Abstract: A method and reactor of manufacturing an object by solid freeform fabrication, especially an object made of titanium or titanium alloys. An objective is to provide a method for rapid layered manufacture of objects in titanium or titanium alloys. A further objective is to provide a deposition chamber which allows prosecution of the method according to the invention.

Abstract: An integrated member can comprise different members each formed of materials having different mechanical characteristics. A method for manufacturing such an integrated member can comprise an electric resistance welding step in which the first member is press-fit into the second member and the press-fit portion can be electrically energized to achieve the electric resistance welding so as to integrate the first member and the second member. The method can further comprise a carburized layer forming step in which carburizing-quenching and tempering, or carbonitriding-quenching and tempering, is performed on the integrated member obtained in the electric resistance welding step to form carburized layers therein in accordance with the mechanical characteristics of the first member and the second member.

Abstract: A method is disclosed for using welding electrodes with a spherically-domed welding face having concentric contoured features formed into the face for better contact with workpiece surfaces. The concentric contoured features may be initially formed by rotating a cutting tool with a contoured cutting edge, the cutting edge being in engagement with the electrode face. A similar practice may be followed to re-create the weld face surface geometry if it becomes eroded or malformed during welding use. A suitable tool may have a blade-like geometry, with a mounting portion for supporting and positioning the tool in a rotating holder and a cutting edge. The cutting edge may have a contour complementary to that of the weld face and extend at least from the center of the weld face to at least the radial extent of the concentric contoured features.

Abstract: An assembly configured to modify a surface or feature of a workpiece by hot isostatic pressing. The assembly comprising: a flexible membrane adapted to at least partially form an enclosure around the workpiece; and a former for placement adjacent to the workpiece, the former being configured to modify the surface or feature of the workpiece. A method of modifying a surface or feature of a workpiece, the workpiece having been previously formed by an additive manufacturing technique, by hot isostatic pressing. The method comprising: placing the previously-formed workpiece adjacent to a former adapted to modify the surface or feature of the workpiece; enclosing the workpiece in an enclosure at least partially formed by a membrane; and performing a hot isostatic pressing process on the workpiece.

Abstract: An ultrasonic welding apparatus that includes a full-wave sonotrode that further includes a first horn, a first nodal region, a welding surface, a second nodal region, and a second horn; first and second bearing assemblies that support the sonotrode at the first and second nodal regions respectively, wherein each bearing assembly further includes a first bearing housing portion; a first low friction bearing disposed within the first bearing housing portion; a second bearing housing portion connected to the first bearing housing portion; and a second low friction bearing disposed within the second bearing housing portion; a first centering apparatus that exerts laterally-acting force on the horn of the full-wave sonotrode; and a second centering apparatus that exerts laterally-acting force on the second horn of the full-wave sonotrode.

Abstract: A method for the friction stir welding of two components, in particular of two shell components of a fuselage structure of an aircraft and spacecraft, said method comprising the following method steps: positioning the two components relative to one another in such a way that a connection region is formed between the two components; friction stir welding the two components by means of a friction stir welding tool which penetrates the connection region in order to produce a weld which permeates the connection region with the formation of an unpenetrated weld edge portion of the connection region; and introducing internal compressive stresses, at least in the weld edge portion of the connection region. Further a device for the friction stir welding of two components, in particular of two shell components of a fuselage structure of an aircraft and spacecraft is provided.

Abstract: Laser processing systems for processing one or more materials or combination of materials with composite laser energy and associated systems and methods are disclosed herein. In several embodiments, for example, a laser processing system includes one or more laser sources that provide a first plurality of first laser beams and preconditioning optics that combine the first laser beams into a first composite beam. The system also includes recomposition optics that separate the first composite beam into second plurality of second laser beams and combine the second laser beams into a second composite beam. The system further includes beam modification optics that modify wave fronts of one or more of the individual second laser beams such that the second composite beam has one or more beam characteristics that are modified relative to corresponding beam characteristics of the first composite beam. For example, the second laser beams of the second composite beam can focus at a common focusing plane.

Abstract: A device reduces dust for safely preventing laser-irradiation capacity from decreasing due to contamination and reliably reducing iron loss of a grain oriented electrical steel sheet. The device improves iron loss properties of a grain oriented electrical steel sheet by irradiating its surface with laser to reduce iron loss, wherein, distance between a laser beam emission port and a laser irradiation point is L (mm); laser irradiation angle formed by a line linking the emission port and the irradiation point with respect to a direction vertical to the sheet is ? (°); and L?50, the emission port is positioned such that L and ? satisfy: 60?0.3L???60 when L?100; 40?0.1L???60 when 100<L?400; ??60 when L>400.

