Journal of Advanced Materials in Engineering (Esteghlal)

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The kinematics and dynamics of two industrial cooperating robots are presented in this paper. The NOC (natural orthogonal complement) method is used to derive the dynamical equations for the motion of two cooperating robots. The joint torques of the two robots are determined based on the optimization techniques in order to obtain unique solution for joint torques. To this end, minimizing the crushing force and moment on the moving object as well as minimizing the joint torques of the two robots are the two methods which are used to determine the joint torques. As an example, the joint angles and their time derivatives as well as the time history of joint torques of two cooperating Puma 560 robots are determined.

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In the present investigation, Mn-Ni binary nano-oxide was deposited by potentiodynamic method on stainless steel at room temperature and the effect of annealing process (at 200 ^oC for 6 h) on microstructure and electrochemical performance of the synthesized pseudocapacitor was studied. The results showed the significant effect of annealing process on increasing the capacitance and decreasing the charge transfer resistance of the electrode. Field Emission Scanning Electron Miscroscopy (FESEM) images depicted interconnected and random nano-flakes in the oxide film microstructure. Moreover, a partially crystallized structure consisting disorder hexagonal birnessite type phase was formed upon annealing in the deposited oxide film with about 10 %at Ni in composition. Based on the galvanostatic charge-discharge plots, the highest specific capacitance (384 F g^-1) and specific energy (53 Wh kg^-1) were found at specific current of 0.1 A g^-1 for the annealed oxide electrode. Finally, cycle life test results at specific current of 10 A g^-1 showed an excellent cyclability and an increase of about 23% in specific capacitance of synthesized pseudocapacitor after 5000 charge-discharge cycles in 1 M Na₂SO₄.