a new type of backbone robot is presented in this paper. the core idea is to use a cross shape mechanism with the principle of functioning of the scissors linkages, known as a pantograph. although this continuum arm acts quite similar to tendon-driven robot, this manipulator does not include any tendon in its structure. this design does not suffer from the weaknesses of the continuum design suc...

The Euler-Lagrange equation plays an important role in the minimization problems of the calculus of variations. This paper employs the differential transformation method (DTM) for finding the solution of the Euler-Lagrange equation which arise from problems of calculus of variations. DTM provides an analytical solution in the form of an infinite power series with easily computable components. S...

In this study, the effect of finite strain on bending of the geometrically nonlinear of micro laminated composite Euler-Bernoulli beam based on Modified Couple Stress Theory (MCST) is studied in thermal environment. The Green-Lagrange strain tensor according to finite strain assumption and the principle of minimum potential energy is applied to obtain governing equation of motion and boundary c...

The objective of this paper is path planning of a 3 DOF planer robot with hydraulic actuator using genetic algorithm. First the geometric and kinematic parameters of robot were established. The equations of motion are derived by Lagrange method. We proposed the model for proportional valve and hydraulic actuators. Then using the genetic algorithm we minimized the hydraulic energy consumption as...

Based on classical plate theory, standard and spectral finite element methods are extended for vibration and dynamic stability of axially moving thin plates subjected to in-plane forces. The formulation of the standard method earned through Hamilton’s principle is independent of element type. But for solving numerical examples, an isoparametric quadrilateral element is developed using Lagrange ...

Based on classical plate theory, standard and spectral finite element methods are extended for vibration and dynamic stability of axially moving thin plates subjected to in-plane forces. The formulation of the standard method earned through Hamilton’s principle is independent of element type. But for solving numerical examples, an isoparametric quadrilateral element is developed using Lagrange ...

The development of the GPS (Global Positioning System) signal simulator involving to a number of key technologies, in which the generation of navigation message has important significance. Based on analysis of the structure of GPS navigation data, the paper researches the production of telemetry word and handover word, parity check code, time parameters and star clock. Using disturbing force eq...

There are many occasions where the base of a robotic manipulator is attached to a moving platform, such as on a moving ship, terrain or space shuttle. In this paper a dynamic model of a robotic manipulator mounted on a moving base is derived using both Newton-Euler and Lagrange-Euler methods. The presented models are simulated for a Mitsubishi PA10-6CE robotic manipulator characteristics mounte...

Motion principles of animals and humans has been a field of interest for over half a century. As for human motions, the study by modern science started off by a Soviet physiologist in the 1930’s, followed by many proposals of models and principles to explain how human beings move. This paper introduces an alternative motion principle with a motion generation method. The subject in discussion is...