Sharif Digital Repository

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... 

Communication Buoys are devices that facilitate radio communication between underwater ships and surface stations. In this research such device is thoroughly designed for a submersible application. The system comprises of buoy, connection cable, buoy cavity, cable passage, winch and other supporting and safety subsystems. Buoy and cable system was analyzed in a general form and their stable states were determined for different ship maneuvers, sea streams, and wave conditions. Based on this, optimum buoy geometry and cable length were found for the defined application and other subsystems were detail designed. To evaluate the design, some of the system components were manufactured and... 

Smart materials are able to change their physical properties under various environmental conditions. Shape memory alloys (SMA) are relatively new smart materials that can respond to environmental stimuli e.g., heat, electricity, etc. Unique behaviors of SMAs, called shape memory effect and superelasticity, have motivated many applications in various fields of study (aerospace, medical, civil engineering, etc.). Although the behavior of SMAs is complicated, modeling and utilizing these materials have been receiving much attention in the past 20 years. Since a cable tolerate more tension than a wire or rod, the shape memory alloy cables could have a broad range of potential applications.... 

Although many aspects of helical strand have been carried out, there are still some situations which need more studies. Based on previous studies of wire rope the constitutive equations regarding the rope tension and torque to the rope deformations are carried out. In which constitutive constants depend on both the rope material and geometry of the rope. Equations of motion for straghit rope loaded simultaneously in tension and torque are derived, and with using extensional-torsional deformations in both side of the rope, dynamic stiffness matrix is derived. Some experimental results and currently models are compared with my research model numerically. Finally, mechanic response of helically... 

In this study, a new concrete slab stiffened by concrete pedestals and steel cables is introduced. The slab system is studied by employing both analytical and numerical methods. The steel cables are connected to the edges of slab and the concrete pedestals mounted at the bottom face of slab act as the middle supports of cables. The tension force in the cable and its inclination results in upward forces acting at the bottom face of slab. With the aims of classical theory of thin plates and the superposition technique, the problem of a simply supported rectangular slab stiffened by cables is studied analytically. The obtained results are verified by a numerical modelling implemented in SAP2000... 

The present thesis follows two aims in the phenomenon of vibration and control of cable of cable-stayed bridge under rain-wind induced vibration (RWIV). The first one is to study the response of the cable and consequently the second one aims to control these vibrations that occurred in the cable. The assumed continuous cable has lateral, in plane bending (IP), out of plane bending (OOP) and torsion mode. The effect of rainfall on the cable has been modeled with mobile upper rivulet on the cable surface and the effect and shape of lower rivulet have been neglected. RWIV is not vortex-induced vibration (VIV), nor wake galloping, because the dominant frequency of RWIV is lower than VIV and... 

This research investigates the hydrodynamic interaction of a squat submarine operating behind a ship in various wave and resistance experiments for towing and self-propelling arrangements. A one-tenth scaled captive model of a 0.625 m squat submarine is constructed along with a 1.5 m Fridsma ship to perform 116 unique experiments in a 4×6×400 m3 tank located in a towing tank center. The submarine is a new midget-submersible, of Apam-Napat SMSD type, with an L/D ratio below four. The cable is specified, regarding its weight per unit length, using a scaling method introduced in this research. Wave and resistance tests are performed for various 2D relative lengths and depths at short-distance...