Mohsen Safavi | University of Tabriz (original) (raw)
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Un ni iv ve er rs si it tá á d di i B Br re es sc ci ia a, , I It ta aly Abstract: One of the mos... more Un ni iv ve er rs si it tá á d di i B Br re es sc ci ia a, , I It ta aly Abstract: One of the most important criteria of the industrial robots is the dynamic performance of manipulators. There are some critical parameters which determine the dynamic performance of robot manipulators. While the correlations between these parameters are complex and highly non-linear, deciding on these parameters to optimize the dynamic performance of manipulators is a difficult and time-consuming task, especially in the early conceptual design phase. The gearbox size and the lengths of the arms are parameters that have a large impact on the performance and the cost of robots. In order to perform optimization, a mathematical programming model is developed. An objective function is defined to determine optimal gearboxes and arm lengths from an acceleration capability perspective. The arm lengths are treated as continuous variables whereas the gearboxes are selected from a list of available units. This paper presents a Genetic algorithm procedure which shows how optimization can be used in the early phases of a development process in order to evaluate the potential of a concept. This study considers a three degree of freedom robot. The mathematical model is coded in the C language and optimized using the Genetic algorithm. Comparison of the obtained results with optimum values based on Complex algorithm clearly shows the advantages of the proposed method.
International Journal of Precision Engineering and Manufacturing, 2011
In this research work, polishing inside, outside and over the cylindrical parts has been done by ... more In this research work, polishing inside, outside and over the cylindrical parts has been done by using a completely new and innovative method. The work-pieces have been placed on a two-axis Cartesian CNC Table for polishing operations. The Magnetic Rotary Head continuously changes its rotation direction from CW to CCW and CCW to CW and meanwhile the part begin to oscillate up-and-down under a High Frequency (20 kHz) conditions. The Frequency of changing direction From CW to CCW and CCW to CW is one of the important parameters in this method. This method is a kind of Ultrasonic Assisted Polishing (UAP) and novelty of this research work is combining this method with motion of work piece under CNC trajectory with continuously changing direction of Magnetic Rotary Head. Gap between Rotary Magnetic Polishing Head and the Work piece Surface can be controlled by a power transmission screw which operates in the direction of the vertical axis. Several experiments have proved high performance of this new proposed method in the process of polishing in short times.
Un ni iv ve er rs si it tá á d di i B Br re es sc ci ia a, , I It ta aly Abstract: One of the mos... more Un ni iv ve er rs si it tá á d di i B Br re es sc ci ia a, , I It ta aly Abstract: One of the most important criteria of the industrial robots is the dynamic performance of manipulators. There are some critical parameters which determine the dynamic performance of robot manipulators. While the correlations between these parameters are complex and highly non-linear, deciding on these parameters to optimize the dynamic performance of manipulators is a difficult and time-consuming task, especially in the early conceptual design phase. The gearbox size and the lengths of the arms are parameters that have a large impact on the performance and the cost of robots. In order to perform optimization, a mathematical programming model is developed. An objective function is defined to determine optimal gearboxes and arm lengths from an acceleration capability perspective. The arm lengths are treated as continuous variables whereas the gearboxes are selected from a list of available units. This paper presents a Genetic algorithm procedure which shows how optimization can be used in the early phases of a development process in order to evaluate the potential of a concept. This study considers a three degree of freedom robot. The mathematical model is coded in the C language and optimized using the Genetic algorithm. Comparison of the obtained results with optimum values based on Complex algorithm clearly shows the advantages of the proposed method.
International Journal of Precision Engineering and Manufacturing, 2011
In this research work, polishing inside, outside and over the cylindrical parts has been done by ... more In this research work, polishing inside, outside and over the cylindrical parts has been done by using a completely new and innovative method. The work-pieces have been placed on a two-axis Cartesian CNC Table for polishing operations. The Magnetic Rotary Head continuously changes its rotation direction from CW to CCW and CCW to CW and meanwhile the part begin to oscillate up-and-down under a High Frequency (20 kHz) conditions. The Frequency of changing direction From CW to CCW and CCW to CW is one of the important parameters in this method. This method is a kind of Ultrasonic Assisted Polishing (UAP) and novelty of this research work is combining this method with motion of work piece under CNC trajectory with continuously changing direction of Magnetic Rotary Head. Gap between Rotary Magnetic Polishing Head and the Work piece Surface can be controlled by a power transmission screw which operates in the direction of the vertical axis. Several experiments have proved high performance of this new proposed method in the process of polishing in short times.