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2 2022

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Vibration control using a modern control system for hybrid composite flexible robot manipulator Arm

Ramalingam S., Mohideen S. Rasool

Journal of Automation Mobile Robotics and Intelligent Systems

2022

Vol. 16, No. 2

36--45

In this research, a model of a robotic manipulator flexible structure and an equation of motion for controller design is planned. The structural material chosen for the robot structure was a hybrid composite. A comparison study was carried out for the aluminium 6082 alloy for the flexible manipulator arm application. Vibration behavior and control implementation was analyzed by adding joint flexibility in the system. Using a simulation algorithm, the system parameter calculation is carried out through MATLAB software for vibration amplitude, transient period, steady-state error, and settling time of flexible robotic arm system. In a systematized motion equation, flexible robotic deflections are organized via the assumed mode (AM) and Lagrange techniques (LT). The graph analysis of hybrid composite and AL6082 materials with high stiffness coefficients is plotted. These obtained values from the plot are utilized for Linear Quadratic Regulator (LQR) controller design. The LQR output facts for both aluminium structural robotic arm and composite material robotic arms are established.

Influence of nanoparticles reinforcements on the mechanical performance and tribological properties of aluminum 6082 alloys

Al-Obaidi Anwer J., Tariq Abdalameer, Dalfi Hussein

Engineering Transactions

2022

Vol. 70, iss. 4

391--405

This research investigates the effect of using hard ceramic SiC particles on the mechanical and tribological properties of Al6082 alloy. This investigation is performed by mixing various contents of SiC as weight percentages of 0, 1, 2, 3, and 4% with Al6082. Mechanical tests, such as tensile strength and hardness tests, are adopted for this composite (Al6082/SiC) at various contents of the filler (SiC). Besides, the wear test is conducted for the Al6082/SiC composite at various normal loads (10, 15, 20, 25, and 30 N) and sliding distances (200, 400, 600, 800, and 1000 m). Taguchi’s approach is used to create the experimental runs’ matrix. The findings reveal that the mechanical properties improved with increasing the percentage of SiC reinforcement. The tensile strength and Rockwell hardness of Al6082 increased by about 24.6 and 14%, respectively, using 4% of SiC particles. Regarding the tribological behavior, the average wear of Al6082 alloy decreased with increasing the percentage of SiC reinforcement due to higher hardness of reinforcement in Al6082/SiC composite. At the same time, an increase in the normal load and sliding distance led to a decrease in wear due to increasing plastic deformation at elevated loadings and larger area contacts.