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Deflection Analysis of an Elastic Single Link Robotic Manipulator
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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
Fri Jul 01 2016
Journal Name
Journal Of Engineering
Buckling Analysis of Edge Cracked Sandwich Plate
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This work presents mainly the buckling load of sandwich plates with or without crack for different cases. The buckling loads are analyzed experimentally and numerically by using ANSYS 15. The experimental investigation was to fabricate the cracked sandwich plate from stainless steel and PVC to find mechanical properties of stainless steel and PVC such as young modulus. The buckling load for different aspect ratio, crack length, cracked location and plate without crack found. The experimental results were compared with that found from ANSYS program. Present of crack is decreased the buckling load and that depends on crack size, crack location and aspect ratio.

 

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Publication Date
Sat Jul 01 2017
Journal Name
International Journal Of Computer Networks And Wireless Communications
Performance Analysis of VoIP in Wireless Networks
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Voice over Internet Protocol (VoIP) is important technology that’s rapidly growing in the wireless networks. The Quality of Service (QoS) and Capacity are two of the most important issues that still need to be researched on wireless VoIP. The main aim of this paper is to analysis the performance of the VoIP application in wireless networks, with respect to different transport layer protocols and audio codec. Two scenarios used in the simulation stage. In the first scenario VoIP with codec G.711 transmitted over User Datagram Protocol (UDP), Stream Control Transmission Protocol (SCTP), and Real-Time Transport Protocol (RTP). While, in the second scenario VoIP with codec G.726 transmitted over UDP, SCTP, and RTP protocols. Network simulator

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Publication Date
Sun Sep 01 2019
Journal Name
Al Adab
Cognitive Stylistic Analysis of Daily Yahoo Storie
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Cognitive stylistics is one discipline of applied linguistics that relies on the reader’s interpretation and inference of the meaning of the text depending on his background knowledge. It studies how the reader understands the text and mapping it with his real experiences (Jeffries and McIntyre,2010). The present study is a cognitive stylistic analysis of digital stories. Digital stories are short narratives made by a combination of different sorts of digital media such as pictures, audios and videos. These digital media are employed to tell stories about oneself, famous people, and important events. The analyzed stories are selected from “Daily Yahoo Stories” and are analyzed according to Lakoff (1993) approach, The analysis investig

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Publication Date
Sun Aug 06 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Computer Analysis Of A simplified Eye Model
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  Computer analysis of simple eye model is performed in the present work by using the Zemax optical design software 2000E . The most important optical parameters of the eye were calculated such as the effective focal length (EFL) , the image spot size at the retina and found to be in a reasonable agreement with the values needed for the laser retinal treatment .The present eye model leads to an effective wavelength and we found the image spot diagram at the surface of the retina and the wavefront error which are provided at zero field angle. This gives a good evidence of the validity of the model in one hand, and can be used to determine the compatibility of any optical design intended for visual applications. By using the pulse fre

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Publication Date
Wed Sep 18 2013
Journal Name
Advanced Materials Research
Artistic Influences Analysis of Iraqi National Costumes
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There were signs of the first civilization known to humanity for more than 6000 years BC in the north of Iraq have disappeared this civilization to appear after 500 years in southern Iraq, the Sumerian civilization, which was considered as the opinion of scientists or civilizations, exceeds the impact to Asia and the countries that had been in contact (Sumerians) and see them today in other towns and villages. In subsequent periods of time appeared distinct personalities to their nature, religious, social, special clothing with clothes seem especially long. And usually dress is made from raw wool material making them in the Sumerian era. Put the garment on the body and leaves the top of the right shoulder with the survival of an ope

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Publication Date
Wed May 01 2019
Journal Name
Materials Science And Engineering
Analysis of Wind Turbine Using QBlade Software
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Publication Date
Thu Sep 01 2022
Journal Name
Engineering Structures
Mesoscale analysis of Fiber-Reinforced concrete beams
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Publication Date
Wed May 31 2017
Journal Name
Journal Of Engineering
Stress Analysis of Spiral Bevel Gear Drives
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This paper presents numerical and experimental stress analyses to evaluate the contact and bending stresses on the teeth of spiral bevel gear drive. Finite Element Method has been adopted as a numerical technique which accomplished basically by using ANSYS software package. The experimental stress analysis has been achieved by using a gear tooth model made of Castolite material which has photoelastic properties. The main goal of this research is detecting the maximum tooth stresses to avoid the severe areas that caused tooth failure and to increase the working life for this type of gear drives.

 

 

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Publication Date
Thu Jun 25 2020
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Evaluating the Effects of Different Doses of Vitamin B2 and Single Dose of Vitamin B12 Against Myelosuppression Induced by Cyclophosphamide in Experimental Rats
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Cyclophosphamide is chemotherapeutic agent that utilized for the treatment of different malignancies; however its’ used associated with numerous adverse effects. Vitamin B2 and vitamin B12 suggested having myeloprotective effect. This work is designed to investigate the myeloprotective effect of both vitamins against cyclophosphamide induced myelosuppression. One hundred adult rats of both sexes were used in this study. The animals were randomly enrolled into ten groups of 10 rats each. Group I: Control group. Group II: Cyclophosphamide-treated. Group III and Group IV Orally-administered vitamin B2 (10, and 40 mg/kg/day), respectively alone for 7 days. Group V:

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Publication Date
Wed Apr 30 2025
Journal Name
Journal Of Baghdad College Of Dentistry
An Evaluation of the Solubility of Four Endodontic Sealers in Different Solvents (An In Vitro Study)
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Background: Complete removal of filling material from the root canal is an essential requirement for endodontic retreatment. The purpose of the present study is to evaluate and compare the dissolving capabilities of various solvents (Xylene, Eugenate Desobturator, Eucalyptol, EDTA and Distilled water (as a control)) on four different types of sealer (Endofill, Apexit Plus, AH Plus and EndoSequence bioceramic sealer). Materials and method: Eighty samples of each sealer were prepared according to the manufacturers' instructions and then divided into ten groups (of 8 samples) for immersion in the respective solvents for 2 and 5 min immersion periods. Each sealer specimen was weighed to obtain its initial mass. The specimens were immersed in

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