The document discusses forward and inverse kinematic analysis of 5 DOF and 6 DOF robotic manipulators. It presents the Denavit-Hartenberg (DH) parameter modeling approach to determine the homogeneous transformation matrices between links to solve the forward kinematics. The inverse kinematics is solved by multiplying the inverse of the transformation matrices and equating the end effector positions and orientations. Results for 5 DOF manipulator show the joint values that provide different end effector positions and orientations.
Forward and Inverse Kinematic Analysis of Robotic ManipulatorsIRJET Journal
The document discusses forward and inverse kinematic analysis of 5 DOF and 6 DOF robotic manipulators. It presents the Denavit-Hartenberg parameters to model the link lengths, twist angles, offsets etc. of the manipulators. Forward kinematics is used to calculate the position and orientation of the end effector given the joint angles, while inverse kinematics is used to determine the required joint angles to achieve a desired end effector pose. Results for a 5 DOF manipulator using forward and inverse kinematic equations are presented.
The document describes the forward kinematics analysis of a 6 degree of freedom arc welding robot. It discusses assigning coordinate frames to each link using the Denavit-Hartenberg convention. The forward kinematics problem is to determine the position and orientation of the end effector given the joint variable values. The methodology develops a kinematic model in Matlab using the link transformations. For example joint values, the model outputs the end effector position and orientation as represented by a homogeneous transformation matrix. The analysis can determine the end effector pose for any given joint configuration.
This document presents the forward and inverse kinematic analysis and dynamic analysis of a 2 degree of freedom robotic arm manipulator. It includes:
- Deriving the forward kinematics equations relating joint angles to end effector position.
- Determining the inverse kinematics and discussing issues like multiple solutions and singularities.
- Analyzing the manipulator performance in terms of condition number, mobility index, and singular configurations.
- Modeling the dynamics using Lagrangian and Newton-Euler approaches and deriving the equations of motion relating joint torques to accelerations.
IRJET-A Review Paper on using Mineral Admixture Coated Pet Fibres to Make Con...IRJET Journal
This document presents a new approach for developing flexibility matrices using the principle of contra-gradience. The approach uses flexibility coefficients of individual members along with force and deformation transformation and the principle of contra-gradience to develop the total flexibility matrix of a structure. Two examples of a fixed beam and a rigid jointed frame are analyzed using this approach both manually and using MATLAB software. The results obtained from both methods match, showing the new approach is effective for flexibility analysis and MATLAB can be used to simplify calculations.
This work presents the kinematics model of an RA-
02 (a 4 DOF) robotic arm. The direct kinematic problem is
addressed using both the Denavit-Hartenberg (DH) convention
and the product of exponential formula, which is based on the
screw theory. By comparing the results of both approaches, it
turns out that they provide identical solutions for the
manipulator kinematics. Furthermore, an algebraic solution of
the inverse kinematics problem based on trigonometric
formulas is also provided. Finally, simulation results for the
kinematics model using the Matlab program based on the DH
convention are presented. Since the two approaches are
identical, the product of exponential formula is supposed to
produce same simulation results on the robotic arm studied.
Keywords-Robotics; DH convention; product of exponentials;
kinematics; simulations
Design and Analysis of Articulated Inspection Arm of RobotIJTET Journal
Nowadays Robot play a vital role in all the activities in human life including industrial needs. There is a definite trend in the manufacture of robotic arms toward more dexterous devices, more degrees of-Freedom, and capabilities beyond the human arm. The ultimate objective is to save human lives in addition to increasing productivity and quality of high technology work environments. The objective of this project is to design, analysis of a Generic articulated robot Arm. This project deals with the modeling of a special class of single-link articulated inspection arms of robot. These arms consist of flexible massless structures having some masses concentrated at certain points of hollow sections at the beam. Some aspects of the articulated Robot that are anticipated as useful are its small cross section and its projected ability to change elevation and maneuver over obstacle require large joint torque to weight ratios for joint actuation. A knuckle joint actions actuation scheme is described and its implementation is detailed in this project. The parts of the (AIA) arm are analyzed for deflection and stress concentration under loading conditions in different angles.
A New Method For Solving Kinematics Model Of An RA-02IJERA Editor
The kinematics miniature are established for a 4 DOF robotic arm. Denavit-Hartenberg (DH) convention and the
product of exponential formula are used for solving kinematic problem based on screw theory. For acquiring
simple matrix for inverse kinematics a new simple method is derived by solving problems like robot base
movement, actuator restoration. Simulations are done by using MATlab programming for the kinematics
exemplary.
IRJET- Simulation and Kinematic Analysis of MTAB ARISTO RobotIRJET Journal
This document discusses the simulation and kinematic analysis of the MTAB ARISTO robot. It begins by providing background on the robot, including its range of motion and applications. It then defines the Denavit-Hartenberg parameters used to describe the robot's kinematic model. Next, it covers forward and inverse kinematics calculations done using the RoboAnalyzer software. Graphs of the robot's link and joint positions, velocities, and accelerations are presented. The document concludes that the MTAB ARISTO robot is suitable for applications like welding curved paths due to its ability to accurately follow trajectories as determined through kinematic analysis and simulation.
Forward and Inverse Kinematic Analysis of Robotic ManipulatorsIRJET Journal
The document discusses forward and inverse kinematic analysis of 5 DOF and 6 DOF robotic manipulators. It presents the Denavit-Hartenberg parameters to model the link lengths, twist angles, offsets etc. of the manipulators. Forward kinematics is used to calculate the position and orientation of the end effector given the joint angles, while inverse kinematics is used to determine the required joint angles to achieve a desired end effector pose. Results for a 5 DOF manipulator using forward and inverse kinematic equations are presented.
The document describes the forward kinematics analysis of a 6 degree of freedom arc welding robot. It discusses assigning coordinate frames to each link using the Denavit-Hartenberg convention. The forward kinematics problem is to determine the position and orientation of the end effector given the joint variable values. The methodology develops a kinematic model in Matlab using the link transformations. For example joint values, the model outputs the end effector position and orientation as represented by a homogeneous transformation matrix. The analysis can determine the end effector pose for any given joint configuration.
This document presents the forward and inverse kinematic analysis and dynamic analysis of a 2 degree of freedom robotic arm manipulator. It includes:
- Deriving the forward kinematics equations relating joint angles to end effector position.
- Determining the inverse kinematics and discussing issues like multiple solutions and singularities.
- Analyzing the manipulator performance in terms of condition number, mobility index, and singular configurations.
- Modeling the dynamics using Lagrangian and Newton-Euler approaches and deriving the equations of motion relating joint torques to accelerations.
IRJET-A Review Paper on using Mineral Admixture Coated Pet Fibres to Make Con...IRJET Journal
This document presents a new approach for developing flexibility matrices using the principle of contra-gradience. The approach uses flexibility coefficients of individual members along with force and deformation transformation and the principle of contra-gradience to develop the total flexibility matrix of a structure. Two examples of a fixed beam and a rigid jointed frame are analyzed using this approach both manually and using MATLAB software. The results obtained from both methods match, showing the new approach is effective for flexibility analysis and MATLAB can be used to simplify calculations.
This work presents the kinematics model of an RA-
02 (a 4 DOF) robotic arm. The direct kinematic problem is
addressed using both the Denavit-Hartenberg (DH) convention
and the product of exponential formula, which is based on the
screw theory. By comparing the results of both approaches, it
turns out that they provide identical solutions for the
manipulator kinematics. Furthermore, an algebraic solution of
the inverse kinematics problem based on trigonometric
formulas is also provided. Finally, simulation results for the
kinematics model using the Matlab program based on the DH
convention are presented. Since the two approaches are
identical, the product of exponential formula is supposed to
produce same simulation results on the robotic arm studied.
Keywords-Robotics; DH convention; product of exponentials;
kinematics; simulations
Design and Analysis of Articulated Inspection Arm of RobotIJTET Journal
Nowadays Robot play a vital role in all the activities in human life including industrial needs. There is a definite trend in the manufacture of robotic arms toward more dexterous devices, more degrees of-Freedom, and capabilities beyond the human arm. The ultimate objective is to save human lives in addition to increasing productivity and quality of high technology work environments. The objective of this project is to design, analysis of a Generic articulated robot Arm. This project deals with the modeling of a special class of single-link articulated inspection arms of robot. These arms consist of flexible massless structures having some masses concentrated at certain points of hollow sections at the beam. Some aspects of the articulated Robot that are anticipated as useful are its small cross section and its projected ability to change elevation and maneuver over obstacle require large joint torque to weight ratios for joint actuation. A knuckle joint actions actuation scheme is described and its implementation is detailed in this project. The parts of the (AIA) arm are analyzed for deflection and stress concentration under loading conditions in different angles.
