries which is a major concern in environmental aspects. When these non Bio-degradable solid wastes like Lathe steel scrap is used in the concrete, it will be a sustainable material. When these Fibers are used it is much important to determine all the properties of the concrete which are essential to determine the feasibility to use in construction. In this study various properties like compression strength, Split Tensile strength, Bending strength and Flexural studies like Stress Vs Strain relations, Load Vs Deflection relations, Maximum Load Carrying Capacity, Maximum Deflection, First crack Load Etc is studied for beams of dimensions 700 × 150 × 150 mm, 1000 × 150 × 150 mm, and 1000 × 150 × 230 mm. All the specimens required for the above tests are prepared by 0%, 1%, 1.5%, 2% addition of Lathe steel scrap to M30 grade of concrete and are cured under standard curing conditions and tested for 7 days and 28 days.

A Hybrid Framework of Efficient Multi-Objective Optimization of Stiffened Shells with Imperfection

In the practical engineering applications of stiffened shell, the initial imperfection is inevitable and it could cause significant reduction in the load-carrying capacity of stiffened shell. The light-weight optimization of stiffened shell is generally performed under the constraint of fixed maximum load-carrying capacity. However, the load-carrying capacity of stiffened shell has been improved continuously as the promotion of manufacturing technology, which causes the previous strategies of light-weight optimization become conservative and outdated. Therefore, an improved hybrid framework of multi-objective optimization of stiffened shell with imperfection is necessary and presented in this paper, which focus on developing a general posterior design method to determine the optimal weight according to the different collapse loads. A new adaptive update criterion based on the Kriging model is developed to improve the efficiency and accuracy of the hybrid framework. The present optimal results provide a set of the Pareto optimal points and form a Pareto front, from which new posterior design can be achieved.

Fe Modelling and Analysis of Two-Way Gfrp Sandwich Slim Floors

Innovative flooring systems utilizing lightweight Glass fiber reinforced polymer composite materials may have the significant potential to offer both economic and performance benefits compared to conventional concrete and steel systems. However, before widely adopted by industries, a fundamental understanding of their mechanical behavior is necessary. The key focus of this project is an investigation into the mechanical behavior of a new two-way GFRP sandwich slim floor system. The proposed new two-way GFRP sandwich slim floor system is in essence, a GFRP sandwich slab with GFRP beam. The sandwich slab assemblies were built-up sections made from pultruded web-core profiles incorporated between two flat panels, connected via adhesive bonding. A GFRP rectangular or I beam provided as the beam, and it is either partially encased or not. 3D finite element analyses are performed to provide detailed insight into the structural behavior and to predict the deformation and failure loads. Different analyses such as static, impact, modal, and buckling analyses are carried out, and the performances are evaluated. GFRP sandwich slim floor with partially encased I beam with GFRP bars has a high load-carrying capacity and bending stiffness. Also, it has better impact resistance. The fundamental natural frequency obtained from the FE analysis indicates better stiffness characteristics of the slim floor. All the buckling loads were higher than the maximum loadcarrying capacity of the GFRP sandwich slim floor. Hence, local buckling does not seem to be a crucial issue under the present loading conditions.

Flexural behaviour of the functionally graded concrete beams using two-layers and three-layers configuration

Studies related to the bending behaviour of functionally graded concrete (FGC) beams are still investigated to explore the possibility of the more cost-efficient casting techniques and to produce high-performance FGC beam elements simultaneously. Previous researches show that the manufacture of FGC beams by combining two concrete mixes in two layers can increase the stiffness of the elements but it reduces the beam ductility. Research concentrating on the FGC beams with additional numbers of concrete layers was analysed in this study. Four pieces of FGC beams measuring 120 x 240 x 2200 mm were prepared with concrete strength of 25 MPa (NA); 30 MPa(NB); 30-20 MPa (GBA); and 30-20-30 MPa (GBAB). The specimens were tested in the laboratory using a four-point bending method. The experimental data consisting of the load increments and the mid-span deflections are further analysed to compare the resulting (1) maximum load-carrying capacity; (2) maximum deflection; (3) beam stiffness; (4) moment-curvature; and (5) ductility. The result shows that (1) the GBAB exhibited 0.83% greater maximum loads than the GBA; (2) the GBAB deflected 29.52% lesser than the GBA; (3) the GBAB posses stiffness 12.03% greater than the GBA; (4) the GBAB exhibited higher resulting yield points and ultimate state than the GBA at the moment-curvature relationship; and (5) the GBAB was 20.06% less ductile than the GBA.

