Search published articles
Showing 2 results for Rouhani Esfahani
Ehsan Rouhani Esfahani, Mohammad Javad Nategh,
Volume 15, Issue 3 (5-2015)
Abstract
In this article microhexapod robot is introduced as a micromanipulator. First hexapod which is a parallel mechanism is investigated and also modifications that is needed for the improvement of positioning accuracy and eliminating factors such as clearance and friction in the conventional joints. Doing this, spherical and universal joints are replaced with flexural beam type joints after scaling down the hexapod. Then the degrees of freedom of flexure joints are achieved and after that the instantaneous center of rotation of flexure joints is derived for every finite twist of moving platform and it is shown that the kinematic chain of each pod of microhexapod consists of two spherical joints and a prismatic actuator; but it differs from hexapod in a way the location of the instantaneous center changes with the change of the finite twist of moving platform. Thereafter the velocity kinematics of microhexapod is solved using screw theory. In addition, using the analytical formula, the velocity of actuators was calculated for some case studies; linear motion of moving platform with constant velocity and also constant acceleration and also movement with constant velocity in a circular path. The results are verified with the finite element analysis and shown good agreement.
M. Nasri, E. Rouhani Esfahani,
Volume 19, Issue 6 (June 2019)
Abstract
Near dry Electrical Discharge Machining (EDM) is one of the advanced methods for removing materials environmentally friendly. Combining the minimum quantity of lubricant (MQL) and vegetable oil not only reduces health and costs, but also improves the process. This research has been conducted on Mo40 steel and the mixture of vegetable oil and air has been used as dielectric. The effect of electric current variables, open circuit voltage, pulse on and off time and air pressure were studied on material removal rate (MRR), tool wear rate (TWR), and surface roughness (Ra), using the method of designing the central composition of the response surface. The results showed that the increase in ampere, pulse on time and open circuit voltage increase the MRR; also, increase of the pulse time improves washing of the environment that prevent short-circuit and all had an effect on the MRR. Also, increasing the ampere and open circuit voltage leads to an increase in the TWR and increasing the pulse on time, as well as the increase in pulse time, reduces the TWR. Increasing the air pressure reduced the dielectric density and increased the TWR. On the other hand, the increase in the ampere and the pulse on time as well as the open circuit voltage increased Ra and increase in the pulse time and the air pressure reduced Ra. This method has led to an increase of 200% in MRR, 30% reduction in TWR, and 60% reduction in Ra compared to the kerosene immersion method.
