Showing 3 results for A. Meghdari
A. Meghdari, G. Vosoughi and A. Sekhavat,
Volume 14, Issue 1 (1-1994)
Abstract
– One of the important applications of robots is in material handling and transport of various shaped objects. In cases where an object cannot be directly grasped by the robot gripper, and must be carried by a hook, it may be subject to undesirable swings during transport. This paper presents an analytical method for minimizing the oscillation of a suspended object during transport. This method has been experimentally tested on a laboratory robot manipulator "TQ – MA3000", which is neither a path controlled robot nor features the path defining ability. The results indicate a reduction in the amplitude of oscillation of the suspended object to about 1.5 to 3 percent of the initial values.
A. Meghdari,
Volume 15, Issue 1 (7-1994)
Abstract
Recent developments in the area of smart structures indicate that variable geometry / stiffness truss network is of fundamental importance in designing smart transformable structures and systems for space applications. This paper presents the conceptual design and dynamic modeling of a cooperative re-configurabel dual-arm robotic structure called Dual-Arm Cam-Lock Manipulator. The Manipulator is designed to be capable of performing a wide variety of tasks by automatically reconfiguring itself to form a variable geometry, stiffness, and workspace robotic structure. Hence, it may also be referred to as a Variable Geometry Robot Manipulator (VGRM).
A. Meghdari and F. Fahimi,
Volume 16, Issue 2 (1-1998)
Abstract
Recently a method has been developed to decouple the equations of motion for multi-rigid body systems. In this paper, the method is first studied, then the equations of motion for a planar two degree-of-freedom robot with flexible joints are carried out using Lagarange's equations and Kane's equation with congruency transformations. Finally, the results obtained from both methods are throroughly compared.