Abstract: Provided is a method for marking on a pressed metallic component whose visibility and corrosion resistance in a marking target is ensured. The method includes a step of irradiating a base treatment target region including a marking target region with a laser beam on a first irradiation condition, and a step of irradiating the marking target region with the laser beam on a second irradiation condition, in which a charged energy of the laser beam is set to be smaller on the first irradiation condition than the second irradiation condition, thereby providing between the marking pattern and a non-irradiation region, a base region having a residual stress greater than that of the non-irradiation region and a residual stress smaller than that of the marking pattern, so as to ensure a visibility. Furthermore, a corrosion resistance is ensured by using a metallic member which is heat-treated to enhance the hardness.

Abstract: An oxide dispersion strengthening (ODS) method of a metallic material using a laser is provided, which includes melting a surface of a metallic matrix placed on a movable stage by irradiating a laser onto the surface (step 1), supplying an oxide dispersion strengthening (ODS) powder at a site of the matrix surface which is melt at step 1 (step 2), and cooling the matrix in which the ODS powder is supplied at step 2 (step 3). Because oxide particles are directly supplied into previously-made sheet or tube matrix, fabrication process is simplified, fabrication cost is reduced, and end product is fabricated efficiently.

Abstract: A laser cutting apparatus (10) includes a laser processing head (15) that receives a laser beam emitted by a laser oscillator (12) and that uses a spherical lens for converging the laser beam so as to cause the intensity distribution of the laser beam to have a caldera-like shape, in which the intensity of the laser beam is higher in a peripheral area than in a central area, at the position of a workpiece (20). Moreover, the laser processing head (15) radiates the laser beam whose focal position is displaced from the position of the workpiece (20) to the workpiece (20). Therefore, the laser cutting apparatus (10) performs an inversion on the laser beam by using the spherical aberration of the spherical lens. Consequently, with a simple configuration, a laser beam whose inner area and outer area are inverted at the position of the workpiece (2) can be generated, and the processing direction for processing the workpiece (20) is not limited.

Abstract: The present disclosure provides three-dimensional (3D) objects, 3D printing processes, as well as methods, apparatuses and systems for the production of a 3D object. Methods, apparatuses and systems of the present disclosure may reduce or eliminate the need for auxiliary supports. The present disclosure provides three dimensional (3D) objects printed utilizing the printing processes, methods, apparatuses and systems described herein.

Abstract: A method for producing a pattern of depressions in the friction surface of a friction component for a frictionally operating device, preferably a multiplate clutch or multiplate brake. After the preparation of the friction component, the pattern of depressions is produced by nontraditional material removal, removal of material preferably being accomplished in a contactless manner, particularly preferably with the aid of a laser beam.

Abstract: A cardboard-handling system with a rule-die associated to a first drum and a counter die associated to a second drum for pre-treating cardboards. A cardboard-alignmentor on a first side of the rule-die and counter-die aligns and conveys a cardboard together with one or more synchronized-cardboard transferors toward a side-gripper conveyor. The side-gripper conveyor transfers the cardboard toward and through the rule-die and counter-die drums for pre-treatment of the cardboard. Next the side-gripper conveyor conveys the cardboard toward and through a laser-treatment module to be further pre-treated. The side gripper conveyor movement is synchronized with a laser-treatment module for which a base with a plurality of protruding elements has moving capabilities and is synchronized with the side-gripper conveyor (via a timing belt for example).

Abstract: A laser machining process is described for laser machining glass or glass-like materials. This process machines articles or features in articles with chamfered edges in one manufacturing operation. Chamfered edges are desirable in glass and glass-like materials because they resist fracturing or chipping and eliminate sharp edges. Producing articles or features in articles in one manufacturing operation is desirable because it can save time and expense by eliminating the need to transfer the article to a separate machine for chamfering after laser machining. Alternatively, it can permit use of less expensive equipment because the same laser used for machining can be used to form the chamfer instead of having a separate process perform the chamfering. Producing chamfers with laser machining results in high quality chamfers without the need for a separate polishing or finishing step.

