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All Journal Control Systems and Optimization Letters
Tahmasebi, Mona
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Aerospace Engineering Automotive Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering

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Effects of Static and Dynamical Disturbance Forces on the Performance of a Wire Driven Flexible Robot Tahmasebi, Mona; Gohari, Mohammad; Zolfagharian, Ali; Zare, Mohammad Reza; Pak, Abbas
Control Systems and Optimization Letters Vol 3, No 2 (2025)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/csol.v3i2.34

Abstract

Robot requests are increased by recent development of IoT, telemetry and human requirements in uninteresting or precision jobs such as surgery, industrial inspections or crops harvesting. Numerous robots are industrialized by researchers for various tasks. Flexible robots are developed based on declared requests since they can adapt their geometry to the working circumstances. Existing study presents a wire driven flexible robot enthused of animal organs such as octopus tentacles or elephant`s trunk. It can move in planar and space based on assembly of that. Primarily, a kinematic model founded to estimate end effector location, formerly a dynamic model established to compute essential tension of tendon based on bending beam theory. Moreover, effects of static and dynamical load applied on the WDFR are studied as external disturbances. A test rig is fabricated to assess attained models. The results demonstrate close convergence between tests outcomes and outputs of models. Accordingly, dynamic and kinematic models can be operated in design of controller in coming works.
Design a Condition Monitoring System for Rotating Machinery Gearboxes by Oil Quality Measurements and Vibration Analyses Gohari, Mohammad; Tahmasebi, Mona; Ghorbani, Mahdi
Control Systems and Optimization Letters Vol 1, No 2 (2023)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/csol.v1i1.18

Abstract

Every year high costs are expending to repair rotating machinery in factories and industrial centers due to failures. Most failures happen suddenly while by condition monitoring of systems prognosis and diagnosis are possible. By condition monitoring, the failures can be detected and solved in the early stages. Gearboxes are an element used widely, and applying condition monitoring for them makes a significant benefit for saving budget due to prognosis and removing failure before progress. The current paper aims to present a condition monitoring system for gearbox which is able to inspect lubricant by oil temperature and pH. Moreover, it can detect some defects in the gearbox by vibration analyses such as unbalance, bent shaft, looseness in bearing housing, and whirl of oil. The evaluation of the system shows that its accuracy is proper for use in gearboxes.
Co-Authors Ghorbani, Mahdi Gohari, Mohammad Pak, Abbas Zare, Mohammad Reza Zolfagharian, Ali