A New Method For Solving Kinematics Model Of An RA-02IJERA Editor
The kinematics miniature are established for a 4 DOF robotic arm. Denavit-Hartenberg (DH) convention and the
product of exponential formula are used for solving kinematic problem based on screw theory. For acquiring
simple matrix for inverse kinematics a new simple method is derived by solving problems like robot base
movement, actuator restoration. Simulations are done by using MATlab programming for the kinematics
exemplary.
IRJET- Simulation and Kinematic Analysis of MTAB ARISTO RobotIRJET Journal
This document discusses the simulation and kinematic analysis of the MTAB ARISTO robot. It begins by providing background on the robot, including its range of motion and applications. It then defines the Denavit-Hartenberg parameters used to describe the robot's kinematic model. Next, it covers forward and inverse kinematics calculations done using the RoboAnalyzer software. Graphs of the robot's link and joint positions, velocities, and accelerations are presented. The document concludes that the MTAB ARISTO robot is suitable for applications like welding curved paths due to its ability to accurately follow trajectories as determined through kinematic analysis and simulation.
Inverse Kinematics Analysis for Manipulator Robot with Wrist Offset Based On ...Waqas Tariq
This paper presents an algorithm to solve the inverse kinematics for a six degree of freedom (6 DOF) manipulator robot with wrist offset. This type of robot has a complex inverse kinematics, which needs a long time for such calculation. The proposed algorithm starts from find the wrist point by vectors computation then compute the first three joint angles and after that compute the wrist angles by analytic solution. This algorithm is tested for the TQ MA2000 manipulator robot as case study. The obtained results was compared with results of rotational vector algorithm where both algorithms have the same accuracy but the proposed algorithm saving round about 99.6% of the computation time required by the rotational vector algorithm, which leads to used this algorithm in real time robot control.
Robot forward and inverse kinematics research using matlab by d.sivasamySiva Samy
The document discusses developing forward and inverse kinematic models of a Scorbot era 5u plus industrial robot using MATLAB. It begins by introducing the Denavit-Hartenberg parameters for representing robot kinematics. Then it describes modeling the specific Scorbot era 5u plus robot in MATLAB, including defining its link lengths and joint ranges using DH parameters. Forward kinematics analysis is performed by varying the joint angles to find the end effector position and orientation. Validation is done by comparing the results to a commercial robot simulator and LabVIEW. Inverse kinematics analysis is also developed to determine required joint angles to achieve a desired end effector pose.
IRJET- Determination of Cross-Section for a ROD which is Subjected to Buc...IRJET Journal
This document discusses determining the ideal cross-section of a concrete rod subjected to buckling through theoretical calculations and simulations. It finds that a hollow square cross-section provides the highest buckling load factor (BLF) of 2378.7 based on simulations in ANSYS, indicating it is most resistant to buckling. Theoretical calculations using Euler's formula support this, showing a hollow square cross-section rod has a BLF of 23884881, 1.6 times higher than a solid square cross-section. In conclusion, a hollow square cross-section is best for concrete columns to resist buckling.
This document describes the development of a virtual software package to model and test the kinematics of a 5 degree of freedom robot lever arm using MATLAB. It discusses using the Denavit-Hartenberg convention to define the coordinate frames and homogeneous transformation matrices between frames to calculate the forward and inverse kinematics. The modeling process in MATLAB is described, including defining the link diagram and using composite homogeneous transformations to determine the position and orientation of the end effector given the joint angles or to calculate the required joint angles to reach a desired end effector pose.
This document discusses robot kinematics and position analysis. It covers forward and inverse kinematics, including determining the position of a robot's hand given joint variables or calculating joint variables for a desired hand position. Different coordinate systems for representing robot positions are described, including Cartesian, cylindrical and spherical coordinates. The Denavit-Hartenberg representation for modeling robot kinematics is introduced, allowing the modeling of any robot configuration using transformation matrices.
High speed cordic design for fixed angle of rotationIAEME Publication
This document summarizes a proposed high speed CORDIC design for fixed angle rotation. It begins with an abstract describing the CORDIC algorithm and its applications in digital signal processing, graphics, and other fields. It then discusses prior CORDIC methodologies and their limitations before proposing optimizations to reduce latency and complexity for fixed angle rotation. Specifically, it proposes optimized micro-rotations for fixed angles, single and bi-rotation CORDIC circuits, and carrying out additions using carry select adders to improve speed. The goal is a high speed and less complex CORDIC scheme for fixed angle vector rotation.
This document compares kinematic and dynamic models for robotics. The kinematic model studies robot motion without considering forces/torques, and can be used to determine end effector position from joint positions. The dynamic model relates joint torques to motion, and is important for analyzing a robot's dynamic behavior. Key differences include the kinematic model using Denavit-Hartenberg notation while dynamic models employ Lagrange-Euler and Newton-Euler formulations. Both models are essential for robot control and simulation.
Strength Analysis and Optimization Design about the key parts of the RobotIJRES Journal
Study on structure optimization design about Flip Arms of Mobile Robot. First conducted
preliminary structural design, and established finite element analysis model by HYPERMESH, use ANSYS
software to study Flip Arms Stress distribution and structure optimization. Strength check to ensure the strength
and stiffness of Flip Arms meet safety requirements, and make sure the reliability of the design, to provide a
theoretical basis for the structural optimization design of Flip Arms. Optimization design considering the
weighted compliance as the object function, the frame was improved by modifying the parameters which are
most sensitive to the character of the frame structure. The results showed that structural optimization design
without affecting the reliability of Flip Arms, reducing the quality of the parts improved and the Flip Arms
flexible mobility, to provide a theoretical basis for the structural design of robot.
ROBOTICS-ROBOT KINEMATICS AND ROBOT PROGRAMMINGTAMILMECHKIT
Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-Derivations and problems. Lead through Programming, Robot programming Languages-VAL Programming-Motion Commands, Sensor Commands, End Effector commands and simple Programs
This document summarizes a cylindrical robot simulation software developed for educational purposes. The software includes modules for direct and inverse kinematics, trajectory planning, and PID-computed torque control. It was created using Matlab and incorporates visual animations. Students found it helpful for understanding fundamental robot mechanics concepts.
This document describes robot kinematics and the forward kinematics of a 2-link robot. It introduces Denavit-Hartenberg parameters for describing robot links and joints. A 2-link robot is modeled using these parameters and its forward kinematics are computed using homogeneous transformations. The robot and its kinematics can be visualized using MATLAB.
Kinematics is the study of motion without considering forces. Robot kinematics specifically refers to the analytical study of robot motion and how robotic systems move. There are two main types of kinematics: forward kinematics and inverse kinematics. Forward kinematics uses the robotic equations to determine the position of the end effector given the joint parameters. Inverse kinematics determines the necessary joint parameters to achieve a desired end effector position and orientation. Inverse kinematics is important for robot trajectory planning but is generally more difficult than forward kinematics.
Pick and place task is one among the most important tasks in industrial field handled by “Selective
Compliance Assembly Robot Arm” (SCARA). Repeatability with high-speed movement in horizontal plane is
remarkable feature of this type of manipulator. The challenge of design SCARA is the difficulty of achieving
stability of high-speed movement with long length of links. Shorter links arm can move more stable. This
condition made the links should be considered restrict then followed by restriction of operation area
(workspace). In this research, authors demonstrated on expanding SCARA robot’s workspace in horizontal area
via linear sliding actuator that embedded to base link of the robot arm. With one additional prismatic joint the
previous robot manipulator with 3 degree of freedom (3-DOF), 2 revolute joints and 1 prismatic joint is become
4-DOF PRRP manipulator. This designation increased workspace of robot from 0.5698m2 performed by the
previous arm (without linear actuator) to 1.1281m2 by the propose arm (with linear actuator). The increasing
rate was about 97.97% of workspace with the same links length. The result of experimentation also indicated
that the operation time spent to reach object position was also reduced.
Manipulability index of a parallel robot manipulatorIAEME Publication
This document discusses manipulability index, which is a measure of a robot's ability to manipulate objects in different positions and orientations. It defines manipulability index as the determinant of the product of a robot's Jacobian matrix and its transpose. A higher manipulability index indicates better velocity transmission capabilities and dexterity. The document analyzes manipulability index values for different robot structures using MATLAB. It also describes how velocity and force ellipsoids can represent a robot's velocity and force transmission characteristics based on its Jacobian matrix.
The inverse kinematics problem - Aiman Al-AllaqAimanAlAllaq
The document discusses inverse kinematics and how to solve the inverse kinematics problem for a robotic manipulator. It uses a 5-axis Rhino XR-3 robot as an example. It explains that inverse kinematics determines the joint variables given a desired position and orientation of the tool, which is important for tasks planned using external sensors. It then outlines the step-by-step process used to solve the inverse kinematics problem, which involves using the tool configuration vector obtained from the arm matrix and performing trigonometric operations to isolate each joint variable.
