Download Current Advances in Mechanical Design and Production VII by M. F. Hassan PDF

By M. F. Hassan

The foreign convention on Mechanical layout and creation has through the years demonstrated itself as a good discussion board for the trade of principles in those tested fields. the 1st of those meetings was once held in 1979. The 7th, and most up-to-date, convention within the sequence used to be held in Cairo in the course of February 15-17, 2000.International engineers and scientists amassed to switch studies and spotlight the cutting-edge study within the fields of mechanical layout and creation. moreover a heavy emphasis was once put on the problem of expertise transfer.Over a hundred papers have been authorized for presentation on the convention. present Advances in Mechanical layout & creation VII doesn't, in spite of the fact that, try and submit the total paintings awarded yet as an alternative deals a pattern that represents the standard and breadth of either the paintings and the conference.Ten invited papers and fifty four usual papers were chosen for inclusion in those lawsuits. They hide a number of easy and utilized issues that may be labeled into six major different types: procedure Dynamics, stable Mechanics, fabric technological know-how, production tactics, layout and Tribology, and commercial Engineering and its purposes.

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0 rad/s with no initial strain. Simulation is performed for 4 cases: a rigid body system, 4 and 8 element per link lumped mass, and 4-element per link consistent mass. The expected motion of the link is to be vibrating but its gross motion should be following the motion of the rigid body system. Figs. ( 9 . 5 (s) of motion. It can be seen that the consistent mass formulation is rippling very closely about the rigid body motion, while the simulation using lumped mass formulation has the same trend, but its values tends to diverge.

G] ( ql- [111 qm ) - g r ~ mk ck(qt) (5) k=l where [rl] is a n x n diagonal matrix of containing the transmission ratios r b and [K] is the n x n diagonal matrix ofjoint stiffness, c*(q) are the vectors of the positions of the centres of gravity of each link k. For a two link manipulator, they are given by: cl(q) - { Lcl cos(qi) / c2(q) = / a ! ) J (6) al sin(ql) + L c2 sin(ql + q2)J The generalized forces acting on the joints are produced by electric, pneumatic or hydraulic actuators and by friction.

2s 3 o$ 0 3s (c) X-Position of Point B os Is - - 2 =s (d) Y-Position of Point B Fig. 13. Example 2 Results [ 4 os oe t. o2i I I "1t -oeI ! , o o$ ! x - PosJoon. " i t (m) is (b) Path of Point B Fig. 14 Example 2: Path of Links' End-Points 3 3s 36 Current Advances in Mechanical Design and Production, MDP-7 6. Conclusion Simulation of flexible manipulator dynamics is an essential tool in developing and assessing their control in a more accurate manner. This paper presents a systematic algorithm for such a purpose based on the mathematical modeling of flexible manipulators as flexible multi-body systems.

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