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Article
Effect of Friction on the Dynamical Analysis of Three-Link Planar Robot Arm by Using Lagrange Approach

Author: R.M. Hussein
Journal: Engineering and Technology Journal مجلة الهندسة والتكنولوجيا ISSN: 16816900 24120758 Year: 2017 Volume: 35 Issue: 6 Part (A) Engineering Pages: 587-592
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

The dynamic analysis of Three-Link planar robot arm and control system with (PID) are presented and investigated. The dynamic analysis is very important in the design and control of the robot. The difference between the actual dynamic analysis and ideal dynamic analysis is the presence of friction in the robot joints. In this work, the frictional effect in the joints of three-link planar robot is inserting in the dynamic equations and that makes the dynamic analysis is more reality and difficult. The mathematical model that represent the friction consist of two types of friction (Coulomb and viscous friction). A Lagrange method is used and applied to evaluate the generalized forces in the two cases (without and with the effect of friction). Control system with (PID) controller is presented with Simulink block set to evaluate and show the dynamic response of each link in two cases (without and with friction). MATLAB software is used for programing and simulation the equations. In addition, with that, error signals are presented and analyzed for each link. It is concluded from the results that the values of generalized forces in case of presence of friction are more about (12%) than the values of the forces in case of without friction and the behaviors of the dynamic response is linear in case of without friction while the behavior become (non-linear) by inserting the frictional effect in the robot joints. The results indicate that the effect of friction is very important and must be not neglected.


Article
PREDICTION OF YIELD STRENGTH OF LOW/MEDIUM CRMO FERRITIC STEELS USING ARTIFICIAL NEURAL NETWORKS
تخمين اجهاد الخضوع لسبائك الفولاذ الفريتي الكرومي الواطئ والمتوسط المحتوى باستخدام طريقة الشبكات العصبية الصناعية

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Abstract

AbstractThe yield strength of Low/Medium Cr- Mo ferritic steels has been analyzed by a well selectedartificial neural networks (ANN) model using data sets obtained from ASTM publications. Thequalitative and quantitative effects of chemical composition, heat treatment and test temperaturehave been studied. The proposed ANN model was obtained by applying averaging process to thefirst best three models. The first one consists of 24 input nodes (the input variables), 23 hiddennodes and the output node which is the target for the required yield strength. Among the previousvariables, it was found that the heat treatment ones have the greatest contribution to the yieldstrength especially the tempering one i.e. the average contribution of about 15% was obtained

الخلاصةمن خلال اقت ا رح موديل مناسب من Cr-Mo تم تحليل مقاومة الخضوع للصلب الف ا ريتي الواطئ والمتوسطالشبكات العصبية الصناعية. تم د ا رسة التأثي ا رت النوعية و الكمية للتركيب الكيميائي و المعاملة الح ا ررية و درجةتم الحصول على .ASTM ح ا ررة الاختبار على مقاومة الخضوع باستخدام مجموعة بيانات مأخوذة من نش ا رتالنموذج المقترح بتطبيق طريقة المعدل لأفضل ثلاث موديلات. إن أفضل موديل من بين هذه الثلاثة كان يتكونمن 24 عقدة في الطبقة الأولى (المتغي ا رت) و 23 عقدة في الطبقة المخفية وعقدة واحدة للهدف المطلوب وهو مقاومة الخضوع في الطبقة الأخيرة. لوحظ بان متغي ا رت المعاملة الح ا ررية ذات تأثير اكبر على مقاومةالخضوع مقارنة مع المتغي ا رت الأخرى و بالأخص متغير درجة ح ا ررة معاملة التطبيع حيث تم الحصول على.% معدل تأثير بمقدار 1

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