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Verification of the Dynamic Modeling of 2-R Robot Actuated by (N) Equally Spaced Planet-Gears by Using SolidWorks and MATLAB/SIMULINK 利用SolidWorks和MATLAB/SIMULINK对（N）等距行星齿轮驱动2-R机器人动力学建模的验证
Mechanics and Mechanical Engineering Pub Date : 2018-12-01 DOI: 10.2478/mme-2018-0117
B. Fernini, M. Temmar, Yoshihiro Kai, M. M. Noor
{"title":"Verification of the Dynamic Modeling of 2-R Robot Actuated by (N) Equally Spaced Planet-Gears by Using SolidWorks and MATLAB/SIMULINK","authors":"B. Fernini, M. Temmar, Yoshihiro Kai, M. M. Noor","doi":"10.2478/mme-2018-0117","DOIUrl":"https://doi.org/10.2478/mme-2018-0117","url":null,"abstract":"Abstract Industrial robots often use planetary gear system to have high joint torques; therefore, the influence of the rotary inertia of the number of the equally spaced planet-gears on the dynamical behavior of the robot is very important. The main objective of this paper is to develop the dynamic modeling of robot actuated by (n) equally spaced planet-gears in the case where the planet-carrier is fixed, no closed solution has been reported for this dynamic modeling, and to compare between the dynamic behavior of robot actuated by (n+1) and (n) equally spaced planet-gears for a same trajectory planning. The authors derive the explicit dynamic model for an elbow down of 2-R manipulator holding an external mass. Finally, the obtained simulation results by using Matlab/Simulink of the dynamic modeling are verified by modeling the same robot and using an advanced simulation via SolidWorks (2014).","PeriodicalId":53557,"journal":{"name":"Mechanics and Mechanical Engineering","volume":"22 1","pages":"1497 - 1510"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47081566","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Optimization of the Inverted Pendulum Controller with Friction Compensation by Means of the New Method of Lyapunov Exponents Estimation 基于李雅普诺夫指数估计的摩擦力补偿倒立摆控制器优化
Mechanics and Mechanical Engineering Pub Date : 2018-12-01 DOI: 10.2478/mme-2018-0075
M. Balcerzak
{"title":"Optimization of the Inverted Pendulum Controller with Friction Compensation by Means of the New Method of Lyapunov Exponents Estimation","authors":"M. Balcerzak","doi":"10.2478/mme-2018-0075","DOIUrl":"https://doi.org/10.2478/mme-2018-0075","url":null,"abstract":"Abstract This text covers optimization of an inverted pendulum control system with friction compensator. The control system is tuned with respect to a performance index based on the novel method of the Largest Lyapunov Exponent estimation. The detailed description of the method is provided. Model of the control object is presented. A simple controller is proposed. Two control systems are compared: the one with compensator and the one without. Parameters of both controllers are optimized with respect to the novel criterion by means of the Differential Evolution method. Results of numerical simulations are presented. It is shown that the new criterion can be successfully applied to both: typical linear regulators and controllers with compensators.","PeriodicalId":53557,"journal":{"name":"Mechanics and Mechanical Engineering","volume":"22 1","pages":"959 - 966"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47869113","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Mechanical Property Evaluation Aluminium 6061 Nickel Coated Cenosphere Composites 铝6061镍包覆微珠复合材料力学性能评价
Mechanics and Mechanical Engineering Pub Date : 2018-12-01 DOI: 10.2478/mme-2018-0108
A. Ahamed, T. Prashanth
{"title":"Mechanical Property Evaluation Aluminium 6061 Nickel Coated Cenosphere Composites","authors":"A. Ahamed, T. Prashanth","doi":"10.2478/mme-2018-0108","DOIUrl":"https://doi.org/10.2478/mme-2018-0108","url":null,"abstract":"Abstract In recent years, among all the aluminium alloys, Al6061 is gaining much popularity as a matrix material to prepare MMCs owing to its excellent mechanical properties and good corrosion resistance. Fly ash cenospheres are primarily a by-product in power generation plants. Research is in progress to effectively use this byproduct to produce new usable and profitable materials as they pose major disposal and environmental problems. In the light of the above, the present investigation is aimed at development of metal coated cenosphere reinforced Al6061 composites and to characterize their mechanical properties. Al6061 nickel coated composites have been prepared by liquid metallurgy route by varying percentage of nickel coated cenospheres between 2–10% by weight in steps of 2%. Density, hardness and tensile behaviour of the composites is carried out. It is observed that there is an increase in the values of hardness, density of the composite with an increasing percentage of the nickel coated cenosphere reinforcements. There is also a notable increase in the tensile strength as well as reduction in ductility of the prepared composite. Fractographs to indicate the behaviour of the composites have also been depicted in the paper.","PeriodicalId":53557,"journal":{"name":"Mechanics and Mechanical Engineering","volume":"22 1","pages":"1381 - 1388"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44029653","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Improvement of the Interfacial Adhesion Between Fiber and Matrix 提高纤维与基体的界面附着力