Abstract: Solder alloy based on nickel is composed of a mixture with a first soldering material, a second soldering material, and a base material, wherein the base material is a nickel-based material which corresponds to the material to be soldered and is present in a proportion of 45-70% by weight in the mixture, the first soldering material is a nickel-based material including chromium, cobalt, tantalum, aluminum and boron, and is present in a proportion of 15-30% by weight in the mixture, and the second soldering material is a nickel-based material including chromium, cobalt, molybdenum, tungsten, boron and hafnium, and is present in a proportion of 15-25% by weight in the mixture.

Abstract: A metal chemistry includes an amount of chromium weight of between about 9.0% and about 16% by weight, an amount of cobalt of between about 7.0% and about 14% by weight, an amount of molybdenum of between about 10% and about 20% by weight, an amount of iron of between about 1.0% and about 5.0% by weight, an amount of aluminum of between about 0.05% and about 0.75% by weight, an amount of titanium of between about 0.5% and about 2.0% by weight, an amount of manganese not to exceed about 0.8% by weight, an amount of carbon of between about 0.02% and about 0.10% by weight, an amount of a titanium+aluminum alloy of between about 0.55% and about 2.75% by weight, and an amount of nickel.

Abstract: Apparatus for welding continuous strips (1a,1b) wound on a support ring (113), comprising at least means (2) for feeding the strips (1a,1b) to be wound on the support ring (113), an assembly (100) for winding said strips, an assembly (200) for applying radial pressure onto the strips, comprising a first circular jaw (211) and a second circular jaw (212), which are arranged opposite each other and spaced in the longitudinal direction (X-X) by an amount corresponding to the width of the finished seal, and an assembly (300) for welding one (1a) of said strips (1a,1b), said pressing assembly (200) and said welding assembly (300) being coaxial, wherein said welding assembly (300) comprises a first electrode (310) and a second electrode (320) which are arranged inside the jaws (211,212) of the pressing assembly so as to face each other and have a diameter smaller than that of the said jaws (211,212).

Abstract: A process for manufacturing a metal part such as a metal reinforcement for the blade of a turbine engine, which includes: manufacturing a three-dimensional metal structure made up of an insert which exhibits properties which allow superplastic forming and diffusion welding to be carried out, and of multiple metal wires encircling the periphery of the insert, where the metal structure forms a preform of the metal part; positioning the metal structure in a forming tool and hot-pressing the three-dimensional metal structure which causes agglomeration of the metal structure so as to obtain the compact metal part.

Abstract: A method for constructing a heat pipe, comprising the steps of providing a tube having an open end and a opposite closed end; filling a tube with a predetermined volume of working fluid; connecting a vapor trap to the open end of the pipe; evacuating the tube for a predetermined period of time to remove non-condensable gases from the tube; and sealing the tube wherein the step of evacuating the tube includes the steps of applying a vacuum to the open end of the pipe.

Abstract: A method for manufacturing a model is disclosed. The disclosed method for manufacturing the model comprises the steps of: a) preparing a plurality of pieces having contours in the shape of cross-sections of an object from specific distances away from a random axis direction; and b) assembling the plurality of pieces according to an integration process of connecting surfaces of adjacent pieces from the plurality of pieces and fixing same to each other so as to form the model which corresponds to the shape of the object.

Abstract: A machine tool including a tool spindle, to which a tool can be detachably fixed and by means of which the tool can be rotated, and a workpiece support is provided, the tool spindle and the workpiece support being displaceable relative to one another, characterized in that the tool spindle includes a loading device, which acts on a linearly movable rod of a tool fixed to the tool spindle. The tool spindle includes a motor device coupled to the loading device, which drives linear displacement of the rod. The machine tool includes a set of tools by means of which different machining operations can be conducted on a workpiece, wherein the tools can each be fixed to the tool spindle and the tools each have a rod on which the loading device of the tool spindle acts when a tool is fixed to the tool spindle.

Abstract: A program controlled machine tool, including a bed-like substructure, a machine frame having two vertical and parallel side walls, and a compound slide having a longitudinal slide which can travel in the direction of the Y-coordinate axis on the two side walls of the machine frame. A cross slide is guided in such a way that it can travel in the direction of the X-coordinate axis. A machining unit can travel in the direction of the vertical Z-coordinate axis and has a working spindle. A workpiece table arrangement arranged on the substructure in front of the side walls. The workpiece table arrangement is arranged on the front partial area of the flat base and the cross slide has a length in the direction of the Y-coordinate axis which corresponds approximately to the diameter of the workpiece table and/or the working space in the Y-direction.