This document provides an introduction to robotics, including key terms, technologies, applications, vendors, and programming. It discusses how robots use joints to generate motion and integrate tools and sensors. Common robot processes are described such as path following, repetitive moves, and telerobotics. Advantages of robots include flexibility and improved quality, while disadvantages include replacing human labor and costs of associated technologies. Standards organizations like RIA provide definitions and safety regulations for robotics.
The document discusses various kinematic problems in robotics including forward kinematics, inverse kinematics, and Denavit-Hartenberg notation. Forward kinematics determines the pose of the end-effector given the joint angles, while inverse kinematics determines the required joint angles to achieve a desired end-effector pose. Denavit-Hartenberg notation provides a systematic way to describe the geometry of robot links and joints. The document also covers numerical solutions to inverse kinematics for robots without closed-form solutions and kinematics of special robot types like under-actuated and redundant manipulators.
Review on Automation Tool for ERD NormalizationIRJET Journal
The document describes a methodology for automatically extracting entity relationship diagrams (ERDs) from English language descriptions. It involves using heuristic rules to extract entities, relationships, and attributes from text and then generating an ERD. The proposed system aims to provide a quick and easy way for database designers to generate ERDs from requirements documents. Existing normalization tools only operate on relational schemas and do not support conceptual-level normalization of ERDs. The proposed system would extract ERDs and then apply normalization techniques like 1NF and 2NF to remove ambiguities and inconsistencies from the initial ERD.
Privacy Recommendations and Ranking of User Images on Content Sharing SitesIRJET Journal
The document describes a proposed Adaptive Privacy Policy Prediction (A3P) framework that aims to automatically generate privacy policies for images uploaded by users to content sharing sites. The A3P framework considers individual user attributes, social context, image content and metadata to predict privacy settings that satisfy user privacy preferences. It classifies uploaded images and assigns privacy policies based on the image category and the user's upload history. The framework aims to simplify privacy setting customization for users and provide more effective privacy protection for shared content.
This document discusses the fabrication of a continuously variable transmission (CVT) operated motorcycle. It begins with background on CVT technology, noting its advantages over traditional transmissions like fuel efficiency and smooth shifting. It then describes the specific CVT design for the motorcycle, using two variable diameter pulleys connected by a metal belt, with one pulley on the engine crankshaft and the other on the drive wheel. Drawings and descriptions of the fabricated CVT components and their operation are provided. The objectives of the CVT motorcycle design are given as providing a gearless transmission that varies ratios continuously for optimal engine efficiency. Prior research on CVT technology is also reviewed.
Free vibration analysis on cantilever beam-A reviewIRJET Journal
This document reviews free vibration analysis of cantilever beams made of different materials like brass, stainless steel, and aluminum. It discusses using experimental methods like an accelerometer and vibscanner software to determine the natural frequency and damping ratio of cantilever beams under different conditions. The objective is to analyze how surface cracks of varying sizes affect the natural frequency and damping ratio of beams made of different materials. Previous studies on vibration analysis of cantilever beams are also summarized. The methodology involves performing free vibration tests on brass, stainless steel and aluminum cantilever beams of specified dimensions and using vibscanner and omnitrend software to obtain frequency response graphs and calculate natural frequency and damping ratio from the graphs.
Inverse Kinematics Analysis for Manipulator Robot with Wrist Offset Based On ...Waqas Tariq
This paper presents an algorithm to solve the inverse kinematics for a six degree of freedom (6 DOF) manipulator robot with wrist offset. This type of robot has a complex inverse kinematics, which needs a long time for such calculation. The proposed algorithm starts from find the wrist point by vectors computation then compute the first three joint angles and after that compute the wrist angles by analytic solution. This algorithm is tested for the TQ MA2000 manipulator robot as case study. The obtained results was compared with results of rotational vector algorithm where both algorithms have the same accuracy but the proposed algorithm saving round about 99.6% of the computation time required by the rotational vector algorithm, which leads to used this algorithm in real time robot control.
Robot forward and inverse kinematics research using matlab by d.sivasamySiva Samy
The document discusses developing forward and inverse kinematic models of a Scorbot era 5u plus industrial robot using MATLAB. It begins by introducing the Denavit-Hartenberg parameters for representing robot kinematics. Then it describes modeling the specific Scorbot era 5u plus robot in MATLAB, including defining its link lengths and joint ranges using DH parameters. Forward kinematics analysis is performed by varying the joint angles to find the end effector position and orientation. Validation is done by comparing the results to a commercial robot simulator and LabVIEW. Inverse kinematics analysis is also developed to determine required joint angles to achieve a desired end effector pose.
IRJET- Determination of Cross-Section for a ROD which is Subjected to Buc...IRJET Journal
This document discusses determining the ideal cross-section of a concrete rod subjected to buckling through theoretical calculations and simulations. It finds that a hollow square cross-section provides the highest buckling load factor (BLF) of 2378.7 based on simulations in ANSYS, indicating it is most resistant to buckling. Theoretical calculations using Euler's formula support this, showing a hollow square cross-section rod has a BLF of 23884881, 1.6 times higher than a solid square cross-section. In conclusion, a hollow square cross-section is best for concrete columns to resist buckling.
This document describes the development of a virtual software package to model and test the kinematics of a 5 degree of freedom robot lever arm using MATLAB. It discusses using the Denavit-Hartenberg convention to define the coordinate frames and homogeneous transformation matrices between frames to calculate the forward and inverse kinematics. The modeling process in MATLAB is described, including defining the link diagram and using composite homogeneous transformations to determine the position and orientation of the end effector given the joint angles or to calculate the required joint angles to reach a desired end effector pose.
This document discusses robot kinematics and position analysis. It covers forward and inverse kinematics, including determining the position of a robot's hand given joint variables or calculating joint variables for a desired hand position. Different coordinate systems for representing robot positions are described, including Cartesian, cylindrical and spherical coordinates. The Denavit-Hartenberg representation for modeling robot kinematics is introduced, allowing the modeling of any robot configuration using transformation matrices.
High speed cordic design for fixed angle of rotationIAEME Publication
This document summarizes a proposed high speed CORDIC design for fixed angle rotation. It begins with an abstract describing the CORDIC algorithm and its applications in digital signal processing, graphics, and other fields. It then discusses prior CORDIC methodologies and their limitations before proposing optimizations to reduce latency and complexity for fixed angle rotation. Specifically, it proposes optimized micro-rotations for fixed angles, single and bi-rotation CORDIC circuits, and carrying out additions using carry select adders to improve speed. The goal is a high speed and less complex CORDIC scheme for fixed angle vector rotation.
This document compares kinematic and dynamic models for robotics. The kinematic model studies robot motion without considering forces/torques, and can be used to determine end effector position from joint positions. The dynamic model relates joint torques to motion, and is important for analyzing a robot's dynamic behavior. Key differences include the kinematic model using Denavit-Hartenberg notation while dynamic models employ Lagrange-Euler and Newton-Euler formulations. Both models are essential for robot control and simulation.
Strength Analysis and Optimization Design about the key parts of the RobotIJRES Journal
Study on structure optimization design about Flip Arms of Mobile Robot. First conducted
preliminary structural design, and established finite element analysis model by HYPERMESH, use ANSYS
software to study Flip Arms Stress distribution and structure optimization. Strength check to ensure the strength
and stiffness of Flip Arms meet safety requirements, and make sure the reliability of the design, to provide a
theoretical basis for the structural optimization design of Flip Arms. Optimization design considering the
weighted compliance as the object function, the frame was improved by modifying the parameters which are
most sensitive to the character of the frame structure. The results showed that structural optimization design
without affecting the reliability of Flip Arms, reducing the quality of the parts improved and the Flip Arms
flexible mobility, to provide a theoretical basis for the structural design of robot.
ROBOTICS-ROBOT KINEMATICS AND ROBOT PROGRAMMINGTAMILMECHKIT
Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-Derivations and problems. Lead through Programming, Robot programming Languages-VAL Programming-Motion Commands, Sensor Commands, End Effector commands and simple Programs
This document summarizes a cylindrical robot simulation software developed for educational purposes. The software includes modules for direct and inverse kinematics, trajectory planning, and PID-computed torque control. It was created using Matlab and incorporates visual animations. Students found it helpful for understanding fundamental robot mechanics concepts.
This document describes robot kinematics and the forward kinematics of a 2-link robot. It introduces Denavit-Hartenberg parameters for describing robot links and joints. A 2-link robot is modeled using these parameters and its forward kinematics are computed using homogeneous transformations. The robot and its kinematics can be visualized using MATLAB.
