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Theoretical and Experimental Analysis of a Three Dimensional Timoshenko Beam on a Moving Base
, M.Sc. Thesis Sharif University of Technology ; Zohoor, Hassan (Supervisor)
Abstract
In this thesis, the equations of motion of a beam with tip mass on flying support, based on Euler-Bernoulli and Timoshenko beam theories is derived. To attempt for having accurate model in high rotational speeds, stretch variable is considered and employed in the equations of motion. For a planar and a spatial rotating beam, equations of motion are lineralized and simulated. Finite Element Method and Newmark direct integration scheme are employed for the analysis of the governing equations. To support the numerical results, an experimental setup is designed and based on which different tests are performed. A cantilever beam on a flying support free to vibrate in three dimensions is...
Dynamic Modeling of Micro Elastic Robot in Micro Positioning Application
, M.Sc. Thesis Sharif University of Technology ; Zohoor, Hassan (Supervisor) ; Sohrabpour, Saeid (Supervisor)
Abstract
In this work, we want to gain and analyze the dynamic equations of an open four bar mechanism with two flexible links and three flexible hinges. In continue, one of the applications of a 3-RRR mechanism has been mentioned and dynamic equations and angles behavior have been analyzed. The effect of hinge stiffnesses and their sequence has been investigated by using Hamilton principle. In addition, The behavior of the mechanism with flexible links has compared to the mechanism with non-flexible. At last, the results have been validated by ADAMS software.
Design and Implementation of Intelligent Memory Control for Flexible Magnetic Robot
, M.Sc. Thesis Sharif University of Technology ; Arghavani Hadi, Jamal (Supervisor) ; Zohoor, Hassan (Supervisor) ; Nejat Pishkenari, Hossein (Co-Supervisor)
Abstract
The flexible magnetic robot is used for minimally invasive surgeries where there is a complex environment. Precise control of the position of the end of the robot and quick adaptation of the robot to uncertainties are among the most important challenges in this field, where the controller is responsible for compensating the error and controlling the position of the end of the robot. Now, is it possible to create a kind of memory in the system that when faced with the same or similar errors in the same situations or close to previous errors, the system uses its past and compensates the error? The importance of this work is that the response speed of the system is increased and the system can...
On the dynamics of the flexible robot arm in a real deployment profile
, Article 2010 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2010, Singapore, 28 June 2010 through 30 June 2010 ; 2010 , Pages 112-117 ; 9781424465033 (ISBN) ; Malaek, S. M ; Sharif University of Technology
2010
Abstract
The dynamics of the flexible robot arm subjected to tip mass during an actual deployment is studied. The Euler-Bernoulli beam theory and the real deployment are considered in the simulation. A new real axial velocity profile is developed. This new suggested profile simulates the actual deployment such that the arm movement starts from immovability and after attaining the final required length comes back again to the static state. Using Lagrange's equation, the equations of motion of the system are derived to study the system dynamics in this suggested deployment profile. A series approximation is used to represent the lateral elastic displacements. Using variables separation and also some...