Sharif Digital Repository

Dynamic and vibration behavior of AFM microcantilever beam subject to the tip-sample interaction and/or contact is systematically investigated. An Euler-Bernoli microcantilever in 2D plane is considered with longitudinal and bending displacements. Inextensibility assumption and extended Hamilton’s principle is utilized to extract the single-variable integro partial equation of motion under: 1) tip-nanoparticle interactions, 2) tip-surface interactions in non-contact mode and 3) tip-surface interactions and contacts in intermittent-contact mode. Galerkin’s first mode approximation is then used to discretize the derived equations; and multiple time scales method is adopted to analyze the... 

In this thesis a 2-3PRS hybrid mechanism is presented. This manipulator is consisted of two serially connected parallel 3PRS mechanisms, each mechanism has three degrees of freedom, so that the overall degrees of freedom of the manipulator are six. The relations for position, velocity and acceleration of the mechanism in both forward and inverese kinematics are derived and then singular points are determined. After that, the inverse dynamic equations for one of the 3PRS mechanisms are derived through the Newton-Euler and aslo Lagrange approach and the results are verified. Then the derived Newton-Euler equations are implemented for inverse and forward dynamics of the hybrid manipulator. The... 

Vibrational modeling of a gas turbine considering simultaneous faults is considered. Faults including: unbalance, misalignment, and rotor crack are selected to be modeled. Oil film forces of hydrodynamic bearings are chosen as the supports of the rotor. Modeling starts with choosing an appropriate finite element model for the rotor which includes the effects of shear deflection, rotary inertia, gyroscopic moment, and rotor cross section variation. Modeling of unbalance is in fact a part of rotor finite element modeling. The forces that origniate form misalignment are computed using the static relations of a rigid coupling. Modeling of bearing faults along with bearing forces is performed... 

The application of manipulators is becoming more and more popular in objects handling especially when it is desired to have access to remote areas in destructive or hazardous taskspaces. For this purpose, a hand-like mechanism must be designed to be used as an end-effector, which can grasp objects. In this paper a cable driven grasping mechanism has been presented. In the proposed mechanism each finger consists of three phalanxes which are actuated by a single motor. Also, locking and unlocking constraints are used in the mechanism in order to generate an anthropomorphic motion, in which, the order of reaching phalanxes to the object is sequential, in such a way that each phalanx starts... 

Cable-driven robots are referred to as parallel robots actuated with cables. In fact,in such robots rigid links are replaced by cables, which may be extended to desired lengths without making mechanism much heavy. This robot possesses a number of unique properties that makes it suitable for many industrial applications. The main factor which makes cable robots analysis different from other parallel robots is the incapability of cables to push objects. Hence, obtaining the workspace of a cable robot is one of the most important subjects associated with this type of robot.The goal of this thesis is to design a spatial translational cable driven robot, which may be used for object handling. For... 

Separate analysis of modern systems by continuous or discrete theories is not possible, because they cannot solely express the detailed descriptions of a system. As a result of this, researchers are motivated to study hybrid systems. Specific class of hybrid systems which consists of several continuous subsystems and a rule that specifies how to switch between them, is called a switched system. Recently, many studies have been done on the stability and control of switched systems. In this regard, the goal of present study is presenting applications of switched systems using two control methods. The first application is control of a chemical reactor system with multiple modes. We presented... 

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... 

Robots have been widely used for various applications, especially during the last decades. Robots are made of several parts, in which, "Hand" is one of the most important of those. Hands are designed according to their applications and are not necessarily like human ones. Development of humanoid robots, however, brings a special place to human-like hands. In this research, a force-isotropic underactuated finger with two phalanxes and one actuator is designed, considering design limitations and through static analysis. Tendon, cam and mechanical lock (ratchet gear) are among the main components which have been considered in the finger design. Then, a model was fabricated and tested in order... 

In this thesis, pull-in of nano/micromirrors under effects of capillary, Casimir and van der Waals (vdW) forces is investigated based on two models. In the first model, only rotation of torsional beams of mirror is considered. In the second model, effect of bending of the torsional beams is also considered. The static behavior of the mirror under capillary, Casimir and vdW loading are also studied using these models. Results show that neglecting bending effect, can lead to considerable overestimation in predicting the pull-in limits of the nano/micromirrors under these forces.Results reveal that the static behavior of the nano/micromirrors under these forces highly depends on the... 

Pipelines are main means of gas and oil transfer, and thus, leak detection in them for prevention or control of contingencies is highly important. Examination of acoustic waves resulted from diverse vibrational characteristics of damaged points has led to possibility of invention of varied industrial tools for non-destructive test. This research’s objective is examining acoustic and vibrational signals propagated by leakage point as a tool for locating leakage’s place and accuracy assessment of them in leak detection. For leak detection of the devised experimental system, a new method has been employed to calculate time delay; this method, which is called Residual Complexity, is based on... 

