The present investigation presents a stochastic model for a flexible manufacturing system consisting of flexible machine, loading/unloading robot and an automated pallethandling device. We consider unreliable flexible manufacturing cell (FMC) wherein machine and robot operate under individual as well as common cause random failures. The pallethandling system is completely reliable. The pallet o...

the suspension system of a vehicle is one of the most important parts which is involved in the process of vehicle designing. when a vehicle suspension system is designed, the evaluation of its performance against the road disturbances such as shocks and bumps are very important. the most commonly used systems consist of four hydraulic jacks with mobility in vertical line with low speed and low ...

Finding an optimal path for a robot in a soccer field involves different parameters such as the positions of the robot, positions of the obstacles, etc. Due to simplicity and smoothness of Ferguson Spline, it has been employed for path planning between arbitrary points on the field in many research teams. In order to optimize the parameters of Ferguson Spline some evolutionary or intelligent al...

In this article, a fast and reliable map-merging algorithm is proposed to produce a global two dimensional map of an indoor environment in a multi-robot simultaneous localization and mapping (SLAM) process. In SLAM process, to find its way in this environment, a robot should be able to determine its position relative to a map formed from its observations. To solve this complex problem, simultan...

in this study, the problem of navigation in dynamic and unknown environment is investigated and a navigation method based on force field approach is suggested. it is assumed that the robot performs navigation in unknown environment and builds the map through slam procedure. since the moving objects' location and properties are unknown, they are identified and tracked by kalman filter. kalm...

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...

Abstract: Using robot manipulators for high accuracy applications require precise value of the kinematics parameters. Since measurement of kinematics parameters are usually associated with errors and accurate measurement of them is an expensive task, automatic calibration of robot link parameters makes the task of kinematics parameters determination much easier. In this paper a simple and easy ...

With the increasing number of people who have problems with their walking, a new type of gait rehabilitation training robot has been put forward and designed. In order to meet the requirements of the gait rehabilitation training, the whole mechanical structure and control system have been designed, and the model machine for gait rehabilitation training robot has been made. Using the human gait ...

In this paper, some definitions and traditional formulas for calculating the mobility of mechanisms are represented, e.g. Grubler formula, Somov - Malyshev formula, and Buchsbaum - Freudenstei. It is discussed that there are certain cases in which they are too ambiguous and incorrect to use. However, a matrix method is suggested based on the rank of the Jacobian of the mechanism and its applica...