Abstract: This article proposes modeling, simulation and
kinematic and workspace analysis of a spatial cable suspended robot
as incompletely Restrained Positioning Mechanism (IRPM). These
types of robots have six cables equal to the number of degrees of
freedom. After modeling, the kinds of workspace are defined then an
statically reachable combined workspace for different geometric
structures of fixed and moving platform is obtained. This workspace
is defined as the situations of reference point of the moving platform
(center of mass) which under external forces such as weight and with
ignorance of inertial effects, the moving platform should be in static
equilibrium under conditions that length of all cables must not be
exceeded from the maximum value and all of cables must be at
tension (they must have non-negative tension forces). Then the effect
of various parameters such as the size of moving platform, the size of
fixed platform, geometric configuration of robots, magnitude of
applied forces and moments to moving platform on workspace of
these robots with different geometric configuration are investigated.
Obtained results should be effective in employing these robots under
different conditions of applied wrench for increasing the workspace
Abstract: In this study the regional stability of a rotor system which is supported on rolling bearings with radial clearance is studied. The rotor is assumed to be rigid. Due to radial clearance of bearings and dynamic configuration of system, each rolling elements of bearings has the possibility to be in contact with both of the races (under compression) or lose its contact. As a result, this change in dynamic of the system makes it to be known as switching system which is a type of Hybrid systems. In this investigation by adopting Multiple Lyapunov Function theorem and using Hamiltonian function as a candidate Lyapunov function, the stability of the system is studied. The purpose of this study is to inspect the regional stability of rotor-roller bearing and rotor-ball bearing systems.
Abstract: The intermittent nature of solar energy and the energy
requirements of buildings necessitate the storage of thermal energy.
In this paper a hybrid system of storing solar energy has been
analyzed. Adding a LHS medium to a commercial solar water heater,
the required energy for heating a small room was obtained in
addition to preparing hot water. In other words, the suggested hybrid
storage system consists of two tanks: a water tank as a SHS medium;
and a paraffin tank as a LHS medium. A computing program was
used to find the optimized time schedule of charging the storage
tanks during each day, according to the solar radiation conditions.
The results show that the use of such system can improve the
capability of energy gathering comparing to the individual water
storage tank during the cold months of the year. Of course, because
of the solar radiation angles and shorten daylight in December &
January, the performance will be the same as the simple solar water
heaters (in the northern hemisphere). But the extra energy stored in
November, February, March & April, can be useful for heating a
small room for 3 hours during the cold days.