Behavior of vertical and batter piles under lateral, uplift and combined loads in non-cohesive soil

Piles and pile groups are subjected to various kinds of loadings in onshore and offshore structures. To simulate field conditions, different kinds of loadings, i.e., lateral, uplift and combined loading, were applied on vertical and batter pile foundation. Mild steel piles having outer diameter 22 mm and inner diameter 20 mm were used. Various tests were performed on single piles having different length-to-diameter ratio, viz. 18, 28 and 38. Modeling of the pile was done using the physical scaling laws. Different angles, i.e., 15°, 25° and 35°, were considered for negative and positive batter piles. The mild steel tank was designed to avoid the effect of boundary conditions. It was observed from the experiments that a negative batter pile with 35° angle and L/D ratio 38 provides maximum load-carrying capacity in every loading condition. The load-carrying capacity of piles under combined loading condition, i.e., lateral as well as uplift load, is found to be more as compared to monotonic loads, i.e., lateral or uplift loads. Further, an ANN model was developed for predicting the behavior of pile under various loading conditions. It is observed that the deflection values obtained from the ANN model and the experiment are in close agreement.

On the Velocity Profile of Couette Flow of Lubricant Within a Micro/Submicro Gap

The hydrodynamic lubrication properties of sliding bearings are influenced by the velocity profile under shear. However, at present, there are very few reports on the velocity profile distribution of the fluid film lubrication in conformal contacts. In this article, an apparatus was built for in situ measurement of the velocity profile of thin oil film under a micro/submicro gap at ambient pressure using a photobleached imaging technique and imaging the shape evolution of the bleached area under shear. The film thickness is calibrated by interferometry. The results show that the velocity profile of oligomer PB450 doped with a fluorescent agent is a typical linear distribution under higher film thickness, which is in accordance with the classical lubrication theory. When the gap of the disk and slider is less than 2 μm, there are obvious partial inhomogeneous shear flows at ambient pressure, and the slip length increases with the decreasing film thickness. Lubricants of different viscosities and molecular structures show an inhomogeneous flow transition at different confinements. Correspondingly, abnormal velocity profile results combined with generalized Reynolds equation could explain the phenomenon that the convergence ratio of the maximum load-carrying capacity is larger than 1.2 experiencing hydrodynamic lubrication. Hence, this work contributes to an improved understanding of rheology as well as more accurate predictions of tribological properties.

Whey protein sweetened with Stevia rebaudiana Bertoni (Bert.) increases mitochondrial biogenesis markers in the skeletal muscle of resistance-trained rats

BackgroundA combination of resistance training and whey protein supplementation is a common practice among athletes and recreational exercisers to enhance muscle growth and strength. Although their safety as food additives is controversial, artificial sweeteners are present in whey protein supplements. Thus, natural sweeteners extracted from the leaves of Stevia rebaudiana are a potential alternative, due to their safety and health benefits. Here, we investigated the effects of whey protein sweetened with S. rebaudiana on physical performance and mitochondrial biogenesis markers in the skeletal muscle of resistance-trained rats.MethodsForty male Wistar rats were distributed into four groups: sedentary rats, trained rats, trained rats receiving whey protein and trained rats receiving whey protein sweetened with S. rebaudiana leaf extracts. Resistance training was performed by climbing a ladder 5 days per week, during 8-weeks. The training sessions consisted of four climbs carrying a load of 50, 75, 90, and 100% of the maximum load-carrying capacity which we determined before by performing a maximum load-carrying test for each animal. After this period, we collected plasma and tissues samples to evaluate biochemical, histological and molecular (western blot) parameters in these rats.ResultsDietary supplementation with whey protein sweetened with S. rebaudiana significantly enhanced the maximum load-carrying capacity of resistance-trained rats, compared with non-sweetened whey protein supplementation. This enhanced physical performance was accompanied by an increase in the weight of the gastrocnemius and soleus muscle pads. Although the muscle pad of the biceps brachii was not altered, we observed a significant increase in PGC-1α expression, which was followed by a similar pattern in TFAM protein expression, two important mitochondrial biogenesis markers. In addition, a higher level of AMPK phosphorylation was observed in these resistance-trained rats. Finally, supplementation with whey protein sweetened with S. rebaudiana also induced a significant decrease in retroperitoneal adipocyte diameter and an increase in the weight of brown adipose tissue pads in resistance-trained rats.ConclusionThe addition of Stevia rebaudiana leaf extracts to whey protein appears to be a potential strategy for those who want to increase muscular mass and strength and also improve mitochondrial function. This strategy may be useful for both athletes and patients with metabolic disorders, such as obesity and type 2 diabetes.