Kinematics is the study of motion without considering forces. Robot kinematics specifically refers to the analytical study of robot motion and how robotic systems move. There are two main types of kinematics: forward kinematics and inverse kinematics. Forward kinematics uses the robotic equations to determine the position of the end effector given the joint parameters. Inverse kinematics determines the necessary joint parameters to achieve a desired end effector position and orientation. Inverse kinematics is important for robot trajectory planning but is generally more difficult than forward kinematics.
Pick and place task is one among the most important tasks in industrial field handled by “Selective
Compliance Assembly Robot Arm” (SCARA). Repeatability with high-speed movement in horizontal plane is
remarkable feature of this type of manipulator. The challenge of design SCARA is the difficulty of achieving
stability of high-speed movement with long length of links. Shorter links arm can move more stable. This
condition made the links should be considered restrict then followed by restriction of operation area
(workspace). In this research, authors demonstrated on expanding SCARA robot’s workspace in horizontal area
via linear sliding actuator that embedded to base link of the robot arm. With one additional prismatic joint the
previous robot manipulator with 3 degree of freedom (3-DOF), 2 revolute joints and 1 prismatic joint is become
4-DOF PRRP manipulator. This designation increased workspace of robot from 0.5698m2 performed by the
previous arm (without linear actuator) to 1.1281m2 by the propose arm (with linear actuator). The increasing
rate was about 97.97% of workspace with the same links length. The result of experimentation also indicated
that the operation time spent to reach object position was also reduced.
Manipulability index of a parallel robot manipulatorIAEME Publication
This document discusses manipulability index, which is a measure of a robot's ability to manipulate objects in different positions and orientations. It defines manipulability index as the determinant of the product of a robot's Jacobian matrix and its transpose. A higher manipulability index indicates better velocity transmission capabilities and dexterity. The document analyzes manipulability index values for different robot structures using MATLAB. It also describes how velocity and force ellipsoids can represent a robot's velocity and force transmission characteristics based on its Jacobian matrix.
The inverse kinematics problem - Aiman Al-AllaqAimanAlAllaq
The document discusses inverse kinematics and how to solve the inverse kinematics problem for a robotic manipulator. It uses a 5-axis Rhino XR-3 robot as an example. It explains that inverse kinematics determines the joint variables given a desired position and orientation of the tool, which is important for tasks planned using external sensors. It then outlines the step-by-step process used to solve the inverse kinematics problem, which involves using the tool configuration vector obtained from the arm matrix and performing trigonometric operations to isolate each joint variable.
This document provides an introduction to robotics, including key terms, technologies, applications, vendors, and programming. It discusses how robots use joints to generate motion and integrate tools and sensors. Common robot processes are described such as path following, repetitive moves, and telerobotics. Advantages of robots include flexibility and improved quality, while disadvantages include replacing human labor and costs of associated technologies. Standards organizations like RIA provide definitions and safety regulations for robotics.
The document discusses various kinematic problems in robotics including forward kinematics, inverse kinematics, and Denavit-Hartenberg notation. Forward kinematics determines the pose of the end-effector given the joint angles, while inverse kinematics determines the required joint angles to achieve a desired end-effector pose. Denavit-Hartenberg notation provides a systematic way to describe the geometry of robot links and joints. The document also covers numerical solutions to inverse kinematics for robots without closed-form solutions and kinematics of special robot types like under-actuated and redundant manipulators.
Review on Automation Tool for ERD NormalizationIRJET Journal
The document describes a methodology for automatically extracting entity relationship diagrams (ERDs) from English language descriptions. It involves using heuristic rules to extract entities, relationships, and attributes from text and then generating an ERD. The proposed system aims to provide a quick and easy way for database designers to generate ERDs from requirements documents. Existing normalization tools only operate on relational schemas and do not support conceptual-level normalization of ERDs. The proposed system would extract ERDs and then apply normalization techniques like 1NF and 2NF to remove ambiguities and inconsistencies from the initial ERD.
Privacy Recommendations and Ranking of User Images on Content Sharing SitesIRJET Journal
The document describes a proposed Adaptive Privacy Policy Prediction (A3P) framework that aims to automatically generate privacy policies for images uploaded by users to content sharing sites. The A3P framework considers individual user attributes, social context, image content and metadata to predict privacy settings that satisfy user privacy preferences. It classifies uploaded images and assigns privacy policies based on the image category and the user's upload history. The framework aims to simplify privacy setting customization for users and provide more effective privacy protection for shared content.
This document discusses the fabrication of a continuously variable transmission (CVT) operated motorcycle. It begins with background on CVT technology, noting its advantages over traditional transmissions like fuel efficiency and smooth shifting. It then describes the specific CVT design for the motorcycle, using two variable diameter pulleys connected by a metal belt, with one pulley on the engine crankshaft and the other on the drive wheel. Drawings and descriptions of the fabricated CVT components and their operation are provided. The objectives of the CVT motorcycle design are given as providing a gearless transmission that varies ratios continuously for optimal engine efficiency. Prior research on CVT technology is also reviewed.
Free vibration analysis on cantilever beam-A reviewIRJET Journal
This document reviews free vibration analysis of cantilever beams made of different materials like brass, stainless steel, and aluminum. It discusses using experimental methods like an accelerometer and vibscanner software to determine the natural frequency and damping ratio of cantilever beams under different conditions. The objective is to analyze how surface cracks of varying sizes affect the natural frequency and damping ratio of beams made of different materials. Previous studies on vibration analysis of cantilever beams are also summarized. The methodology involves performing free vibration tests on brass, stainless steel and aluminum cantilever beams of specified dimensions and using vibscanner and omnitrend software to obtain frequency response graphs and calculate natural frequency and damping ratio from the graphs.
A Distributed Time Triggered Control for a Feedback Control SystemIRJET Journal
This document presents a distributed time triggered control system for regulating an inverted rotary pendulum (IRP) using time triggered CAN (TTCAN) communication. The control tasks are separated and distributed across four controller nodes based on balancing computational load. A communication schedule and operation schedules are used to manage deterministic message passing and ensure critical tasks are completed by their deadlines. The design was tested on a physical IRP model and able to stably regulate the pendulum in the upright position with a processing period of 3 milliseconds.
Study of Multipurpose Road Cleaning MachineIRJET Journal
This document describes a study of a multipurpose road cleaning machine. The machine aims to address cleanliness issues in India through a single machine that can perform multiple cleaning functions. It has units for brushing roads, blowing dust, cleaning pipes and manholes, and picking up and removing obstacles using a mechanical arm. The machine is powered by batteries and can be remotely operated. It is designed to be low-cost compared to other options and provide an eco-friendly way to efficiently clean roads and the environment with minimal human effort. The document discusses the machine's design, construction, working mechanisms of its various units, and concludes that it has the potential to play a vital role in improving cleanliness across India.
A review paper on closed loop control of bldc motor using fuzzy logicIRJET Journal
This document reviews a closed loop control method for a brushless DC motor (BLDC) using a fuzzy logic controller. It describes using a single current sensor on the DC link to estimate phase currents and avoid the cost of multiple sensors. The proposed system was simulated in MATLAB/Simulink using PI and fuzzy logic speed controllers. The simulation results showed that the fuzzy logic controller provided better motor speed control performance compared to the PI controller.
Online java compiler with security editorIRJET Journal
This document describes an online Java compiler with a security editor. The system allows users to write, compile, and debug Java programs online without needing to install a Java development kit locally. The system also includes a security editor that can encrypt and decrypt files using the MD5 algorithm. The goals of the project are to make Java programming more accessible and provide security for files. It uses a client-server architecture where the server runs the Java compiler and encryption/decryption and the client can access these features through a web interface.
Color to sound converter for blind peopleIRJET Journal
This document describes a system that detects color and converts it to sound to help blind people identify colors. The system uses a color sensor that detects RGB values of a color and sends it serially to a PIC microcontroller. The microcontroller then plays corresponding musical notes or tones from a stored database to indicate the detected color. This allows blind people to perceive color through sound. The system is still being developed to formalize the mathematical relationship between color and sound.
IOT Based Water Level Monitoring System For LakeIRJET Journal
The document describes an Internet of Things (IoT) based water level monitoring system for lakes. The system uses a Raspberry Pi controller connected to an ultrasonic water level sensor to monitor water levels. It sends water level data via GSM to users' phones and displays it on a web portal. This allows remote monitoring of available water levels in lakes, helping with efficient water management and allocation. The system aims to reduce water wastage through automated monitoring and control of water resources.
Strength and geotechnical characterization of copper slag as partial replacem...IRJET Journal
This document presents the results of an experimental study investigating the use of copper slag as a partial replacement for fine aggregate in concrete. Tests were conducted with 0%, 20%, 40%, and 60% replacement of sand with copper slag. Compressive strength and split tensile strength were found to increase up to 40% replacement, with the highest strengths achieved at 40% replacement. Permeability was also found to be lower when copper slag was used. The recommended replacement was 40%, as strengths decreased slightly above this amount. In conclusion, partial replacement of fine aggregate with copper slag in amounts up to 40% can improve the strength and durability properties of concrete.
