1. Actuator Force Actuator Displacement North End Force South End Force Vs. Time, All 12 Actuations

2. Actuator Force Actuator Displacement North End Force South End Force Vs. Time, First 5 Actuations

3. Actuator Force Actuator Displacement North End Force South End Force Vs. Time, Last 7 Actuations

4. First 5 Actuations Last 7Actuations Actuator Force vs. Time

5. North End Force vs. Time First 5 Actuations Last 7Actuations

6. South End Force vs. Time First 5 Actuations Last 7Actuations

7. proportionally behaved region up to actuation #5 softening and sudden stiffness drop @ actuation #7 Hardening

8. J2 – Rotation & Translation

9. J2 - First 5 Actuations

10. J2 - Last 7 Actuations

11. J3 – Rotation & Translation

12. J3 – First 5 Actuations

13. J3 – Last 7 Actuations

14. J4 – Rotation & Translation

15. J4 – First 5 Actuations

16. J4 – Last 7 Actuations

17. J5 – Rotation & Translation

18. J5 – First 5 Actuations

19. J5 – Last 7 Actuations

20. End Force vs. Displacement End Force vs. Actuator Force

21. Pipe 1 LONGITUDINAL STRAIN GAUGE

22. Pipe 2 LONGITUDINAL STRAIN GAUGE

23. Pipe 3 N/A LONGITUDINAL STRAIN GAUGE

24. Pipe 4 N/A LONGITUDINAL STRAIN GAUGE

25. Pipe 5 N/A LONGITUDINAL STRAIN GAUGE

26. Rotation and Translation Timeline 1. Actuation 2 – 4 ___J3 & J4 continuously broken. 0.6 – 0.7 cm translation and around 1.7 degrees rotation in J3 & J4. Trivial rotation and displacement in other joints. 2. Actuations 5 &6 ___________J2 rotation and telescoping 0.7 degrees rotation and 1.3 cm translation in these two steps @ J2. 3.Actuation 7&8 ______________ J5 rotation and telescoping 0.6 degrees rotation and 1.3 cm translation in these two steps @ J5. 4.Actuations 8-11 ___________J3 & J4 continuously broken J3 & J4 reaching 5 – 5.3 degrees rotation and 2.1 – 2.5 cm translation. 5.Actuation 12 ______________ J4 broken Loss of sensor ability during 12 th actuation @ J4 due to significant joint damage.

27. Actuations 2-4, Joint 3 2 4 3 2 2 3 3 4 4 2 3 4

28. Actuations 2-4, Joint 4 2 4 3 2 2 3 3 4 4 2 3 4

29. Actuation 5&6, Joint 2 5 5 5 6 6 6 5 6

30. Actuation 7 & 8, Joint 5 7 8 7 8 7 7 8 8

31. South North Actuations 5 - 7 5 7 6

32. Actuations 8-10, Joint 3 8 9 10 11 8 9 1011 8 9 10 11 8 9 10 11

33. Actuations 8-10, Joint 4 8 9 10 11 8 9 10 11 8 9 10 11 8 9 10 11

34. Actuation 12, Joint 4 12

35. Vertical Rotation J2 & J3

36. Vertical Rotation J4 & J5

37. Accelerometer : Actuation 1 N/A

38. Accelerometer : Actuation 2 N/A

39. Accelerometer : Actuation 5 N/A

40. Accelerometer : Actuation 6 N/A

41. Accelerometer : Actuation 7 N/A

42. Accelerometer : Actuation 8 N/A

43. Accelerometer : Actuation 9 N/A

44. Accelerometer : Actuation 10 N/A

45. Accelerometer : Actuation 11 N/A

46. Accelerometer : Actuation 12 N/A

47. Horizontal Rotation

61. Vertical Rotation