Sharif Digital Repository

The thermoelastic rolling contact problem for an FGM-coated half plane under the plane strain deformation is studied in this paper. A rigid roller rolls over the surface of coating with constant translational velocity generating frictional heating in the slip zones of the contact patch. The material properties of the FGM vary exponentially along the thickness direction. It is assumed that the contact area consists of a central stick zone and two slip zones of the same sign. The transfer matrix method and Fourier integral transform technique are used to achieve a system of two Cauchy singular integral equations. The coupling effect of tangential traction is eliminated by adapting the... 

The two-dimensional thermoelastic tractive rolling contact problem for a half-plane which is coated with a functionally graded material (FGM), under the plane strain deformation, is studied in this paper. A rigid cylinder rolls over the surface of an FGM coating with constant translational velocity, generating frictional heating in the slip zones of the contact area. Thermomechanical properties of the FGM vary exponentially along the thickness direction. It is assumed that the contact area consists of a central stick zone and two slip zones of the same sign. The transfer matrix method and Fourier integral transform technique are used to achieve a system of two Cauchy singular integral... 

In this paper, the modeling and impedance-control of a one link flexible robot is presented. The concept of impedance control of flexible link robots is rather new and is being addressed for the first time. The control algorithm is valid for both constrained and unconstrained maneuvers. First, equations of motion and the associated boundary conditions are derived using Hamilton's principle. A linear finite dimensional model is, then, generated in the Cartesian coordinates, using the assumed mode method and by introduction of a proper coordinate transformation. The target impedance is, then, introduced in the Cartesian coordinate system and a control law is designed to realize the proposed... 

In this article, impedance control of a two link flexible link manipulators is addressed. The concept of impedance control of flexible link robots is rather new and is being addressed for the first time by the authors. Impedance Control provides a universal approach to the control of flexible robots, in both constrained and unconstrained maneuvers. The initial part of the paper concerns the use of Hamilton's principle to derive the mathematical equations governing the dynamics of joint angles, vibration of the flexible links and the constraining forces. The approximate elastic deformations are then derived by means of the Assumed-Mode-Method (AMM). Using the singular perturbation method, the... 

Electrical behavior of hybrid conductive composites made of phenolic resin, graphite woven, glass woven and graphite nano powder has been studied for the first time in the present research to apply as collecting plates in electro static precipitators. To this purpose, two types of four-layer composites smeared with phenolic resin by different amounts of graphite nano powder then produced at 120°C and 200 bars with proper curing cycle. Finally, electrical resistivity of all the plates undergoing impact loading after different rapping cycles was measured by means of a repetitive rapping tester system particularly manufactured for this task. This study performs changes in mechanical behavior of...