This paper presents a new approach to model and control high speed 6 DOF visual servo loops. The modeling and control strategy take into account the dynamics of the velocity controlled 6 DOF manipulator as well as a simplified model of the camera and acquisition system in order to significantly increase the bandwidth of the servo loop. Multi-Input Multi-Output (MIMO) Generalized Predictive Cont...

This thesis presents the design of two magnetically levitated high precision positioning systems based on permanent magnet linear synchronous motors (PMLSMs). Magnetic levitation based on PMLSMs requires the motors to operate with a variable airgap length but previous research in the field has studied mainly motors fastened by bearings; therefore, this work first models a motor with free normal...

In this paper an attempt to provide a single degree of freedom lumped model for fluid structure interaction (FSI) dynamical analysis will be presented. The can used clarify some important concept in the FSI dynamics such as added mass, stiffness, damping, wave coupling ,influence mass coefficient and critical depth . numerical results show that natural frequency decrease with increasing many pa...

Dof proteins are a family of transcription factors specific to the plant kingdom that contain a particular class of zinc finger DNA binding domain. Members of this family are involved in the regulation of genes related to a plethora of metabolic processes including stress or hormone response, seed and endosperm development, flowering, carbohydrate metabolism, and cell or tissue specificity. Dof...

This paper presents a technology for remotely navigating a magnetized microrobot in three-degree-of-freedom (3-DOF) using magnetic energy. The magnetic energy source is a magnetic drive unit that consists of six iron-core electromagnets, a soft-iron yoke, and a soft-iron pole-piece. The dynamic models of the magnetically navigated microrobot were derived from the magnetic field model in the wor...

At ANSYS Workbench 11.0, the ANSYS Rigid Dynamics add-on module enables users to define joint connections in complex kinematic assemblies. This ability to model rigid and flexible parts in ANSYS Workbench Simulation via joints is beneficial since the rigid parts are modeled with mass and rigid links (that is, rigid contact elements), thus providing load transfer capabilities and allowing users ...

Abstract: The modelling, optimization issues and stiffness for several types of three degrees-of-freedom parallel robotic manipulators, i.e., 3-DOF pure translational, 3-DOF pure rotational and 3-DOF mixed motion types, are studied in this paper. First of all, the kinematics and Jacobian for the robotic manipulators are determined through different approaches; secondly, objective functions mode...