Sharif Digital Repository

The set of human arm, forearm, and wrist has the ability of performing very miscellaneous movements which has led to human inspiration for designing sorts of robots for various tasks. The aim of the present study is the design and simulation of a robot, similar to the human hand and arm. In the beginning, a shape-adaptive 2 DOF under-actuated mechanism which is actuated by one motor, is selected as the second and third phalanges of the human finger. Also the first phalanx of the finger moves independently by another motor. By adding a ratchet to the second joint of the finger, with the help of only two actuators, the feasibility of exerting isotropic force to the object in three phalanges... 

Today, dissimilar joining of metal to polymer is in increasing demand in automotive and aerospace industries. Conventional methods for dissimilar joining of metal to polymer have limitations such as need for complex system and high surface sensitivity. Therefore, in this study, it has been tried to join pre-drilled aluminum sheets to polymer, based on frictional heat and creation of interlocks between the base parts. Refilling the hole is the main advantage of the method. AA5052 sheet with 2 mm thickness and polypropylene reinforced with 3 wt% short-carbon-fiber composite were used as primary materials. The effect of hole diameter in 4 and 5.5 mm and tool rotational speed in 500, 1000, 1500...