Mechanics and Mechanical Engineering Pub Date : 2018-12-01 DOI: 10.2478/mme-2018-0069
Benaoum Abdelhak, M. Noureddine, Mahmoudi Hacen
{"title":"Improvement of the Interfacial Adhesion Between Fiber and Matrix","authors":"Benaoum Abdelhak, M. Noureddine, Mahmoudi Hacen","doi":"10.2478/mme-2018-0069","DOIUrl":"https://doi.org/10.2478/mme-2018-0069","url":null,"abstract":"Abstract In this work, the influence of carbon fiber surface treatment on mechanical properties of unsaturated polyester was investigated. Two approaches have been used in the surface treatment; the first is the desizing of the carbon fiber by the release of the epoxy layer. The second is with the release of epoxy layer and etching the fibers. It was concluded that both methods give good results on adhesion between the matrix and the fibers. It is found that the treatment of carbon fibers is efficient and greatly improves the CFRP handress. The tensile strength of composite materials increases by 30% for etched carbon fibers compared to untreated carbon fibers.SEM images confirm the results obtained.","PeriodicalId":53557,"journal":{"name":"Mechanics and Mechanical Engineering","volume":"22 1","pages":"885 - 894"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45069855","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
The Expansion of the Inverse of the Mutual Distance Between Two Planets Raised to Any Real Integer Using Taylor Theorem and Elliptic Expansions Part I: Theoretical Results 用泰勒定理和椭圆展开法展开任意实整数的两个平面间相互距离的逆——Ⅰ：理论结果
Mechanics and Mechanical Engineering Pub Date : 2018-12-01 DOI: 10.2478/mme-2018-0092
B. Elmabsout, O. Kamel, A. S. Soliman
{"title":"The Expansion of the Inverse of the Mutual Distance Between Two Planets Raised to Any Real Integer Using Taylor Theorem and Elliptic Expansions Part I: Theoretical Results","authors":"B. Elmabsout, O. Kamel, A. S. Soliman","doi":"10.2478/mme-2018-0092","DOIUrl":"https://doi.org/10.2478/mme-2018-0092","url":null,"abstract":"Abstract We introduce in this part the method to obtain the literal expansion of the mutual distance between two planets of the solar system raised to any negative real integer.","PeriodicalId":53557,"journal":{"name":"Mechanics and Mechanical Engineering","volume":"22 1","pages":"1175 - 1196"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45762013","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Parameter's Optimization of Surface Plastic Deformation Corrosion-resistant Steel by Computer Simulation 表面塑性变形耐蚀钢参数的计算机模拟优化
Mechanics and Mechanical Engineering Pub Date : 2018-12-01 DOI: 10.2478/mme-2018-0079
A. M. Lasitsa, V. Churankin, V. V. Derkach
{"title":"Parameter's Optimization of Surface Plastic Deformation Corrosion-resistant Steel by Computer Simulation","authors":"A. M. Lasitsa, V. Churankin, V. V. Derkach","doi":"10.2478/mme-2018-0079","DOIUrl":"https://doi.org/10.2478/mme-2018-0079","url":null,"abstract":"Abstract The knurling of corrosion-resistant steel 95X18 (the nearest analog is AISI 440B, AISI 440C, AISI A756, DIN-1.4125, SUS440C, Z100CD17) simulation with finite element method is investigated in the paper. Diagram stresses, strains and displacement are calculated by using CAE system SolidWorks. Dependence of strengthening area on processing tools geometry and loaded force are investigated. We proposed the algorithm of knurling parameters optimization by using a computer simulation. The correlation between simulation and experimental data was found.","PeriodicalId":53557,"journal":{"name":"Mechanics and Mechanical Engineering","volume":"22 1","pages":"991 - 998"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42220873","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Design and Fabrication of Abrasive Jet Machine (AJM) 磨料射流机(AJM)的设计与制造
Mechanics and Mechanical Engineering Pub Date : 2018-12-01 DOI: 10.2478/mme-2018-0115
P. V. R. Ramana Rao, A. Lakshumu Naidu, S. Kona
{"title":"Design and Fabrication of Abrasive Jet Machine (AJM)","authors":"P. V. R. Ramana Rao, A. Lakshumu Naidu, S. Kona","doi":"10.2478/mme-2018-0115","DOIUrl":"https://doi.org/10.2478/mme-2018-0115","url":null,"abstract":"Abstract Abrasive Jet Machining (AJM) is the process of material removal from a work piece by the application of a high-speed stream of abrasive particles carried in a gas or air medium from a nozzle. The material removal process is mainly by erosion. The AJM will chiefly be used to cut shapes in hard and brittle materials like glass, ceramics etc. the machine will be automated to have 3 axes travel. The different components of AJM are Compressor, Vibrator, dehumidifier, Pressure Regulator, and Dust filter, Nozzle, Pressure gauge etc. The different components are selected after appropriate design calculations. In paper contains the Abrasive Jet Machine design and fabrication by using available hardware and software etc. taking into consideration of commercially available components. Care has been taken to use less fabricated components rather than directly procuring them, because, the lack of accuracy in fabricated components would lead to a diminished performance of the machine.","PeriodicalId":53557,"journal":{"name":"Mechanics and Mechanical Engineering","volume":"22 1","pages":"1471 - 1482"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46853681","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Friction Compensation in the Inverted Pendulum Controller by Means of a Neural Network 神经网络在倒立摆控制器中的摩擦补偿