Abstract: The invention relates to a device (1) and a method, comprising a workpiece-receiving portion (2) for receiving a workpiece (28) to be mechanically machined. At least one vibrating device (9) is connected to the workpiece-receiving portion (2), and the vibrating device (9) causes the workpiece-receiving portion (2) to vibrate, the vibration of the workpiece-receiving portion (2) having a frequency that is lower than the frequency of ultrasound. The vibrating device (9) has a vibrating body (8) to which a compensating mass (7) that vibrates in the opposite direction is associated.

Abstract: An anvil for ultrasonic machining includes an air-supported support part which is floatingly supported via an air bearing at a carrier part, wherein the support part and the carrier part are connected to one another via at least one linear guide.

Abstract: A joining device for arranging a component on a component carrier is disclosed. The joining device includes an application system for positioning the component in the joining device and a receptacle for clamping the component carrier in the joining device. The component is arranged on the component carrier by an adapter. A method for arranging the component on the component carrier is also disclosed.

Abstract: A tool arrangement for a rotary machining tool, for example a grinding disk, has a spindle rotatably accommodated in a housing via a bearing set, onto which spindle a tool holder including a tool mandrel can be clamped for fixing the tool. The tool holder with the tool can be clamped onto the spindle such that the at least one front bearing of the bearing set as well as the set center of the bearing set are enclosed by the tool mandrel and/or the tool.

Abstract: A lathe includes a machine support, a work table, a moving device and a feeding device. The work table is rotatably positioned on the machine support for driving a workpiece placed on the work table to rotate. The moving device is movably mounted, slidably on the machine support along a first direction above the work table. The feeding device is slidably positioned on the moving device along a second direction vertical to the first direction, the feeding device includes a cutter. The feeding device drives the cutter backwards and forwards under precise control at high speed along a third orthogonal direction for machining the workpiece.

Abstract: A hand-held power tool includes a machine housing and a support device configured to guide the hand-held power tool in a plane-parallel manner on a workpiece. The support device has a substantially hollow-cylindrical carrier element configured to at least portionally receive the machine housing. The carrier element has a longitudinal slot and a foot plate. The foot plate is disposed at a defined angle at an axial end facing toward the workpiece. The foot plate has a recess for an insert tool. The carrier element is clampable to the machine housing by a swivelable clamping lever and/or a rotatable clamping knob. The clamping lever and the clamping knob are connected to each other by a clamping screw.

Abstract: The present relates to an apparatus and method for blending added material with base material on manufactured components. The apparatus comprises an abrasive device having an abrasive surface for removing exceeding added material, and a guide fixed to the abrasive device. The method determines a trajectory of the abrasive surface with respect to a manufactured component: determines which of a plurality of contact points of the guide shall be in contact with the manufactured component along the trajectory; actuates the abrasive device; and controls position and angle of the abrasive surface en the manufactured component along the trajectory, while keeping the determined contact point in contact with the manufactured component. A force is applied to the abrasive device when the abrasive surface is in contact with the manufactured component and transferred when the guide gets in contact with the base material.

Abstract: A computer-implemented method includes receiving a sequence of current spectra of reflected light from a substrate; comparing each current spectrum from the sequence of current spectra to a plurality of reference spectra from a reference spectra library to generate a sequence of best-match reference spectra; determining a goodness of fit for the sequence of best-match reference spectra; and determining at least one of whether to adjust a polishing rate or an adjustment for the polishing rate, based on the goodness of fit.

Abstract: An orifice assembly for a liquid jet cutting system includes a generally cylindrical base, an orifice member, and an orifice cap. The base includes a conduit that extends through a central axis from a top surface to a bottom surface of the base. The base also includes a pedestal that defines a protrusion from the top surface, the pedestal having a planar top region substantially parallel to the planar bottom region of the base. The orifice member sits on the planar top region of the pedestal. The orifice member defines an intermediate conduit therethrough, the intermediate conduit in fluid communication with the base conduit. The orifice cap defines an upper conduit therethrough, the upper conduit in fluid communication with the intermediate conduit of the orifice member. The orifice cap is configured to secure the orifice member to the pedestal.

