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Deflection Analysis of an Elastic Single Link Robotic Manipulator

Abstract

Robotics manipulators with structural flexibility provide an attractive alternative to rigid robotics manipulators for many of the new and evolving applications in robotics. In certain applications their use is unavoidable. The increased complexity in modeling and control of such manipulators is offset by desirable performance enhancements in some respects. In this paperthe single- link flexible robotics manipulator was designed and implemented from Perspex and designed with 0.5 m length , 0.02 m width and with 0.004 m thickness with mass located at the tip. There are four subsystems; motion, control, accelerometer and gyro and a host computer subsystem. The work principle of single-link robotics manipulator is the base servomotor. It rotates a hub with the link on it and measure the  tip deflection. the deflection  was measured for three cases without load,  with 27.5 and with 59.4 gram at the end of the flexible link . During each of the above cases I rotated the base servo motor at an angular velocity equals to 90 deg./s using control card based on ATMEGA640 microcontroller. the deflection  was measured for the three cases and the deflection measured by MMA7631 Accelerometer and Gyro . This accelerometer  controlled by  using MEGA Arduino board . Then the dataI collected collected from accelerometer and plot it using MATLAB software and compared between theoretical results obtained from MATLAB program that based on Lagrange equation of motion and experimental results and we found the maximum deflection occurred when V=180 deg/sec and tip load=59.5 gram.

Keywords: Flexible Link Manipulator , Industrial robotics , Robotics Manipulator ,Beam Deflection.

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Publication Date
Tue Nov 01 2016
Journal Name
Journal Of Economics And Administrative Sciences
Analysis of The Effect of The Administration of Communications Towers in The Selling Prices of Residential Real estate )New University Village Model(

Abstract                          

 Should be the goal of Government controls, including environmental controls and safety laws to protect citizens from the harmful effects of negative secreted by human's additions and changes in the environment. and perhaps the protection aspects of the protection of citizens from the adverse effects of communications towers, including those produced by towers of health effects. The people the right to choose the nature of the physical environment, which should not be imposed on them by others. Communications towers are one of the main problems that have been

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Publication Date
Wed Aug 01 2018
Journal Name
Journal Of Economics And Administrative Sciences
Analysis of the rebound effect and interactive between fiscal and monetary policy on the General economic equilibrium (IS-LM)

      Will address this research interaction and coordination between fiscal and monetary policies and the impact of this interaction and coordination on economic stability and growth، and how the financial implications of monetary policy may stimulate action monetary policy and treatment side effects and the nature of responsiveness and bounce between procedures both two policies and their impact on the balance of overall economic and explained in the folds of searchjustifications coordination and the extent necessary in order to address the imbalances in economic activity through twinning actions of monetary and fiscal، has embodied this coordination and interaction between policies and their impact m

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Publication Date
Sat Feb 01 2020
Journal Name
Journal Of Economics And Administrative Sciences
Study Impact of Some Factors on Daily Number of Hours Providing of Electricity in Baghdad City Using Path Analysis

دُرِست العوامل المؤثرة في عدد ساعات تجهيز الكهرباء في مدينة بغداد، وتكونت عينة الدراسة من (365) مشاهدة يومية لعام 2018، وتمثلت بستة متغيرات استعملت في الدراسة. كان الهدف الرئيس هو دراسة العلاقة بين هذه المتغيرات، وتقدير تأثيرات المتغيرات التنبؤية في المتغير التابع (عدد ساعات تجهيز الكهرباء في مدينة بغداد). ولتحقيق ذلك استعملت نمذجة المعادلات الهيكلية/ تحليل المسار وبرنامج AMOS

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Publication Date
Thu Dec 31 2020
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
Application of data content analysis (DEA) technology to evaluate performance efficiency: applied research in the General Tax Authority

The aim of the research is to use the data content analysis technique (DEA) in evaluating the efficiency of the performance of the eight branches of the General Tax Authority, located in Baghdad, represented by Karrada, Karkh parties, Karkh Center, Dora, Bayaa, Kadhimiya, New Baghdad, Rusafa according to the determination of the inputs represented by the number of non-accountable taxpayers and according to the categories professions and commercial business, deduction, transfer of property ownership, real estate and tenders, In addition to determining the outputs according to the checklist that contains nine dimensions to assess the efficiency of the performance of the investigated branches by investing their available resources T

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Publication Date
Mon Jun 28 2021
Journal Name
Journal Of The College Of Education For Women
A Pragmatic Analysis of Questions and Responses in American Defense Attorneys' Cross-examinations: رحاب عبد الجليل سعيد العطار