Three Phase AC to DC Boost Converter Using D-Q TheoryIRJET Journal
This paper presents a three-phase AC to DC boost bidirectional converter using D-Q theory based current control. The converter provides a constant DC output voltage from a three-phase AC input using closed-loop control. It achieves a boosted DC output voltage with unity power factor and harmonic-free source currents. The converter topology and control scheme are simulated in MATLAB/Simulink. Simulation results demonstrate unity power factor operation and sinusoidal source currents with low total harmonic distortion of less than 2%. The converter provides a regulated DC output voltage while drawing clean input currents from the three-phase AC source.
Design & Fabrication of Organic Fertilizer Manufacturing MachineIRJET Journal
This document describes the design and fabrication of an organic fertilizer manufacturing machine. The machine was created to address issues small farmers face such as the high cost of chemical fertilizers and existing fertilizer production machines. The designed machine uses a hopper to feed raw materials like cow dung and leaves into a stirring vessel. This mixture is then transferred to a larger agitation vessel where it decomposes for 24 hours. The decomposed mixture is then filtered to separate liquid fertilizer. The machine was designed to be portable, low cost, and operate without electricity to benefit small farmers. The documented outlined the machine's working principle and design process which aimed to provide an affordable organic fertilizer solution.
An Investigation of DAF Protocol in Wireless CommunicationIRJET Journal
This document summarizes research on the differential amplify-and-forward (D-AF) cooperative communication protocol for wireless networks. It describes a system model with one source, multiple relays, and one destination node communicating over time-varying Rayleigh fading channels. New combining weights are proposed for reception at the destination based on the statistical properties of the wireless channels. Expressions for pairwise error probability and average bit error rate are derived. Simulation results show that the new weights provide more robust performance compared to standard combining, especially in scenarios with fast fading channels between the source/relays and destination.
Crop Selection Method Based on Various Environmental Factors Using Machine Le...IRJET Journal
This document proposes two crop selection methods using machine learning:
1. A Crop Selection Method that uses classification algorithms to select the most suitable crop based on environmental and economic factors like temperature, rainfall, soil type, and market prices.
2. A Crop Sequencing Method that uses a crop sequencing algorithm to suggest an optimal sequence of crops over a growing season based on predicted yield rates and market prices to maximize profits. Both methods use a machine learning tool called WEKA and historical crop data to make predictions.
This document discusses different methods for generating biogas from grass through anaerobic digestion. It begins by describing the characteristics of the grass silage used as feedstock. It then examines various digester configurations that could be used, including single-stage vs two-stage designs, wet vs dry systems, and batch vs continuous operation. Experimental results are presented comparing a continuously stirred tank reactor system to a system using sequentially fed leach beds, with the former producing more methane per unit of volatile solids. The document concludes that continuously stirred tank reactors designed specifically for grass can be highly efficient for methane production from this feedstock.
Design and demonstration of heat pipe based waste heat recovery systemIRJET Journal
This document describes the design and demonstration of a heat pipe-based waste heat recovery system. Key points:
- Heat pipes allow for highly efficient heat transfer over long distances with minimal temperature loss through the evaporation and condensation of a working fluid inside a sealed pipe.
- The authors designed and built a heat recovery system using 10 copper heat pipes fitted with aluminum fins to transfer heat from a hot air source to a cooler air sink.
- Testing showed the heat pipes could transfer heat with a temperature difference of only 2-3°C over a length of 150mm, much better than a comparable copper pipe.
- The heat recovery system achieved efficiencies up to 62% at recovering heat from a
Review on low power high speed 32 point cyclotomic parallel FFT ProcessorIRJET Journal
This document reviews a low-power 32-point cyclotomic parallel fast Fourier transform (FFT) processor. FFT is a technique that efficiently calculates the discrete Fourier transform by reducing the number of operations. Cyclotomic FFT breaks the DFT into several convolutions to reduce the tradeoff between area and performance seen in other FFT algorithms. The paper proposes a design for a 32-point radix-4 FFT using VHDL that combines the advantages of cyclotomic pipelining and parallel multipliers to improve throughput and power efficiency. Previous research on low-power FFT architectures is discussed, focusing on techniques like pipelining, parallel processing, and multiplier-less designs.
A Geo-PFM Model for Point Of Interest RecommendationIRJET Journal
The document discusses recommending points of interest (POIs) like restaurants and movie theaters by proposing a geographical probabilistic factor modeling (Geo-PFM) framework. Geo-PFM considers factors like user preferences, geographical influences based on Tobler's law of geography, and user mobility patterns that impact a user's choice of POI. It provides flexible modeling of check-in data that can be sparse. Experimental results on real LBSN datasets show the proposed systems outperform baseline models in recommending POIs to users.
A Paper on Study & Design of Multipurpose Riveting MachineIRJET Journal
This document describes the design of a multipurpose riveting machine that can perform drilling and riveting operations simultaneously. It aims to improve quality and productivity by minimizing time. The machine uses a 3-phase induction motor and belt drive system to power two spindles that rotate at high speed. It allows riveting and drilling of multiple parts simultaneously. Manual calculations are shown to determine design specifications like torque requirements, power needs, and spindle dimensions based on the intended operations.
Kinematic Model of Anthropomorphic Robotics Finger MechanismsIOSR Journals
Abstract: Research on Kinematic Model of Anthropomorphic robotics Finger mechanisms is being carried out
to accommodate a variety of tasks such as grasping and manipulation of objects in the field of industrial
applications, service robots, and rehabilitation robots. The first step in realizing a fully functional of
anthropomorphic robotics Finger mechanisms is kinematic modeling. In this paper, a Kinematic Model of
Anthropomorphic robotics Finger mechanism is proposed based on the biological equivalent of human hand
where each links interconnect at the metacarpophalangeal (MCP), proximal interphalangeal (PIP) and distal
interphalangeal (DIP) joints respectively. The Kinematic modeling was carried out using Denavit Hartenburg
(DH) algorithm for the proposed of Kinematic Model of Anthropomorphic robotics Finger mechanisms.
Index Terms— Anthropomorphic robot Finger, Modeling, Robotics, Simulation
CPREDICTION OF INVERSE KINEMATICS SOLUTION OF A REDUNDANT MANIPULATOR USING A...Ijripublishers Ijri
In this thesis, a method for forward and inverse kinematics analysis of a 5-DOF and a 7- DOF Redundant manipulator
is proposed. Obtaining the trajectory and computing the required joint angles for a higher DOF robot manipulator is one
of the important concerns in robot kinematics and control. The difficulties in solving the inverse kinematics equations
of these redundant robot manipulator arises due to the presence of uncertain, time varying and non-linear nature of
equations having transcendental functions. In this thesis, the ability of ANFIS is used to the generated data for solving
inverse kinematics problem. A single- output Sugeno-type FIS using grid partitioning has been modeled in this work.
The forward kinematics and inverse kinematics for a 5-DOF and 7-DOF manipulator are analyzed systemically. The Efficiency
of ANFIS can be concluded by observing the surface plot, residual plot and normal probability plot. This current
study in using different nonlinear models for the prediction of the IKs of a 5-DOF and 7-DOF Redundant manipulator
will give a valuable source of information for other modellers.
Keywords: 5-DOF and 7-DOF Redundant Robot Manipulator; Inverse kinematics; ANFIS; Denavit-Harbenterg (D-H)
notation.
Indigenously Design Development and Motion Control of Multi-DoF Robotic Manip...IRJET Journal
This document describes the design and development of a 6 degree of freedom (DOF) robotic manipulator. The key points are:
1) The mechanical design of the robotic arm is discussed, including the use of aluminum 7075 material, timing belt-pulley mechanisms to increase torque, and a functional gripper.
2) The forward and inverse kinematics models are derived based on the Denavit-Hartenberg convention. Expressions for the joint variables in terms of the end-effector pose are provided for inverse kinematics.
3) The robot dynamics are modeled using the Euler-Lagrange formulation to describe the relationship between joint torques and accelerations. Transfer functions for the DC motors are
Human Arm Inverse Kinematic Solution Based Geometric Relations and Optimizati...Waqas Tariq
Kinematics for robotic systems with many degrees of freedom (DOF) and high redundancy are still an open issue. Namely, computation time in robotic applications is often too high to reach good solution, for parts of the kinematic chain; the problem of inverse kinematics is not linear, as rotations are involved. This means that analytical solutions are only available in limited situations. In all other cases, alternative methods will have to be an employed.The most-used alternative is numerical solutions optimization. This paper presents a strategy based on combine’s analytical solutions with nonlinear optimization algorithm solutions to solution the IKP. A analytical solutions is used to reduce the size of problem from seven variable of joint angle to single variable and nonlinear optimization algorithm was used to find approximate solution which make the computation time is very small
IRJET - Radius Approach for Inverse Kinematics of 4-R Manipulator in Spatial ...IRJET Journal
This paper presents a new approach for solving the inverse kinematics of a 4R manipulator in a spatial plane. The conventional D-H algorithm method involves complex matrix transformations. The proposed method reduces computational complexity by using several geometric relationships and constraints. It defines a linear relationship between the output radius and a diagonal distance to avoid singular regions. The radius and diagonal distance are used to calculate angular parameters and solve for the inverse kinematics without complex computations. This approach makes for a faster response time of electronic systems controlling the manipulator.
