MUSTAFA J HAYAWI | Universiti Teknologi Mara (original) (raw)

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Papers by MUSTAFA J HAYAWI

Research Journal of Applied Sciences, Engineering and Technology, 2016

A new three Degree Of Freedom (3-DOF) parallel manipulator has been proposed in this study. Becau... more A new three Degree Of Freedom (3-DOF) parallel manipulator has been proposed in this study. Because the parallel manipulator has three Degree Of Freedom (DOF), one translation degree of freedom and two rotational degrees of freedom, it has received considerable attention from both researchers and manufacturers over the past years. The inverse kinematic and Jacobain matrix were derived. The dexterity of the parallel manipulator is presented. The key issue of how the kinematic performance in term of dexterity varies with differences in the structural parameters of the parallel manipulator is investigated. The simulation results, using MATLAB, testify the validity of the analytic model and illustrate the structural parameters have direct effect upon dexterity characteristic of the 3-DOF parallel manipulator.

The growing interest in the use of parallel kinematic manipulator in machining applications requi... more The growing interest in the use of parallel kinematic manipulator in machining applications requires determination of the workspace. In this paper, a new 2RPU+RPS parallel manipulator which can generate three degrees-of-freedom (DOF), one translation degree of freedom and two rotational degrees of freedom is proposed. The aim of this paper is to perform the kinematic modeling and the workspace analysis of a 3-DOF Parallel Manipulator. The inverse kinematic is derived. The workspace generation is investigated by using the discretization method for the determination of work volume of the 3-DOF parallel manipulator.

This paper presents kinematic analysis of a new 2RPU+RPS parallel manipulator. Because the parall... more This paper presents kinematic analysis of a new 2RPU+RPS parallel manipulator. Because the parallel manipulator has three degree of freedom (DOF), one translation degree of freedom and two rotational degrees of freedom, it has received considerable attention from both researchers and manufacturers over the past years. The geometrical equations of this parallel manipulator are derived, the physical constraints are introduced and the inverse kinematic equations are analyzed. Parasitic motions are occurring in the constrained DOFs of the parallel manipulator is a key issue affecting its application. The effect structural parameters upon kinematics performance of the parallel manipulator are proposed. The simulation results, using MATLAB, testify the validity of the analytic model and illustrate the structural parameters have direct effect upon kinematic performance of the 3-DOF parallel manipulator.

The singularity of parallel manipulator has been extensively studied based on the forward and inv... more The singularity of parallel manipulator has been extensively studied based on the forward and inverse kinematic analysis. In fact, different singularities are different in nature. Some singularities caused by particular configuration, some singularities caused by failure in kinematic model and others caused by architecture of the manipulator. This paper focuses on the architecture singularities analysis. The detection of architecture singularity is very important issue in design process because it causes dangerous situation and lead to ill-condition configuration of parallel manipulator. The quality index used as good index to avoid architecture singularities and obtain on optimal architectural parameters that leading to a good properties for design the manipulator. The effects location of the joints, translation and rotation of the moving platform are analyzed. The technique used for architecture singularity analysis of a 6 DOF parallel manipulator based on neural network algorithm. It is concluded this method decreases the processing time to analyze architecture singularity and get on optimal structural parameters.

—A hydraulic servosystem is commonly used in heavy industries in which high power is required. Th... more —A hydraulic servosystem is commonly used in heavy industries in which high power is required. The most widely utilized valve is the solenoid ON/OFF valve because of its simplicity and low cost. However, it has poor controlling performance, which increases the nonlinear behavior occurring in hydraulic systems. This paper devotes on the development and implementation of an adaptive learning algorithm as a real-time controlling algorithm for a hydraulic servosystem utilizing a solenoid valve. The proposed adaptive learning algorithm is a special Artificial Neural Network (ANN) model. ANN is a computer program that provides human brain learning capability to computers for a specific task. In this approach, ANN predicts the controlling action for certain operating parameters learned through a training process. The operating parameters and the result controlling action datasets are collected from experimental operations and then provided to the ANN to learn during the training process. The real-time operating results of the hydraulic servosystem using the adaptive learning algorithm show a compliance of the actuator, which is a linear hydraulic cylinder, to the desired displacements. The controlling through learning concept has the potential to overcome the drawbacks of traditional controllers through the ability to adapt to any changes in the dynamic behavior of a hydraulic servosystem.

Research Journal of Applied Sciences, Engineering and Technology, 2016