Sharif Digital Repository

This paper aims at investigating the interaction of two flexible permanent magnet beams facing each other. The governing equations of motion are obtained based on the Euler-Bernoulli beam model along with Hamiltons principle. Assuming that the beams tips are far enough, each magnet beam is considered as a series of dipole segments and the external force and moment distributions over each beam due to the magnetic field of the other one is calculated in the deformed configuration. The transverse deflections of the beams are written as series expansions of the mode shapes of an unloaded cantilever beam and the Galerkin method is applied to determine the stability and resonance frequencies.... 

This paper presents inverse dynamics equations for a 3-UPS mechanism using virtual work principle. This mechanism has three UPS legs connecting the base to a triangular platform. By changing the orientation of leg's actuators a non-symmetric mechanism with a suitable workspace near the origin without any singularity is obtained. Direct and inverse kinematics Jacobian matrices of the mechanism are obtained by the Newton-Euler approach. Then the inverse dynamics problem is solved using the principle of virtual work, so that the force and torque of active actuators have been obtained by having external forces (force and torque) acted on the platform. Force analysis of the 3-UPS mechanism has... 

One of the most challenging problems in dealing with parallel manipulators is identifying their forward singular configurations. In such configurations these mechanisms become uncontrollable and cannot tolerate any external force. In this article a geometrical method, namely Constraint Plane Method (CPM), is introduced with the use of which one can easily obtain the singular configurations in many parallel manipulators. CPM is a methodical technique based on the famous Ceva plane geometry theorem. It is interesting to note that CPM involves no calculations and yields te result quickly. In addition, some of the previous geometrical methods led to many separate singular configurations;... 

In this paper, an output tracking controller is proposed for cooperative transport of a gripped load by a team of quadrotors. The proposed control law requires the measurement of only four state variables: position and yaw angle of the system. Moreover, the controller provides rejection of step and ramp external force disturbances. In addition, the control basis vectors derived via optimization facilitate the real-time determination of quadrotors' control inputs. Numerical simulations show the effectiveness of the proposed control scheme and its superiority over formerly designed controllers for such systems. © 2019 Sharif University of Technology. All rights reserved  

In this paper, an output tracking controller is proposed for cooperative transport of a gripped load by a team of quadrotors. The proposed control law requires the measurement of only four state variables: position and yaw angle of the system. Moreover, the controller provides rejection of step and ramp external force disturbances. In addition, the control basis vectors derived via optimization facilitate the real-time determination of quadrotors' control inputs. Numerical simulations show the effectiveness of the proposed control scheme and its superiority over formerly designed controllers for such systems. © 2019 Sharif University of Technology. All rights reserved  

Deformation modeling of an infinite plate of functionally graded materials (FGMs) loaded by normal force to the plate surface is studied. The material properties of FGM plate are assumed to be graded in the thickness direction according to a simple power-law distribution in terms of the volume fractions of the constituents. The governing equations are based on stress-strain relation and the equilibrium force equation. Keeping generality, FGM plate has been assumed as a multilayer with linear material property in each layer while arbitrary exponential material property through the thickness. A plate made of Aluminum and Alumina is considered as an example to illustrate the effects of the... 

Accurate prediction of static and dynamic response of nano structures under external excitations has been one of the interests of scientists in the last decade. Several applications of nano machines make it necessary to analyze their components, such as nano bearing, precisely. In this paper, the static and vibrational behavior of a fullerene as a sensitive part of nano bearing under external forces is simulated by a newly designed spherical super element. This super element is designed in such a way that the user can select as many numbers of nodes as desired, so that it can be implemented in different desired precisions. In this study, a 228-node super element, which is similar to a hollow... 

In spite of earlier experimental and modeling studies, the relative role of the intra-abdominal pressure (IAP) in spine mechanics has remained controversial. This study employs simple analytical and finite element (FE) models of the spine and its surrounding structures to investigate the contribution of IAP to spinal loading and stability. The analytical model includes the abdominal cavity surrounded by muscles, lumbar spine, rib cage and pelvic ring. The intra-abdominal cavity and its surrounding muscles are represented by a thin deformable cylindrical membrane. Muscle activation levels are simulated by changing the Young's modulus of the membrane in the direction of muscle fibers, yielding... 

Biological cell injection is a sensitive and important work which is implemented in injection of foreign materials into individual cells. Microinjection is significantly developed in the field of drug discovery and genetics so predicting the behavior of cell in microinjection is remarkably important because a tiny excessive manipulation force can destroy the tissue of the biological cell. There are a few analytical methods available to simulate the cell injection, hence the numerical methods such as FEM are suitable to be used to model the microinjection. In this study, a new spherical super element is presented to model the biological cells and deformation of a specific cell under an... 

Biological cell injection is a sensitive and important work which is implemented in injection of foreign materials into individual cells. Microinjection is significantly developed in the field of drug discovery and genetics so predicting the behavior of cell in microinjection is remarkably important because a tiny excessive manipulation force can destroy the tissue of the biological cell. There are a few analytical methods available to simulate the cell injection, hence the numerical methods such as FEM are suitable to be used to model the microinjection. In this study, a new spherical super element is presented to model the biological cells and deformation of a specific cell under an... 

Chatter suppression in machining processes results in more material removal rate, high precision and surface quality. In this paper, two control strategies are developed to suppress chatter vibration in the turning process including a worn tool. In the first stage, a sinusoidal spindle speed variation around the mean speed is modulated to disturb the regenerative mechanism. The optimal amplitudes of the speed modulations are found based on a genetic algorithm such that the input energy to the turning process is minimized. In the second stage, to improve the response of the system which is associated with small ripples under the steady state condition, an adaptive controller is designed. In... 

Piezoelectric actuators are widely used in micro manipulation applications. However, hysteresis nonlinearity limits the accuracy of these actuators. This paper presents a novel approach for utilizing a piezoelectric nano-stage as the slave manipulator of a teleoperation system based on a sliding mode controller. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in feedforward scheme to cancel out this nonlinearity. The presented approach requires full state and force measurements at both the master and slave sides. Such a system is costly and also difficult to implement. Therefore, sliding mode unknown input observer (UIO) is proposed for full state and force...