Formulation of a thick beam-column element with embedded discontinues for modelling hinges in simple and double-lined tunnels

In this paper, damage in simple and double-lined tunnels is modelled as the occurrence of hinges. Primary and secondary linings are modelled with a beam-column element with embedded discontinuities, which was derived from a variational formulation. In this element, damage is modelled as the development of hinges under flexural forces, transverse dislocations under shear forces and axial discontinuities under axial forces. This element uses constitutive models of reinforced concrete prismatic sections to include independently the capacities of the moment, shear force and axial force, based on damage mechanics. The formulated beam-column element with embedded discontinuities was calibrated with an experimental test of a simple tunnel lined reported in the literature, the numerically computed load-displacement curve was in agreement with that of the experimental test. To show the ability of the formulated element for modelling damage, numerical examples of simple and double-lined tunnels were carried out. In these numerical examples, ovalisation load vs ovalisation curves were computed, showing that maximum ovalisation load-carrying capacity in the double-lined tunnel is approximately the double than the maximum ovalisation load-carrying capacity in the single-lined tunnel, but the latter is more flexible.

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.

Optimization of texture geometry for a rotating ring to maximum load-carrying capacity

Purpose The purpose of this paper is to maximize the load-carrying capacity (LCC) of a rotating ring, a numerical model optimizing both the surface and bottom shape of its surface textures is proposed. Design/methodology/approach The Reynolds equation is used to evaluate the film pressure and LCC obtained by integrating the film pressure is set as the objective function. Around the center of the computational domain, radial lines with an equal angle between adjacent ones are produced and the surface contour of textures is obtained by connecting the endpoints using a spline curve. The bottom profile is then obtained by connecting the endpoints of two vertical lines at the circumferential ends of textures. Lengths of these lines are set as design variables and genetic algorithm is used to solve optimization models. Findings Results show that optimum textures have an “apple-like” surface contour and a “wedge-like” bottom profile, which are both expressed by smooth spline curves. Optimum wedge-bottom textures generate higher LCC than optimum flat-bottom textures. Moreover, the optimum textures have the highest LCC compared with optimum grooves proposed previously, which validates the practical value of the current optimization model. Originality/value This work presents a comprehensive optimization method of texture geometry, which provides a new idea of the design of surface textures.

Optimal Point-to-Point Path Planning of Manipulator by Using Vibration Damping Optimization Algorithm and Game Theory Method

Abstract In this article, designing an optimal path in two forms of point-to-point is investigated. In the first case, the optimal path planning and determination of the load-carrying capacity of a manipulator in a point-to-point and open-loop case is studied. In the second case, the path-planning problem and maximum load-carrying capacity of manipulators are investigated in a closed-loop point-to-point case. Designing an optimal path in a point-to-point and open-loop case is studied using a vibration damping optimization algorithm. In order to design the controller in the closed-loop case, the game theory approach, which is a generalized form of nonlinear optimum control, is used. In this method, in addition to considering the dynamics of the manipulator, the dynamics of the driving system are also considered. Moreover, the method is able to investigate the effects of the disturbances introduced by the driving system. In the proposed method, the voltage of engines and system disturbances are considered as the players. The optimum strategy of players is calculated based on the Nash equilibrium strategy, and the optimum value of control inputs is determined using an iterative algorithm based on solving Riccati equations. The problem of designing a controller is proposed in the form of a differential game problem with zero sum. The results indicate that for a fixed-base two-link manipulator, the design of the controller based on a differential game made it possible to control the effect of system disturbances so that the load-carrying capacity experienced small changes compared to the desired case and without system disturbances resulting from the data obtained from point-to-point and open-loop cases.