Formulation of dynamics and linearization of hybrid robots

Çetin, Murat


Formulation of a beam finite element for micro beams
Pehlivanoğlu, Yücel; Kadıoğlu, Fevzi Suat; Department of Mechanical Engineering (2018)
This study presents an Euler Bernoulli type micro-beam finite element for analyzing the size-dependent static and dynamic behavior of micro beams. The new element is based on Modified Couple Stress Theory (MCST). The governing equations of motion and the boundary conditions for the beam are derived and the conventional Galerkin technique is employed to formulate the finite element. The new element can be reduced to Classical Euler-Bernoulli beam element if the size-effect parameter in the element matrices i...
Formulation and solution of an optimal control problem for industrial project control
Schmidt, Klaus Verner (Springer Science and Business Media LLC, 2019-09-15)
n this paper, we consider the monitoring and control of industrial projects that are performed by executing different activities within a given time duration. Hereby, it is desired to apply project control to each activity in order to avoid unexpected deviations in the project cost, respecting that the amount and cost of project control needs to be limited. We model the general setting of industrial project control as an optimal control problem with the goal of maximizing the cost reduction (savings) when a...
Formulation and implementation of a fractional order viscoelastic material model into finite element software and material model parameter identification using in-vivo indenter experiments for soft biological tissues
Demirci, Nagehan; Tönük, Ergin; Department of Mechanical Engineering (2012)
Soft biological tissue material models in the literature are frequently limited to integer order constitutive relations where the order of differentiation of stress and/or strain is integer-valued. However, it has been demonstrated that fractional calculus theory applied in soft tissue material model formulation yields more accurate and reliable soft tissue material models. In this study, firstly a fractional order (where the order of differentation of stress in the constitutive relation is non-integer-valu...
Formulation and Implementation of a New Porous Plasticity Model
Yalçınkaya, Tuncay; Erdoğan, Can; Tandoğan, İzzet Tarık (Elsevier BV; 2019-01-01)
A new rate independent porous plasticity model is proposed for the modeling of ductile damage initiation due to void growth in metallic materials. The model is based on a simple yield description which includes two porosity functions that affect both deviatoric and hydrostatic stress evolution. The current version of the model predicts damage solely due to void growth and it should be extended to include the void initiation and coalescence criteria. The numerical examples study the performance of the develo...
Implementation of coordinate transformations in periodic finite-element method for modeling rough surface scattering problems
ÖZGÜN, ÖZLEM; Kuzuoğlu, Mustafa (2016-05-01)
The coordinate transformation technique (with its current name of transformation electromagnetics) is applied to the finite-element method (FEM) with periodic boundary conditions for efficient Monte Carlo simulation of one-dimensional random rough surface scattering problems. In a unit cell of periodic structure, two coordinate transformations are used, one of which is a real transformation designed to model the rough surface with flat surface, and the other is a complex transformation used to design a perf...
Citation Formats
M. Çetin, “Formulation of dynamics and linearization of hybrid robots,” Middle East Technical University, 1994.