Magnetic flux leakage is one of the nondestructive testing methods used for ferromagnetic segments. The basis of performance of the magnetic flux leakage nondestructive testing is such that the ferromagnetic segment will be led to magnetic saturation by a powerful magnetic field, and if there was defect and decreasing in cross section, the segment's capability of transmitting magnetic flux will be decreased and therefore, some of passing magnetic flux from the under testing segment, will be leaked to the surrounding area. So the amount of magnetic flux leakage can be a criterion of existing defect in the segment. To estimate sizing of the defect, it's necessary to study the ingredients which... 

Since ancient time, healing patients suffering from bone deformities has been one of the most important challenges of physicians. In recent decades, by helping bio mechanic engineers external fixators has been used for this purpose. These fixators divided to parallel and series forms. One of the remarkable merit of parallel external fixators is their high maneuverability. These fixators usually have six degree of freedom, and follow the movement’s pattern of Stewart robots. In this project by studying different fixators which has been commercials, we present two conceptual models of these fixators which three and four legs are used for connecting the lower and upper plates, respectively. The... 

Due to the use of rotor dynamics, in the rotating systems such as pumps, turbines and machine tool spindle gained special significance in recent decades and a growing need for rotating machines with high speed, leading to extensive research in this area. Due to instability in the dynamics of these systems, check the stability of the rotor system has been given special emphasis, so that studies and research in terms of models and methods allocated to this topic. The project analyzed the stability of a rotor that includes an elastic shaft is placed on the bearings as it is objective. From point of modeling, the rotor is modeled using Timoshenko beam theory and the rotor mounted on bearing with... 

In this project, two bidirectional loadcell are designed and fabricated to be installed on a walker. Then upper extremities’ forces and moments have been obtained. Results can be used for rehabilitation purposes in Spinal Cord Injuries and Cerebral Palsy cases. The method used in this project is as follows: First, since the commercial multidirectional loadcells are too expensive, the loadcell (and an appropriate electronic board) are fabricated. Ultimately, a complete gait analysis by means of VICON motion analysis and using inverse dynamic method has been held to measure upper extremities’ forces and moments in the wrist, elbow and shoulder. The results for a person with Spinal Cord Injury... 

Cerebral palsy (CP) is one of the most common diseases that cause by brain injury or abnormalcy and occur while brain is developing before, during or just after birth. people with cerebral palsy face certain problems associated with the control of their muscles, these conditions will make simple activities such as sitting, walking or taking objects very difficult for a person.In the case of gait analysis and its effectiveness, there are many articles and studies. In general, experts have used gait analysis to diagnose and treat problems in cerebral palsy patients. Experts have studied on cerebral Palsy using gait analysis directly and indirectly. In indirect cases, patients are classified... 

The collision of moderately large asteroids and comets also referred to as Near-Earth Objects (NEO's) with earth would have catastrophic consequences. Such events have occurred in the past and may occur again in the future. However, for the first time in known history, humanity may have the technology required to counter this threat. Methods studied for mitigation of this hazard are based on deflecting asteroid's trajectory and are normally divided into two basic categories: high energy impulsive methods, and long-duration low-thrust methods. Two parts of mission to be optimized are the trajectory of spacecraft to reach the target and the deflection strategy which could be analyzed by the... 

This thesis presented kinematic and dynamic analysis of a novel 8-DOF hybrid manipulator. The hybrid robot manipulator under consideration consists of a parallel robot which is followed by a serial mechanism. The parallel mechanism has three translational DOFs, and the serial mechanism has five DOFs, so that the overall degrees of freedom are eight. The introduced manipulator has a wide workspace and a high capability to reduce the actuating energy. The inverse and forward kinematic solutions of the manipulator were described in closed form. The theoretical results were verified by a numerical example. Inverse dynamic analysis of the robot was presented by utilizing the Iterative... 

In last years, many researches are focoused on improving of suspension systems because of their importance in automotive afavourable performance. One of these advanced suspension systems are Magnetorheological suspension with nonlinear dynamic system and complicated behavior like Hysteresis Loops, so their modeling are notable.
In the first chapter as introduction, suspension systems and their aims are expressed briefly. Then Magnetorheological suspension structure and its function are mentioned. After review of researches that has done about its modeling and control , in the third chapter, different types of classic and generalized Prandtl-Ishlinskii models are introduced and... 

In recent years, the area of research on micro flying robots has been developed due to the development in micro manufacturing technologies. Due to extra advantages of these flying robots, they are implemented in military and civilian missions such as identifying, espionage, aerial relays, traffic surveillance, rescue, aid, etc. Ability to fly in specified areas, without human injuries, low manufacturing and energy costs, easy and fast implementation, Easy Maintenance, etc, which are some advantages of these robots. We can control these robots manually by remote controllers (RC) or by Auto guidance systems. On the other hand, these robots are used in research laboratories for testing new... 

The problem of point to point repetitive time reduction for the rigid manipulators is a major case in industry especially for applications such as point to point welding and part manipulation. These motions are usually repeated for a large numbers of cycles, so that even a minor economization in time can be hugely significant. Nowadays, the time optimal control problem of manipulator with completed theory, is an appropriate solution of the problem. In recent years, with the expansion of design space to structure design, more satisfactory results can be obtained using this method.
Optimal balancing is a new approach based on the optimal control theory in which the balancing unknowns plus...