Hexacopter using MATLAB Simulink and MPU SensingIRJET Journal
This document describes the modeling and control of a hexacopter unmanned aerial vehicle using MATLAB simulation. It presents the mathematical modeling of the hexacopter dynamics using Newton-Euler angles and reference frames. PID controllers are developed for altitude, roll, pitch and yaw control. The rotor speeds required for thrust and attitude control are calculated from the PID outputs. Simulation parameters are provided and the results obtained from implementing the PID controllers on the hexacopter model in MATLAB are presented.
This document describes the design and analysis of a planar positioning stage based on a redundantly actuated parallel linkage. The positioning stage has three degrees of freedom (x-y-θ) and uses a 3-PRPR linkage with six actuators. The document analyzes the kinematics and workspace of the linkage. It describes the procedure for static analysis to calculate the actuated joint torques. The positioning stage could enable high-precision motion with a compact design and improved stiffness compared to serial linkages. It is proposed for potential use in micro-scale applications.
This document describes the design and analysis of a planar positioning stage based on a redundantly actuated parallel linkage with six degrees of freedom (three translations and three rotations). The kinematics and workspace analysis of the linkage are presented. A static analysis method to calculate the actuator torques required for a given end-effector force and trajectory is also described. MATLAB programs were developed to analyze the workspace and perform the static analysis. The results show that the redundant actuation can help improve the workspace characteristics and prevent singular configurations compared to non-redundant parallel manipulators. The stage design has potential applications in micro-positioning.
Design and analysis of x y- positioning stage based on redundant parallel li...eSAT Journals
Abstract This paper presents the concept of a planar positioning stage based on a kinematically redundant parallel linkage. Basic kinematics and workspace analysis of base redundant manipulator is initially explained and the procedure of static analysis to predict the actuated joint torques is described. As there are six actuators in the linkage, the redundancy can be overcome by proper selection of the base joint variables. Also it is assumed that the motion is at a constant speed. A numerical example is shown with a straight line trajectory to illustrate the workspace and joint force calculation aspects of this linkage. The possible arrangement of the stage with electrostatic actuation and sensing are finally highlighted. Keywords: Kinematic redundancy, Parallel mechanism, Static analysis, and Workspace characteristics
IRJET- Explicit Dynamic Analysis of Gear Tooth of a Synchromesh Manual Transm...IRJET Journal
This document presents an explicit dynamic analysis of the gear tooth of a manual transmission gearbox. The analysis used finite element modeling and simulation software. Key steps included:
1. Creating a 3D CAD model of the gearbox components in SolidEdge.
2. Importing the model into ABAQUS for meshing and simulation. A dynamic analysis was performed under different loading conditions to determine stress levels.
3. The results showed the displacement of the gears increased over time up to 6mm as the load increased. Stages of the displacement and developing stress were visualized at different time intervals. The maximum contact stress between gear surfaces was also determined.
This document describes the development of a virtual software package to model and test the kinematics of a 5 degree of freedom robot lever arm using MATLAB. It discusses using the Denavit-Hartenberg convention to define the coordinate frames and transformations between frames. The forward and inverse kinematics of the robot arm are analyzed to determine the position and orientation of the end effector given the joint angles or to calculate the required joint angles to reach a desired end effector pose. MATLAB is used to model the kinematic link diagram and apply the homogeneous transformation matrices between frames to simulate the motion of the robot arm.
ADVANCEMENT AND STIMULATION OF FIVE DEGREE OF FREEDOM ROBOT LEVER ARM IAEME Publication
In this article the development of virtual software package, where a Robot Lever arm has been taken as a case study. MATLAB will be used for testing motional kinematics. It has adopted the design methodology as a tool for analyzing characteristics of the Robot lever arm. Moreover, the model
analysis is carried in order to analyze through kinematics and testing the virtual arm by comparing between the approaches applied to the arm in terms of kinematics.
Mathematical modeling and kinematic analysis of 5 degrees of freedom serial l...IJECEIAES
Modeling and kinematic analysis are crucial jobs in robotics that entail identifying the position of the robot’s joints in order to accomplish particular tasks. This article uses an algebraic approach to model the kinematics of a serial link, 5 degrees of freedom (DOF) manipulator. The analytical method is compared to an optimization strategy known as sequential least squares programming (SLSQP). Using an Intel RealSense 3D camera, the colored object is picked up and placed using vision-based technology, and the pixel location of the object is translated into robot coordinates. The LOBOT LX15D serial bus servo controller was used to transmit these coordinates to the robotic arm. Python3 programming language was used throughout the entire analysis. The findings demonstrated that both analytical and optimized inverse kinematic solutions correctly identified colored objects and positioned them in their appropriate goal points.
IRJET- Analyzing Vehicle Handling using BICYCLE MODEL in MATLAB/OCTAVEIRJET Journal
This document presents a mathematical model and simulation of vehicle handling characteristics using a bicycle model in MATLAB/Octave. It begins with an introduction to vehicle handling and the bicycle model approach. Next, it derives the governing equations of motion for the bicycle model and represents them in state space form for simulation. The document then shows MATLAB code and results from simulating a passenger car and F1 race car using a sinusoidal steering input. Key results include Bode plots, step responses, and sine responses of lateral speed, yaw rate, and lateral acceleration. Finally, it compares the passenger car and race car responses, finding that the passenger car model is less stable with greater overshoot.
IRJET- Design and Analysis of Chain Drive Power Transmission from Station...IRJET Journal
This document describes the design and analysis of a chain drive power transmission system that can transmit power from a stationary source to oscillating devices. The system uses a modified chain with conical teeth that can automatically slide and lock into conical sockets on a driven wheel as the wheel oscillates between -45° and +45°. The design includes a chain section, driver section, and driven section. An analysis of the chain section was conducted using ANSYS software to evaluate stresses and ensure optimal performance. The results show this alternating transmission system can replace machines using multiple drives with a single drive and has applications where power needs to be transmitted to oscillating mechanisms.
Manipulability index of a parallel robot manipulatorIAEME Publication
The manipulability index is used to quantify manipulators velocity transmission capabilities or the dexterity of robot. The index is a measure of manipulating ability of robotic echanisms in positioning and orienting the end effectors. The index allows to quantify the proximity of the robot to a singularity, which is ideal for identifying paths of welding with continuous and soft movements at the robot joints.
Where the control of the robot manipulator depends on the inverse kinematics solution, so
this paper present solution of the inverse kinematics of 5DOF robot manipulator following the D-H
method to setting up, the coordinates frame of the robot’s manipulator, the forward kinematics and
schematic diagram of the robot, then the validity of the solution method is confirmed by adopted
examples and simulations, matlab is used for the verification, this work is still in primary stages but
verification is important for the following stages. These obtained results are not only for this robot,
but also can be used in robots have a similar mechanical structure.
IRJET- Design and Analysis of 3-Axis Scara Robot to Sustain 60 N-M Torque...IRJET Journal
This document describes the design and analysis of a 3-axis SCARA robot that can sustain 60 N-m of torque from an electric nutrunner tool. The robot is intended to be low-cost and compact. It will use servo motors for actuation in order to be lightweight compared to hydraulic or pneumatic options. The key steps taken are:
1. Define the robot's 1200x500mm workspace and optimize link lengths to maximize reach.
2. Perform inverse kinematics calculations to determine required joint angles based on known end effector positions.
3. Select rectangular cross-sections for the robot links based on strength requirements from section modulus calculations.
Solution of Inverse Kinematics for SCARA Manipulator Using Adaptive Neuro-Fuz...ijsc
Solution of inverse kinematic equations is complex problem, the complexity comes from the nonlinearity of joint space and Cartesian space mapping and having multiple solution. In this work, four adaptive neurofuzzy networks ANFIS are implemented to solve the inverse kinematics of 4-DOF SCARA manipulator. The implementation of ANFIS is easy, and the simulation of it shows that it is very fast and give acceptable error.
