This paper presents a novel way for a structural dynamic simulation analysis on a three-dimensional (3-D) finite element (FE) model of a 6-DOF Manipulator using ANSYS Workbench 13.0 that allows integrated optimization. The load between driving and driven gear is delivered by elastic frictional contact, which leads to some non-liner contact problems, and the contact problems are solved according...

This work presents a numerical approach in order to predict the influence of implant material stiffness in a femoral component design when submitted in compression. The implant success depends on the transferred load to the neighboring bone. The finite element method can be used to analysis the stress and strain distribution in the femoral component allowing to improve the implant selection. Fo...

one of the methods for the improvement of soil against the tensile stresses is using the artificial supplements in soil such as metal belts or nets, polymer materials and natural fibers. technically this method is called the reinforced of soil.  when a pavement is located on soft soil, great deformations can occur as a result of the crossing of traffic load in superstructure layers of the body....

‎ In this paper, the stand-alone photovoltaic system for cathodic protection of underground pipelines is presented. The proposed system offers continuous and automatic adjustment of the applied voltage so that the buried pipelines receive the exact current. A modified perturb and observe (P&O) algorithm for maximum power point tracking (MPPT) is used to improve dynamic and steady state performa...

In this paper, the mechanical design process of a star spherical parallel robot that we call Zippy Wrist is illustrated. The Zippy Wrist is a 3-RRP spherical parallel manipulator and can perform many industrial applications such as; orienting a tool or a workpiece in machine tools, solar panels, space antennas and telescopic mechanisms, flight simulator mechanism and camera devices. The forward...

In this paper, results obtained in both conventional and finite element analysis of straight and belled anchor shafts subjected to a pullout force are presented. In numerical analysis, it is assumed that no drainage takes place during the anchor pullout. Comparisons between two conventional methods of analysis for ultimate pullout load and the results obtained by the finite element analysis are...

This paper deals with the tracking control problem of flexible joint robots under the assumption that the link and robot positions are the only measured signals. A globally asymptotically stable state feedback controller and a nonlinear observer is proposed which guarantees the semiglobal asymptotic tracking of the system obtained by the designed dynamic output feedback controller. Examples ill...

A finite element based method is presented for evaluation of linearized dynamic equations of flexible mechanisms about a nominal trajectory. The coefficient matrices of the linearized equations of motion are evaluated as explicit analytical expressions involving mixed sets of generalized co-ordinates of the mechanism with rigid links and deformation mode co-ordinates that characterize deformati...

Considering the fact that load distribution of the flexspline under alternating dynamic loads is complicated, and it’s difficult to measure the stress of the flexspline by experiment, a dynamic simulation model of harmonic gear drives is established to study the intensity of the flexspline in the operating process of harmonic gear drives based on finite element method. In order to decrease the ...

A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...