Abstract: A coating on mono- or poly-crystalline diamond or diamond-containing material includes a first adhesive layer formed directly on the diamond or diamond-containing material, the first layer including tungsten and tungsten carbide alloyed with fluorine in an amount of 0.001 to 0.12 wt % calculated on the total weight of the first layer. The coating further includes a second protective layer formed on the first layer, the second layer including at least tungsten alloyed with fluorine in an amount of 0.001 to 0.12 wt % calculated on the total weight of the second layer. The adhesive layer provides excellent bond strength to diamond, while the protective layer provides good protection against oxidation and molten metals used for attaching the coated diamonds to tools.

Abstract: Embodiments relate to polycrystalline diamond compacts (“PDCs”) including a polycrystalline diamond (“PCD”) table having a diamond grain size distribution selected for improving leachability. In an embodiment, a PDC includes a PCD table bonded to a substrate. The PCD table includes diamond grains exhibiting diamond-to-diamond bonding therebetween. The diamond grains includes a first amount being about 30 to about 65 volume % of the diamond grains and a second amount being about 18 to about 65 volume % of the diamond grains. The first amount exhibits a first average grain size of about 8 ?m to about 22 ?m. The second amount exhibits a second average grain size that is greater than the first average grain size and is about 15 ?m to about 50 ?m. Other embodiments are directed methods of forming PDCs, and various applications for such PDCs in rotary drill bits, bearing apparatuses, and wire-drawing dies.

Abstract: A hand-held duct closure tool 10 has teeth 24, 30 extending outwardly from the distal ends of two pivotably engaged arms 18, 20. The teeth penetrate into insulation material of abutting sections of insulated ducts or ductwork. When the user releases the tool, the teeth from each distal end remain engaged with the insulation material and are urged toward one another to hold the insulated duct sections in abutting relation.

Abstract: A carrier for one or more microelectronic devices, for example and without limitation, bare semiconductor chips, that are releasably held on their edges in apertures in a planar body. A device may be released from an aperture by resilient distortion of the aperture in the plane of the planar body.

Abstract: A furniture jig comprises a frame member positioning portion and a spring stretcher portion with at least the positioning frame portion having a rotating feature. The positioning frame portion may surround the spring stretcher portion and comprises constraint members that define receiving regions, such as slots or channels, into which furniture components, such a box frame members, may be inserted. The receiving regions of the jig frame maintain the furniture components upright or in other useful orientations at least until they are affixed together. In embodiments, the spring stretcher has a plurality of spring receiving portions on which the ends of a spring can be releasably engaged. Support members extending from the spring receiving portions operate to move the spring receiving portions from a spring loading position in which the springs can positioned on the tips to a spring attachment position where the springs are securable to the frame members.

Abstract: An adjustable wrench includes a handle, a head, a slidable jaw, an adjusting assembly, and a reinforcing device. The head formed at one end of the handle and includes a fixed jaw, a sliding rail, a receiving slot, two lateral walls, and two connecting portions. The sliding rail is formed between the two lateral walls. The receiving slot communicates with the sliding rail. Each connecting portion is formed at one end of each lateral wall opposite to the fixed jaw. The slidable jaw is slidably disposed in the sliding rail. The adjusting assembly is positioned in the receiving slot and engaged with the slidable jaw. The reinforcing device connects the two lateral walls and is engaged into the two connecting portions.

Abstract: An electric handheld machine tool includes: a tool spindle driven by an electric motor; a gearing situated between the tool spindle and the electric motor; and a manually adjustable operating element which has an adjustment travel, the adjustment travel having at least two functional ranges. Upon switching over from a first functional range to a second functional range, a mechanical additional function of the gearing is mechanically connected. The operating element is configured as a part of a motor switching element for influencing the current through the electric motor.

Abstract: A latch and catch arrangement is disclosed, whereby a sleeve supporting a flexible hinge is oriented over a bearing in guide. An asymmetrical alignment via a latch and catch between the sleeve and tool collar orients a flexible hinge, which may be of reduced thickness, over a bearing in a guide. The bearing moves upward when a tool is inserted into a tool socket, and the flexible hinge, properly oriented by the alignment catch/latch, keeps the bearing in the tool socket while allowing necessary movement to insert and remove a tool.