Mechanics and Mechanical Engineering Pub Date : 2018-12-01 DOI: 10.2478/mme-2018-0068
M. Balcerzak
{"title":"Friction Compensation in the Inverted Pendulum Controller by Means of a Neural Network","authors":"M. Balcerzak","doi":"10.2478/mme-2018-0068","DOIUrl":"https://doi.org/10.2478/mme-2018-0068","url":null,"abstract":"Abstract This paper presents an experimental confirmation of the novel method of friction modelling and compensation. The method has been applied to an inverted pendulum control system. The practical procedure of data acquisition and processing has been described. Training of the neural network friction model has been covered. Application of the obtained model has been presented. The main asset of the presented model is its correctness in a wide range of relative velocities. Moreover, the model is relatively easy to build.","PeriodicalId":53557,"journal":{"name":"Mechanics and Mechanical Engineering","volume":"22 1","pages":"875 - 884"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46107318","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Analytical Approach to Product Reliability Estimation Based on Life Test Data for an Automotive Clutch System 基于汽车离合器系统寿命试验数据的产品可靠性分析方法
Mechanics and Mechanical Engineering Pub Date : 2018-12-01 DOI: 10.2478/mme-2018-0065
Hamed Niknafs, Morteza Faridkhah, Camelia Kazemi
{"title":"Analytical Approach to Product Reliability Estimation Based on Life Test Data for an Automotive Clutch System","authors":"Hamed Niknafs, Morteza Faridkhah, Camelia Kazemi","doi":"10.2478/mme-2018-0065","DOIUrl":"https://doi.org/10.2478/mme-2018-0065","url":null,"abstract":"Abstract The study of reliability is an important part of engineering design process which forms the basis of analysis and judgment on future performance of the product. Since the future couldn’t be predicted with an absolute certainty, the nature of reliability would lead us to probability theory and uncertainty modeling. The quantitative calculation of this parameter for mechanical systems within different steps of production requires an analytical and systematic approach which has been focused in this paper. The proposed approach has been applied for calculating reliability of a clutch system as a case study. The system reliability in this work is determined based on the block diagram method as a function of individual component reliabilities which are calculated by statistical analysis of life test results. Using Weibull model, reliability of a typical clutch system has been formulated based on durability bench test and results has been interpreted to estimate field reliability.","PeriodicalId":53557,"journal":{"name":"Mechanics and Mechanical Engineering","volume":"22 1","pages":"845 - 864"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46337452","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Kinematic and Dynamic Analysis for a New MacPherson Strut Suspension System 一种新型麦克弗森支撑悬架系统的运动学与动力学分析
Mechanics and Mechanical Engineering Pub Date : 2018-12-01 DOI: 10.2478/mme-2018-0094
S. Dehbari, J. Marzbanrad
{"title":"Kinematic and Dynamic Analysis for a New MacPherson Strut Suspension System","authors":"S. Dehbari, J. Marzbanrad","doi":"10.2478/mme-2018-0094","DOIUrl":"https://doi.org/10.2478/mme-2018-0094","url":null,"abstract":"Abstract The present paper undertakes kinematic and dynamic analysis of front suspension system. The investigated model is a full-scale Macpherson which is a multibody system. Two degree of freedom model is considered here to illustrate the vertical displacement of sprung mass and unsprung mass with using displacement matrix. Ride and handling parameters including displacement of sprung and unsprung masses, camber/caster angle, and track changes are derived from the relationships. Moreover, geometrical model and equations are validated by Adams/Car software. The kinematic and dynamic results have been compared in both analytical and numerical outputs for verification. The proposed analytical model shows less than 5% differences with a complicated multibody model.","PeriodicalId":53557,"journal":{"name":"Mechanics and Mechanical Engineering","volume":"22 1","pages":"1223 - 1238"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41313260","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
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