This paper presents a method for the kinematical modeling of robot manipulator arms with flexible members. Development of such techniques are important for the improvement of robotic arms precision performance and their mechanical design. The approach employs the (4X4) Denavit-Hartenberg homogeneous transformations to describe the kinematics of light weight flexible manipulator arms. The method...

Abstract: To ensure the rail transportations safety, evaluation of fatigue behavior of the rail steel is necessary. High cycle fatigue behaviour of a rail steel was the subject of investigation in this research using fracture mechanics. Finite element method (FEM) was used for analyzing the distribution of the stresses on the rail, exerted by the external load. FEM analysis showed that the ...

The structural integrity of valves that are used to control cooling waters in the primary coolant loop that prevents boiling within the reactor in a nuclear power plant must be capable of withstanding earthquakes or other dangerous situations. In this study, numerical analyses using a finite element method, that is, static and dynamic analyses according to the rigid or flexible characteristics ...

The axially translating flexible link in flexible manipulators with a prismatic joint can be modeled using the Euler-Bernoulli beam equation together with the convective terms. In general, the method of separation of variables cannot be applied to solve this partial differential equation. In this paper, we present a nondimensional form of the Euler-Bernoulli beam equation using the concept of g...

Accurate dynamic modeling and analysis of flexible link manipulator (FLM) with non linear dynamics is very difficult due to distributed link flexibility and few studies have been conducted based on assumed modes method (AMM) and finite element models. In this paper a nonlinear dynamic model with first two elastic modes is derived using combined Euler/Lagrange and AMM approaches. Significant dyn...

the complete 3d nonlinear dynamic problem of extensible, flexible risers conveying fluid is considered. for describing the dynamics of the system, the newtonian derivation procedure is followed. the velocity field inside the pipe formulated using hydrostatic and bernoulli equations. the hydrodynamic effects of external fluids are taken into consideration through the nonlinear drag forces in var...

planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. the problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

in this paper an automatic examination robot was developed to improve the process of cancer detection, tumor localization and geometrical shape diagnosis. a uniformly distributed compressive load was applied to the top tissue surface and the resultant mechanical stress was measured that was employed for the tumor diagnosis task. the experimental examinations were performed on the soft tissue of...

Modelling and identification of flexible-joint robots is required for dynamic simulation and model based control of industrial robots. A nonlinear finite element based method is used to derive the dynamic equations of motion in a form suitable for both simulation and identification. The latter requires that the equations of motion are linear in the dynamic parameters. For accurate simulations o...

Integrated structure control design of a two-link flexible robot arm is investigated in this article. The whole arm consists of two flexible links, a fixed joint, a moving joint, and a tip load. The arm is driven by the torque motors at the two joints to reach predefined tip positions and to suppress residual flexural vibrations. The links of the arm are modeled using the finite element method ...