The structure of the interrogation process in cross-examinations is said to be diverse and complex in terms of question-response typology. This is because the counsel has to extract truth from an opposing party’s witness whose views are expected to advocate that party's views regarding the case. Accordingly, the study which is basically quantitative in nature aims to investigate what the examining party intends to obtain out of these questions and which of these questions are the most prevalently used. It also aims to measure the amount of cooperativity in witnesses' responses. Accordingly, three transcripts of cross-examination have been analyzed, using a pragmatically-oriented approach. The approach draws on Stenstorm (1984) and Arch

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Publication Date
Thu Jan 20 2022
Journal Name
Iraqi Journal Of Science
Elastic electron scattering from Te-isotopes in the framework of Skyrme-Hartree-Fock method

The ground state charge, proton and matter densities and their rms radii of some Te-isotopes are studied by means of the Skyrme–Hartree–Fock (SHF) method with the Skyrme parameters namely; SKB, SGI, SKM, SKX, MSK7 and SLy4. Also, the neutron skin thickness, the elastic charge form factor and the binding energy per nucleon are calculated in the same framework. The calculated results have been compared with the available experimental data.
PACS Nos.: 21.10.Ft, 25.30.Bf

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Publication Date
Sun Jul 02 2023
Journal Name
Iraqi Journal Of Science
Elastic and Inelastic Magnetic Electron Scattering Form Factors of Neutron- Rich 19C Exotic Nucleus

The elastic magnetic electron scattering form factors and the magnetic dipole moments have been studied for the ground state of 19C (halo) (JπT= 1/2+ 7/2) nucleus carried out using psd-shell Millener-Kurath (PSDMK) interactions. The single-particle wave functions of harmonic-oscillator (HO) potential are used with two different oscillator parameters bcore and bhalo. According to this interaction, the core nucleons of 18C nucleus are assumed to move in the model space of spd. The outer halo (1-neutron) in 19C is assumed to move in the pure 2s1/2 orbit. The elastic magnetic electron scattering of the stable 13C and exotic 19C nuclei are investigated through Plane Wave Born Approximation (PWBA). It is found that the difference between the

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Publication Date
Wed Mar 30 2022
Journal Name
Iraqi Journal Of Science
Theoretical Study of Elastic Electron Scattering from 8B, 17Ne, 11Be and 11Li Halo Nuclei

     The nuclear density distributions and size radii are calculated for one-proton 8B, two-proton 17Ne, one-neutron 11Be and two-neutron 11Li halo nuclei. The theoretical outlines of calculations assume that the nuclei understudy are composed of two parts: the stable core and the unstable halo. The core part is studied using the radial wave functions of harmonic-oscillator (HO) potentials, while the halo is studied through Woods-Saxon (WS) potential. The long tail behaviour which is the main characteristic of the halo nuclei are well generated in comparison with experimental data. The calculated size radii are in good agreement with experimental values. The elastic electron scattering form

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Publication Date
Sun Oct 22 2023
Journal Name
Iraqi Journal Of Science
Elastic and Inelastic Magnetic Electron Scattering Form Factors of Neutron- Rich 19C Exotic Nucleus

The elastic magnetic electron scattering form factors and the magnetic dipole moments have been studied for the ground state of 19C (halo) (JπT= 1/2+ 7/2) nucleus carried out using psd-shell Millener-Kurath (PSDMK) interactions. The single-particle wave functions of harmonic-oscillator (HO) potential are used with two different oscillator parameters bcore and bhalo. According to this interaction, the core nucleons of 18C nucleus are assumed to move in the model space of spd. The outer halo (1-neutron) in 19C is assumed to move in the pure 2s1/2 orbit. The elastic magnetic electron scattering of the stable 13C and exotic 19C nuclei are investigated through Plane Wave Born Approximation (PWBA). It is found that the difference between the

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Publication Date
Thu Sep 09 2021
Journal Name
Turkish Journal Of Physiotherapy And Rehabilitation,
The Violation of Religious Human Rights: A sample Analysis of an Offensive Image of Islamic Concept

The purpose of this paper is to investigate Religious Human Rights Violations. Religious liberty is essential for everyone, everywhere. Because religion is significant to everyone, everywhere. Humans are religious by nature. Our nature drives us to seek answers to deep questions about ultimate things. We cannot live a fully human life unless we are free to seek those answers and live according to the truths we discover. In this study, the researcher used Marsh and White model for analysis A sample of an offensive image of an Islamic concept from the book "Mohammad believes it or else." this book is a comic book written by pseudonym Abdullah Aziz and published by Crescent Moon Publishing company. The book is marked with anti- Mohammad, preju

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