Design and Implementation of Robot Arm Control Using LabVIEW and ARM ControllerIOSR Journals
This document describes the design and implementation of a robot arm control system using LabVIEW and an ARM microcontroller. The robot arm has 5 degrees of freedom and is modeled mathematically using an analytical inverse kinematics approach in LabVIEW. The inverse kinematic model calculates the required joint angles to position the end effector. LabVIEW sends the joint angle values to an ARM microcontroller via a parallel communication port. The ARM controller generates PWM signals to control 5 servo motors and move the robot arm joints based on the received angle values. The system was implemented to allow manual control of the robot arm position through a graphical user interface in LabVIEW.
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TUNNELING IN HIMALAYAS WITH NATM METHOD: A SPECIAL REFERENCES TO SUNGAL TUNNE...IRJET Journal
1) The document discusses the Sungal Tunnel project in Jammu and Kashmir, India, which is being constructed using the New Austrian Tunneling Method (NATM).
2) NATM involves continuous monitoring during construction to adapt to changing ground conditions, and makes extensive use of shotcrete for temporary tunnel support.
3) The methodology section outlines the systematic geotechnical design process for tunnels according to Austrian guidelines, and describes the various steps of NATM tunnel construction including initial and secondary tunnel support.
STUDY THE EFFECT OF RESPONSE REDUCTION FACTOR ON RC FRAMED STRUCTUREIRJET Journal
This study examines the effect of response reduction factors (R factors) on reinforced concrete (RC) framed structures through nonlinear dynamic analysis. Three RC frame models with varying heights (4, 8, and 12 stories) were analyzed in ETABS software under different R factors ranging from 1 to 5. The results showed that displacement increased as the R factor decreased, indicating less linear behavior for lower R factors. Drift also decreased proportionally with increasing R factors from 1 to 5. Shear forces in the frames decreased with higher R factors. In general, R factors of 3 to 5 produced more satisfactory performance with less displacement and drift. The displacement variations between different building heights were consistent at different R factors. This study evaluated how R factors influence
A COMPARATIVE ANALYSIS OF RCC ELEMENT OF SLAB WITH STARK STEEL (HYSD STEEL) A...IRJET Journal
This study compares the use of Stark Steel and TMT Steel as reinforcement materials in a two-way reinforced concrete slab. Mechanical testing is conducted to determine the tensile strength, yield strength, and other properties of each material. A two-way slab design adhering to codes and standards is executed with both materials. The performance is analyzed in terms of deflection, stability under loads, and displacement. Cost analyses accounting for material, durability, maintenance, and life cycle costs are also conducted. The findings provide insights into the economic and structural implications of each material for reinforcement selection and recommendations on the most suitable material based on the analysis.
Effect of Camber and Angles of Attack on Airfoil CharacteristicsIRJET Journal
This document discusses a study analyzing the effect of camber, position of camber, and angle of attack on the aerodynamic characteristics of airfoils. Sixteen modified asymmetric NACA airfoils were analyzed using computational fluid dynamics (CFD) by varying the camber, camber position, and angle of attack. The results showed the relationship between these parameters and the lift coefficient, drag coefficient, and lift to drag ratio. This provides insight into how changes in airfoil geometry impact aerodynamic performance.
A Review on the Progress and Challenges of Aluminum-Based Metal Matrix Compos...IRJET Journal
This document reviews the progress and challenges of aluminum-based metal matrix composites (MMCs), focusing on their fabrication processes and applications. It discusses how various aluminum MMCs have been developed using reinforcements like borides, carbides, oxides, and nitrides to improve mechanical and wear properties. These composites have gained prominence for their lightweight, high-strength and corrosion resistance properties. The document also examines recent advancements in fabrication techniques for aluminum MMCs and their growing applications in industries such as aerospace and automotive. However, it notes that challenges remain around issues like improper mixing of reinforcements and reducing reinforcement agglomeration.
Dynamic Urban Transit Optimization: A Graph Neural Network Approach for Real-...IRJET Journal
This document discusses research on using graph neural networks (GNNs) for dynamic optimization of public transportation networks in real-time. GNNs represent transit networks as graphs with nodes as stops and edges as connections. The GNN model aims to optimize networks using real-time data on vehicle locations, arrival times, and passenger loads. This helps increase mobility, decrease traffic, and improve efficiency. The system continuously trains and infers to adapt to changing transit conditions, providing decision support tools. While research has focused on performance, more work is needed on security, socio-economic impacts, contextual generalization of models, continuous learning approaches, and effective real-time visualization.
Structural Analysis and Design of Multi-Storey Symmetric and Asymmetric Shape...IRJET Journal
This document summarizes a research project that aims to compare the structural performance of conventional slab and grid slab systems in multi-story buildings using ETABS software. The study will analyze both symmetric and asymmetric building models under various loading conditions. Parameters like deflections, moments, shears, and stresses will be examined to evaluate the structural effectiveness of each slab type. The results will provide insights into the comparative behavior of conventional and grid slabs to help engineers and architects select appropriate slab systems based on building layouts and design requirements.
A Review of “Seismic Response of RC Structures Having Plan and Vertical Irreg...IRJET Journal
This document summarizes and reviews a research paper on the seismic response of reinforced concrete (RC) structures with plan and vertical irregularities, with and without infill walls. It discusses how infill walls can improve or reduce the seismic performance of RC buildings, depending on factors like wall layout, height distribution, connection to the frame, and relative stiffness of walls and frames. The reviewed research paper analyzes the behavior of infill walls, effects of vertical irregularities, and seismic performance of high-rise structures under linear static and dynamic analysis. It studies response characteristics like story drift, deflection and shear. The document also provides literature on similar research investigating the effects of infill walls, soft stories, plan irregularities, and different
This document provides a review of machine learning techniques used in Advanced Driver Assistance Systems (ADAS). It begins with an abstract that summarizes key applications of machine learning in ADAS, including object detection, recognition, and decision-making. The introduction discusses the integration of machine learning in ADAS and how it is transforming vehicle safety. The literature review then examines several research papers on topics like lightweight deep learning models for object detection and lane detection models using image processing. It concludes by discussing challenges and opportunities in the field, such as improving algorithm robustness and adaptability.
Long Term Trend Analysis of Precipitation and Temperature for Asosa district,...IRJET Journal
The document analyzes temperature and precipitation trends in Asosa District, Benishangul Gumuz Region, Ethiopia from 1993 to 2022 based on data from the local meteorological station. The results show:
1) The average maximum and minimum annual temperatures have generally decreased over time, with maximum temperatures decreasing by a factor of -0.0341 and minimum by -0.0152.
2) Mann-Kendall tests found the decreasing temperature trends to be statistically significant for annual maximum temperatures but not for annual minimum temperatures.
3) Annual precipitation in Asosa District showed a statistically significant increasing trend.
The conclusions recommend development planners account for rising summer precipitation and declining temperatures in
P.E.B. Framed Structure Design and Analysis Using STAAD ProIRJET Journal
This document discusses the design and analysis of pre-engineered building (PEB) framed structures using STAAD Pro software. It provides an overview of PEBs, including that they are designed off-site with building trusses and beams produced in a factory. STAAD Pro is identified as a key tool for modeling, analyzing, and designing PEBs to ensure their performance and safety under various load scenarios. The document outlines modeling structural parts in STAAD Pro, evaluating structural reactions, assigning loads, and following international design codes and standards. In summary, STAAD Pro is used to design and analyze PEB framed structures to ensure safety and code compliance.
A Review on Innovative Fiber Integration for Enhanced Reinforcement of Concre...IRJET Journal
This document provides a review of research on innovative fiber integration methods for reinforcing concrete structures. It discusses studies that have explored using carbon fiber reinforced polymer (CFRP) composites with recycled plastic aggregates to develop more sustainable strengthening techniques. It also examines using ultra-high performance fiber reinforced concrete to improve shear strength in beams. Additional topics covered include the dynamic responses of FRP-strengthened beams under static and impact loads, and the performance of preloaded CFRP-strengthened fiber reinforced concrete beams. The review highlights the potential of fiber composites to enable more sustainable and resilient construction practices.
Survey Paper on Cloud-Based Secured Healthcare SystemIRJET Journal
This document summarizes a survey on securing patient healthcare data in cloud-based systems. It discusses using technologies like facial recognition, smart cards, and cloud computing combined with strong encryption to securely store patient data. The survey found that healthcare professionals believe digitizing patient records and storing them in a centralized cloud system would improve access during emergencies and enable more efficient care compared to paper-based systems. However, ensuring privacy and security of patient data is paramount as healthcare incorporates these digital technologies.
Review on studies and research on widening of existing concrete bridgesIRJET Journal
This document summarizes several studies that have been conducted on widening existing concrete bridges. It describes a study from China that examined load distribution factors for a bridge widened with composite steel-concrete girders. It also outlines challenges and solutions for widening a bridge in the UAE, including replacing bearings and stitching the new and existing structures. Additionally, it discusses two bridge widening projects in New Zealand that involved adding precast beams and stitching to connect structures. Finally, safety measures and challenges for strengthening a historic bridge in Switzerland under live traffic are presented.
