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Servo presses have been very popular in engineering applications due to their flexibility, simplicity in construction, and easy control. Many press manufacturer and researchers have studied on servo presses by developing different prototypes. However, only a few models have been commercially available in the market. Servo crank presses can generate different types of motion in their design limitations. They can present wide range of solutions to manufacturers. In this study, a dynamic model is derived by Lagrange approach for a servo crank press machine tool. A load capacity of 50 tons and stroke capacity of 200 mm prototype is designed and manufactured. A new motor-reducer selection methodology is suggested for servo presses. Servo motor-reducer combination is selected. Dynamic model and simulation results are presented with the real system parameters. Experimental validations have been performed on the servo press prototype. System’s dynamic model is validated by the experimental results. High precision of the manufactured servo press is also shown.

This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot’s joint angles.

Dimensional synthesis of mechanisms to trace given points is an important issue in mechanism and machine science. Having no exact solution makes this issue an optimization problem. This study offers an optimization approach to dimensional synthesis of planar mechanisms. Four-bar mechanisms having one Degree Of Freedom (DOF) are chosen as the configurations. The proposed method is implemented by establishing the objective functions with specified constraints and searching for the results by using an optimization algorithm. Genetic Algorithm (GA) in Optimization Toolbox-MAT LAB® is selected as a solver. Different types of four-bar mechanisms like crank-rocker and double-crank including different target points are performed. Mechanisms are depicted by resulting parameters and a prepared MATLAB® script plays their animations. As a result, it is proved that the mechanisms whose dimensional properties are obtained by the GA solver have a good tracing capability for the desired paths. This study has the property of being a design guide. Its application is not limited to four-bar mechanism. Planar mechanisms with different configurations can be easily synthesized by using this technique.

Abstract A pile-yarn-manipulating mechanism for carpet weaving was designed and implemented. The pile-yarn-manipulating mechanism served to prepare the coloured pile yarn for a knotting mechanism according to a carpet pattern used as input. Such a mechanism required two auxiliary mechanisms (a holding mechanism and a cutting mechanism) to perform its function. A model for the pile yarn manipulating mechanism is presented herein. Important developments of weaving technology have been recorded. There are many carpet looms working at high speeds, but production methods of handmade carpets have not changed for several hundred years. The main difference between handmade and machine carpets is their texture type. The pile surface of machine carpets is produced by Jacquard's mechanism, but it is produced independently in handmade carpets by the weaver. There are basically two kinds of knot, namely the Turkish knot and the Persian knot.

This paper presents a new exoskeleton design for wrist and forearm rehabilitation. The contribution of this study is to offer a methodology which shows how to adapt a serial manipulator that reduces the number of actuators used on exoskeleton design for the rehabilitation. The system offered is a combination of end-effector- and exoskeleton-based devices. The passive exoskeleton is attached to the end effector of the manipulator, which provides motion for the purpose of rehabilitation process. The Denso VP 6-Axis Articulated Robot is used to control motion of the exoskeleton during the rehabilitation process. The exoskeleton is designed to be used for both wrist and forearm motions. The desired moving capabilities of the exoskeleton are flexion–extension (FE) and adduction–abduction (AA) motions for the wrist and pronation–supination (PS) motion for the forearm. The anatomical structure of a human limb is taken as a constraint during the design. The joints on the exoskeleton can be locked or unlocked manually in order to restrict or enable the movements. The parts of the exoskeleton include mechanical stoppers to prevent the excessive motion. One passive degree of freedom (DOF) is added in order to prevent misalignment problems between the axes of FE and AA motions. Kinematic feedback of the experiments is performed by using a wireless motion tracker assembled on the exoskeleton. The results proved that motion transmission from robot to exoskeleton is satisfactorily achieved. Instead of different exoskeletons in which each axis is driven and controlled separately, one serial robot with adaptable passive exoskeletons is adequate to facilitate rehabilitation exercises.