In this paper, we deal with the stability analysis of an object grasped by fingers with linear stiffness in the case where the gravity effect is considered. The stability of the grasp is defined based on the potential energy of the grasp. The analysis problem is formulated as finding a condition of the stiffness parameters and contact points for the position of the center of gravity (COG) to ex...

A general robotic mechanism was presented for in-pipe inspection oflevel pipes with varied diameter or curved pipelines. The robot employed three legs comprised of parallelogram linkages mechanism which enables adapting to various elbow joints in the piping systems. The curvatures in pipeline are the most important constraints in front of the robot through navigation process. To study the adapt...

In this paper, an analytical method based on Modified Slab Method of analysis is presented to study the asymmetrical rolling process due to difference in work rolls radii, rolls speeds and interface frictions. The shear force imposed on material along the contact region is considered to be a function of the frictional factor and the roll gap geometry. Elastic-plastic with linear work hardening ...

Computational fluid dynamics is implemented to investigate the influence of the wheel contact patch on the global car aerodynamics. Two main aspects of the problem are the contact step and patch shape. Three important parameters: step height, cut angle, and tire tread shape are taken into consideration. For validations of the numerical results, the experimental data are also considered. The obt...