M. Habibnejad Korayem, A. Nakhaei ,
Volume 19, Issue 7 (IJES 2008)
Abstract
Mobile mechanical manipulators are one of the automation aspects which were revealed in last years of twentieth century. These machines assume the responsibility of human and gradually expand the domain of their activities in industry. This paper is a presentation of the Sweeper Robot designed in the Robotic Laboratory of Iran University of Science and Technology. The original design of this robot allowing to its gripper to constantly remain parallel to the ground is presented. The dynamic and kinematical models of the robot have been computed. A software was developed in MATLAB to validate the kinematical and dynamic models of the robot by comparison with the experimental results. Once the robot was built and its systematic odometric error estimated by experiment, a control scheme for linear motions was developed to deal with this error. The approach is based on the introduction of an initial rectifying offset motion before starting the linear motion. Eventually, classical line tracking and image processing algorithms were used to complete our robot and the efficiency of our design to achieve its mission in picking and placing different objects according to various algorithms.
Moharram Habibnejad Korayem, Arastoo Azimi, Ali Mohammad Shafei,
Volume 24, Issue 3 (IJIEPR 2013)
Abstract
In this research the sensitivity analysis of the geometric parameters such as: length, thickness and width of a single link flexible manipulator on maximum deflection (MD) of the end effector and vibration energy (VE) of that point are conducted. The equation of motion of the system is developed based on Gibbs-Appel (G-A) formulation. Also for modeling the elastic property of the system the assumption of assumed modes method (AMM) is applied. In this study, two theories are used to obtain the end-point MD and VE of the end effector. Firstly, the assumption of Timoshenko beam theory (TBT) has been applied to consider the effects of shear and rotational inertia. After that, Euler-Bernoulli beam theory (EBBT) is used. Then Sobol’s sensitivity analysis method is applied to determine how VE and end-point MD is influenced by those geometric parameters. At the end of the research, results of two mentioned theories are compared.
Ammar Fadhil Al-Maliki, Moharam Habibnejad Korayem,
Volume 34, Issue 3 (IJIEPR 2023)
Abstract
A computational approach is presented to obtain the optimal path of the end-effector for the 10 DOF bipedal robot to increase its load carrying capacity for a given task from point to point. The synthesizing optimal trajectories problem of a robot is formulated as a problem of trajectory optimization. An Iterative Linear Programming method (ILP) is developed for finding a numerical solution for this nonlinear trajectory. This method is used for determining the maximum dynamic load carrying capacity of bipedal robot walking subjected to torque actuators, stability and jerk limits constraints. First, the Lagrangian dynamic equation should be written to be suitable for the load dynamics which together with kinematic equations are substantial for determining the optimal trajectory. After that, a representation of the state space of the dynamic equations is introduced also the linearized dynamic equations are needed to obtain the numerical solution of the trajectory optimization followed by formulation for the optimal trajectory problem with a maximum load. Finally, the method of ILP and the computational aspect is applied to solve the problem of trajectory synthesis and determine the dynamic load carrying capacity (DLCC) to the bipedal robot for each of the linear and circular path. By implementing on an experimental biped robot, the simulation results were validated.