Abstract: A portable hand-held fastener driving tool of the type which tends to keep the driver element better aligned with the head of the fastener while it's being driven. A biasing spring in the fastener track skews the directional path of the fastener as it is being driven, but the biasing spring does not noticeably affect the path of the driver element, thereby compensating for the slight movement of the tool (and driver) due to the tool's recoil. In an alternative embodiment, a magnet is used rather than a biasing spring, to skew the direction of the fastener as it is being shot by the tool.

Abstract: A driving tool may include a driven member holding mechanism configured to hold the driven member at a driving position inside a driver guide until a driver drives the driven member.

Abstract: A flywheel-driven tool includes a ferromagnetic driver. The driver has a firing position in which the driver is drivingly engaged against the flywheel. The driver also has a home position radially further away from the flywheel than the firing position when the flywheel is spinning in preparation to firing the driver. A magnet is positioned adjacent the driver to exert a magnetic force on the driver to pull the driver into the home position.

Abstract: An interchangeable tool device has a handle with an external threaded portion and at least three lock members, a tool head with an internal threaded portion, and at least three lock apertures. The locking members are movable between a locked position and a free position. The lock apertures receive the lock members when the lock members are in the locked position and cooperate to limit rotation of the tool head relative to the handle. The lock apertures and the lock not limiting rotation of the tool head relative to the handle when the lock members are in the free position.

Abstract: An example modular reconfigurable workcell for quick connection of peripherals is described. In one example, a modular reconfigurable workcell comprises modular docking bays on a surface of the workcell that support attachment of docking modules in a fixed geometric configuration, and respective modular docking bays include electrical connections for a variety of power and communication busses of the docking modules to be attached. The workcell also includes an electrical subsystem for coupling the communication busses between the modular docking bays and providing power circuitry to the modular docking bays, and structural features in the modular docking bays to enable insertion of the docking modules in the fixed geometric configuration. The workcell also includes a processor for determining a geometric calibration of attached peripherals based on a location and the orientation of corresponding docking modules attached to the modular docking bays and based on an identification of the attached peripherals.

Abstract: Provided are a robot and a robot control method in which highly accurate positioning of a link is enabled without losing flexibility of a joint.

Abstract: A robot system includes a robot arm, one or more actuators that are provided in the robot arm to drive the robot arm, a sensor unit that detects an external force applied to at least one of the robot arm and the actuators, and a controller that controls an operation of each of the actuators and limits a torque instruction value for each of the actuators on the basis of a detection result of the sensor unit.

Abstract: A robot having joints includes a position information acquiring section that acquires time series information about a robot position, speed information, or acceleration information, a dynamics parameter switching section that switches a gravity term component and an inertia force term component of a motion equation separately between dynamics parameters including dynamics parameter of the robot gripping no object and dynamics parameter including the object gripped by the robot which robot arm gripping the object, and a desired torque calculation section that outputs a desired robot joint torque value as a desired joint torque based on the motion equation after the dynamics parameter switching section switches the dynamics parameters and the time series information about the robot position, the speed information, or the acceleration information acquired by the position information acquiring section. The robot controls an operation of the robot based on an output from the desired torque calculation section.

Abstract: A robotic device may receive task information defining (i) a nominal trajectory for an end-effector coupled to a manipulator of the robotic device, and (ii) forces to be exerted by the end-effector along the nominal trajectory; determining, based on the task information, a modified trajectory that is offset from the nominal trajectory; determining, based on the modified trajectory and the forces, torques to be applied to the manipulator over time; causing the torques to be applied to the manipulator so as to cause the end-effector to follow the modified trajectory and substantially exert the forces along the modified trajectory; receiving force feedback information from a sensor coupled to the robotic device indicating respective forces being experienced by the end-effector at respective points along the modified trajectory; and adjusting the torques to be applied to the manipulator based on the force feedback information.

Abstract: Robotic devices with multi-degree of freedom (DOF) load cells for shear beam sensing are described. An example robotic device includes actuators coupled through joints to form a robotic manipulator, and a load cell provided proximal to a joint for detecting a force applied to the robotic manipulator and a torque experienced about the joint. The device also includes a controller programmable to determine a location of the force along the robotic manipulator based on values of the force and the torque output from the load cell, receive information indicating parameters of the robotic manipulator and of a load being experienced by the robotic device, and based on one of the force applied to the robotic manipulator or the torque experienced about the joint being above a threshold expected amount due to the load being experienced, determine that the robotic manipulator is experiencing an unexpected shear load at the location.