React based fullstack edtech web applicationIRJET Journal
The document describes the architecture of an educational technology web application built using the MERN stack. It discusses the frontend developed with ReactJS, backend with NodeJS and ExpressJS, and MongoDB database. The frontend provides dynamic user interfaces, while the backend offers APIs for authentication, course management, and other functions. MongoDB enables flexible data storage. The architecture aims to provide a scalable, responsive platform for online learning.
A Comprehensive Review of Integrating IoT and Blockchain Technologies in the ...IRJET Journal
This paper proposes integrating Internet of Things (IoT) and blockchain technologies to help implement objectives of India's National Education Policy (NEP) in the education sector. The paper discusses how blockchain could be used for secure student data management, credential verification, and decentralized learning platforms. IoT devices could create smart classrooms, automate attendance tracking, and enable real-time monitoring. Blockchain would ensure integrity of exam processes and resource allocation, while smart contracts automate agreements. The paper argues this integration has potential to revolutionize education by making it more secure, transparent and efficient, in alignment with NEP goals. However, challenges like infrastructure needs, data privacy, and collaborative efforts are also discussed.
A REVIEW ON THE PERFORMANCE OF COCONUT FIBRE REINFORCED CONCRETE.IRJET Journal
This document provides a review of research on the performance of coconut fibre reinforced concrete. It summarizes several studies that tested different volume fractions and lengths of coconut fibres in concrete mixtures with varying compressive strengths. The studies found that coconut fibre improved properties like tensile strength, toughness, crack resistance, and spalling resistance compared to plain concrete. Volume fractions of 2-5% and fibre lengths of 20-50mm produced the best results. The document concludes that using a 4-5% volume fraction of coconut fibres 30-40mm in length with M30-M60 grade concrete would provide benefits based on previous research.
Optimizing Business Management Process Workflows: The Dynamic Influence of Mi...IRJET Journal
The document discusses optimizing business management processes through automation using Microsoft Power Automate and artificial intelligence. It provides an overview of Power Automate's key components and features for automating workflows across various apps and services. The document then presents several scenarios applying automation solutions to common business processes like data entry, monitoring, HR, finance, customer support, and more. It estimates the potential time and cost savings from implementing automation for each scenario. Finally, the conclusion emphasizes the transformative impact of AI and automation tools on business processes and the need for ongoing optimization.
Multistoried and Multi Bay Steel Building Frame by using Seismic DesignIRJET Journal
The document describes the seismic design of a G+5 steel building frame located in Roorkee, India according to Indian codes IS 1893-2002 and IS 800. The frame was analyzed using the equivalent static load method and response spectrum method, and its response in terms of displacements and shear forces were compared. Based on the analysis, the frame was designed as a seismic-resistant steel structure according to IS 800:2007. The software STAAD Pro was used for the analysis and design.
Cost Optimization of Construction Using Plastic Waste as a Sustainable Constr...IRJET Journal
This research paper explores using plastic waste as a sustainable and cost-effective construction material. The study focuses on manufacturing pavers and bricks using recycled plastic and partially replacing concrete with plastic alternatives. Initial results found that pavers and bricks made from recycled plastic demonstrate comparable strength and durability to traditional materials while providing environmental and cost benefits. Additionally, preliminary research indicates incorporating plastic waste as a partial concrete replacement significantly reduces construction costs without compromising structural integrity. The outcomes suggest adopting plastic waste in construction can address plastic pollution while optimizing costs, promoting more sustainable building practices.
Introduction- e - waste – definition - sources of e-waste– hazardous substances in e-waste - effects of e-waste on environment and human health- need for e-waste management– e-waste handling rules - waste minimization techniques for managing e-waste – recycling of e-waste - disposal treatment methods of e- waste – mechanism of extraction of precious metal from leaching solution-global Scenario of E-waste – E-waste in India- case studies.
CHINA’S GEO-ECONOMIC OUTREACH IN CENTRAL ASIAN COUNTRIES AND FUTURE PROSPECTjpsjournal1
The rivalry between prominent international actors for dominance over Central Asia's hydrocarbon
reserves and the ancient silk trade route, along with China's diplomatic endeavours in the area, has been
referred to as the "New Great Game." This research centres on the power struggle, considering
geopolitical, geostrategic, and geoeconomic variables. Topics including trade, political hegemony, oil
politics, and conventional and nontraditional security are all explored and explained by the researcher.
Using Mackinder's Heartland, Spykman Rimland, and Hegemonic Stability theories, examines China's role
in Central Asia. This study adheres to the empirical epistemological method and has taken care of
objectivity. This study analyze primary and secondary research documents critically to elaborate role of
china’s geo economic outreach in central Asian countries and its future prospect. China is thriving in trade,
pipeline politics, and winning states, according to this study, thanks to important instruments like the
Shanghai Cooperation Organisation and the Belt and Road Economic Initiative. According to this study,
China is seeing significant success in commerce, pipeline politics, and gaining influence on other
governments. This success may be attributed to the effective utilisation of key tools such as the Shanghai
Cooperation Organisation and the Belt and Road Economic Initiative.
The CBC machine is a common diagnostic tool used by doctors to measure a patient's red blood cell count, white blood cell count and platelet count. The machine uses a small sample of the patient's blood, which is then placed into special tubes and analyzed. The results of the analysis are then displayed on a screen for the doctor to review. The CBC machine is an important tool for diagnosing various conditions, such as anemia, infection and leukemia. It can also help to monitor a patient's response to treatment.
Redefining brain tumor segmentation: a cutting-edge convolutional neural netw...IJECEIAES
Medical image analysis has witnessed significant advancements with deep learning techniques. In the domain of brain tumor segmentation, the ability to
precisely delineate tumor boundaries from magnetic resonance imaging (MRI)
scans holds profound implications for diagnosis. This study presents an ensemble convolutional neural network (CNN) with transfer learning, integrating
the state-of-the-art Deeplabv3+ architecture with the ResNet18 backbone. The
model is rigorously trained and evaluated, exhibiting remarkable performance
metrics, including an impressive global accuracy of 99.286%, a high-class accuracy of 82.191%, a mean intersection over union (IoU) of 79.900%, a weighted
IoU of 98.620%, and a Boundary F1 (BF) score of 83.303%. Notably, a detailed comparative analysis with existing methods showcases the superiority of
our proposed model. These findings underscore the model’s competence in precise brain tumor localization, underscoring its potential to revolutionize medical
image analysis and enhance healthcare outcomes. This research paves the way
for future exploration and optimization of advanced CNN models in medical
imaging, emphasizing addressing false positives and resource efficiency.
Null Bangalore | Pentesters Approach to AWS IAMDivyanshu
#Abstract:
- Learn more about the real-world methods for auditing AWS IAM (Identity and Access Management) as a pentester. So let us proceed with a brief discussion of IAM as well as some typical misconfigurations and their potential exploits in order to reinforce the understanding of IAM security best practices.
- Gain actionable insights into AWS IAM policies and roles, using hands on approach.
#Prerequisites:
- Basic understanding of AWS services and architecture
- Familiarity with cloud security concepts
- Experience using the AWS Management Console or AWS CLI.
- For hands on lab create account on [killercoda.com](https://killercoda.com/cloudsecurity-scenario/)
# Scenario Covered:
- Basics of IAM in AWS
- Implementing IAM Policies with Least Privilege to Manage S3 Bucket
- Objective: Create an S3 bucket with least privilege IAM policy and validate access.
- Steps:
- Create S3 bucket.
- Attach least privilege policy to IAM user.
- Validate access.
- Exploiting IAM PassRole Misconfiguration
-Allows a user to pass a specific IAM role to an AWS service (ec2), typically used for service access delegation. Then exploit PassRole Misconfiguration granting unauthorized access to sensitive resources.
- Objective: Demonstrate how a PassRole misconfiguration can grant unauthorized access.
- Steps:
- Allow user to pass IAM role to EC2.
- Exploit misconfiguration for unauthorized access.
- Access sensitive resources.
- Exploiting IAM AssumeRole Misconfiguration with Overly Permissive Role
- An overly permissive IAM role configuration can lead to privilege escalation by creating a role with administrative privileges and allow a user to assume this role.
- Objective: Show how overly permissive IAM roles can lead to privilege escalation.
- Steps:
- Create role with administrative privileges.
- Allow user to assume the role.
- Perform administrative actions.
- Differentiation between PassRole vs AssumeRole
Try at [killercoda.com](https://killercoda.com/cloudsecurity-scenario/)
artificial intelligence and data science contents.pptxGauravCar
What is artificial intelligence? Artificial intelligence is the ability of a computer or computer-controlled robot to perform tasks that are commonly associated with the intellectual processes characteristic of humans, such as the ability to reason.
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Artificial intelligence (AI) | Definitio