The TwinCAT Supplement ‘TwinCAT Kinematic Transformation’ is presented in this application example. This supplement makes it possible to compute robot kinematics together with the PLC and Motion Control on one PC-based CPU. Analogous to the TwinCAT Motion Control package (integration of the drive control in the controller), a robot kinematics is configured and parameterised with the ‘Kinematic ...

This paper introduced design analysis of a new 5DOF surgical robot used for minimally invasive surgery. The kinematics modeling is studied by solving the forward and inverse kinematics of the robot using the Denavit-Hartenberg convention and geometrical method. Robot kinematics simulation is built by creating the 3D CAD model of the robot and patient, then a kinematic motion simulation of a sur...

Nanofluids are suspensions of nanoparticles in the base fluids, a new challenge for thermal sciences provided by nanotechnology. In this paper, the tested fluids are prepared by dispersing the Al and Cu into water at three different concentrations such as 500, 1000 and 2000 ppm. Thermal conductivities of these fluids are measured experimentally by thermal property analyzer i.e. KD2 Pro by using...

background: health care workers are facing certain occupational hazards because of sharp injury and exposure to human blood and body fluids as a result of handling wastes. though much attention is paid for the protection of these workers, the number of exposures and injuries do not show a sign of decline from time to time. objective: to examine the occurrence of sharp injury and exposure to blo...

The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Pr...

Flexible filaments and fibres are essential components of important complex fluids that appear in many biological industrial settings. Direct simulations these systems capture the motion deformation immersed suspension remain a formidable computational challenge due to complex, coupled fluid--structure interactions all filaments, numerical stiffness associated with filament bending, various con...