Journal of Modern Processes in Manufacturing and Production
,
Issue5,Year,
Autumn
2020
The electric arc furnace (EAF) is one of the popular methods of steel production from steel scraps. The plasma arc is used in EAF to generate heat for melting scarp or direct reduced iron (DRI). The liquid metal is drained from the EAF through the tap hole. Nowadays, it More
The electric arc furnace (EAF) is one of the popular methods of steel production from steel scraps. The plasma arc is used in EAF to generate heat for melting scarp or direct reduced iron (DRI). The liquid metal is drained from the EAF through the tap hole. Nowadays, it is critical to use Automated/robotic tools for opening the tap hole with oxygen lancing. Because many workers have been blinded by spraying molten particles in opening operation. This study was aimed to simulate a robot manipulator with five degrees of freedom designed for opening the tap hole of an electrical arc furnace. The geometrical model of the robot was designed in Solid works software according to the real workplace and its expected path and obstacles. The Newton-Euler approach was employed to derive the dynamic equations and the resultant joint torques. The dynamic model is used to obtain the operating torques of the joints as well as in the simulation using the SimMechanic toolbox in Matlab software. The results of the simulation with SimMechanic show that the control system can follow the desired path of the robot with acceptable accuracy.
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Journal of Modern Processes in Manufacturing and Production
,
Issue5,Year,
Autumn
2019
The electric arc furnace (EAF) is used to produce high quality steel from steel scraps. The EAF uses plasma arc to generate heat for melting scarp or direct reduced iron (DRI). The liquid metal should be drained from the tap hole. Manual tapping operation of the EAF in More
The electric arc furnace (EAF) is used to produce high quality steel from steel scraps. The EAF uses plasma arc to generate heat for melting scarp or direct reduced iron (DRI). The liquid metal should be drained from the tap hole. Manual tapping operation of the EAF in the hot environment around the furnace is a potentially dangerous and time consuming task for the workers. Therefore, it is essential to open the tap hole with Automated/robotic oxygen lancing. This study was aimed to design a robot manipulator with five degrees of freedom and revolute joints for opening the tap hole of an electrical arc furnace. The geometrical model of the robot was designed in Solid works software according to real work place and its expected path and obstacles. Direct and reverse kinematic equations were obtained using link parameters (Denawit–Hartenberg) and link transforms. The Newton-Euler approach was employed to derive the dynamic equations and the resultant joint torques.
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Journal of Modern Processes in Manufacturing and Production
,
Issue2,Year,
Spring
2023
One of the main problems in sports medicine in today’s world is knee injuries. Champions of various sports fields often suffer from common knee injuries, such as injuries to the anterior cruciate ligament, middle cruciate ligament, medial collateral ligament of th More
One of the main problems in sports medicine in today’s world is knee injuries. Champions of various sports fields often suffer from common knee injuries, such as injuries to the anterior cruciate ligament, middle cruciate ligament, medial collateral ligament of the knee, or meniscus. In this paper, a knee brace for general applications is modeled and its stress and strain analysis is calculated with the help of software. First, the displacement of the knee brace with ABAQUS software is investigated. By moving toward the top of the knee brace, the amount of displacement decreases. So that at least the amount of displacement is in the upper part of the knee brace. In the next part, the amount of strain and strain for this knee brace is investigated. The amount of stress in the upper part of the knee brace is higher than in other places. Additionally, the amount of strain for this knee brace is determined, the knee brace in the upper part, on the inner side of the knee brace, bears more strain. The results show that this knee brace can be easily produced and considered for different applications.
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Journal of Intelligent Procedures in Electrical Technology
,
Issue2,Year,
Autumn
2021
طراحی مسیر رباتهای متحرک یکی از مسائل مهم در حوزه رباتیک است. همچنین امروزه بهینه سازی طول مسیر حرکت و عبور از تلههای حداقل محلی یکی از مشکلات اساسی و به روز در رباتهای متحرک است. یکی از روشهای مهم در طراحی مسیر این گونه رباتها، روش میدان پتانسیل مصنوعی است زیرا م More
طراحی مسیر رباتهای متحرک یکی از مسائل مهم در حوزه رباتیک است. همچنین امروزه بهینه سازی طول مسیر حرکت و عبور از تلههای حداقل محلی یکی از مشکلات اساسی و به روز در رباتهای متحرک است. یکی از روشهای مهم در طراحی مسیر این گونه رباتها، روش میدان پتانسیل مصنوعی است زیرا مبتنی بر محاسبات ساده ریاضی است. از مهمترین معایب این روش میتوان به گیرکردن در تلههای حداقل محلی اشاره نمود. یک رویکرد برای رفع مشکل حداقلهای محلی، استفاده از روش های بهینه سازی برای یافتن ضرایب مناسب جذب، دفع و طول گام است که بتواند هم از حداقل های محلی عبور کند و هم طول مسیر را نیز در بهینه سازی لحاظ نماید. الگوریتم شاهین یک الگوریتم فراابتکاری قوی و جدید در حوزه بهینهسازی است که مبتنی بر جمعیت و الهام گرفته شده از زندگی شاهینها در طبیعت است. این الگوریتم توانسته است برتری خود را بر روش های بهینه سازی مشابه در یافتن جواب بهینه، همگرایی سریعتر، زمان حل کمتر و دوری از حداقل های محلی اثبات نماید. از آن جایی که این روش تاکنون در طراحی مسیر ربات های متحرک مورد استفاه قرار نگرفته است، در این مقاله به منظور رفع معایب روش میدان پتانسیل مصنوعی و هم چنین بهینهسازی طول مسیر، بازده مسیریابی و زمان همگرایی از الگوریتم شاهین استفاده شده است. نتایج شبیهسازی حاکی از رفع معایب روش میدان پتانسیل مصنوعی و بهینهشدن طول مسیر حرکت، افزایش بازده مسیریابی و کاهش زمان همگرایی است.
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