Sharif Digital Repository

Kinematic accuracy of the robot end-effector is decreased by many uncertainties. In order to design and manufacture robots with high accuracy, it is essential to know the effects of these uncertainties on the motion of robots. Uncertainty analysis is a useful method which can estimate deviations from desired path in robots caused by uncertainties. This paper presents an applied formulation based on Direct Linearization Method (DLM), for 3D statistical uncertainty analysis of open- loop mechanisms and robots. The maximum normal and parallel components of the position error on the end-effector path are introduced. In this paper, uncertainty effects of both linear and angular variations in... 

Purpose - This paper aims to present the design and implementation of VirSense, a novel six-DOF haptic interface system, with an emphasis on its gravity compensation and fixed-base motors. Design/methodology/approach - In this paper, the design and manufacture of the VirSense robot and its comparison with the existing haptic devices are presented. The kinematic analysis of the robot, design of the components, and manufacturing of the robot are explained as well. Findings - The proposed system is employed to generate a Virtual Sense (VirSense) with fixed-base motors and a spring compensation system for counterbalancing the torques generated by the weight of the links. The fixed bases of the... 

Today's information technology capabilities enable the enterprises to increase the manufacturing collaboration and interoperability among their different departments. These departments are engaged in different product development processes from design to manufacturing. INFELT STEP is a three-layered platform. These layers have functions and structures that enable the INFELT STEP platform to manage the product development collaboration among different CAD/CAM application software with an integrated product data structure. INFELT STEP has structures and functions in its interoperability layer that enable different CAD/CAM application software and CNC post processors to use their own data... 

Interactive and integrated design and manufacturing can be a useful strategy for designers to reach the efficient design through the cognitive or physical interactions. Process tolerance design is a key tool in the integrated design and manufacturing to reach a product with high quality and low cost. Since the optimal tolerance allocation involves several aspects of the design, manufacturing and quality issues, it is always a time consuming and difficult procedure, especially for complex products. Therefore, to overcome these difficulties, a computer-aided approach for optimal tolerance design of manufacturing process is needed in the design stage. In this paper, a novel interactive... 

Gas turbine has broad applications in variety of industries. The developing gas turbine efficiency is of great engineering concern. This appeals to more precise modeling as somewhat inevitable. Modeling plays a decisive and essential role not only in all design phases, but also in development and manufacturing process to investigate performance of an engine. In this research, components of a gas turbine including air intake, axial and centrifugal compressors, combustion chamber and axial turbine are investigated. A novel dimensionless modeling approach is introduced and then, the engine performance parameters are predicted. Setting up a systematic series of experiments on the existing engine... 

The trend in biomaterials development has now headed for tailoring the properties and making hybrid materials to achieve the optimal performance metrics in a product. Modern manufacturing processes along with advanced computational techniques enable systematical fabrication of new biomaterials by design strategy. Functionally graded materials as a recent group of hybrid materials have found numerous applications in biomedical area, particularly for making orthopedic prostheses. This article, therefore, seeks to address the following research questions: (RQ1) What is the desired structure of orthopedic hybrid materials? (RQ2) What is the contribution of the literature in the development of... 

The position accuracy of the robot end-effector is inherently affected by uncertainties. In order to design and manufacture robots with high accuracy, it is essential to know the effects of these uncertainties on the motion of robots. Uncertainty analysis is a useful method which can estimate deviations from desired path in robots caused by uncertainties. This paper presents an applied formulation for 3D statistical error analysis of open-loop mechanisms and robotic manipulators. In order to have an accurate analysis, uncertainty effects of both the link dimension deviation and the joint clearance in performance of the spatial open-loop mechanisms and the robots are considered. The maximum... 

Interactive and integrated design and manufacturing can be a useful strategy for designers to reach the efficient design through the cognitive or physical interactions. Process tolerance design is a key tool in the integrated design and manufacturing to reach a product with high quality and low cost. Since the optimal tolerance allocation involves several aspects of the design, manufacturing and quality issues, it is always a time consuming and difficult procedure, especially for complex products. Therefore, to overcome these difficulties, a computer-aided approach for optimal tolerance design of manufacturing process is needed in the design stage. In this paper, a novel interactive... 

This paper presents a probabilistic approach to reveal the negative consequences of overlooking code calibration when adopting the provisions of nonindigenous building codes in design. A taxonomy of the national building codes of various countries whose provisions are adopted from one or more original standards is first presented. Next, the reliability-based approach to quantify the lack of safety that may arise due to the absence of code calibration is presented. This approach is then applied to the case study of the National Building Code of Iran, whose load and resistance factors are directly adopted from ASCE/SEI 7. To this end, seven steel building archetypes with various structural...