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Go to Editorial ManagerThis study proposed the using of a smart structure principle with a methodology for reducing the difference (error) between the actual position (for a semi-flexible robot) and the theoretically calculated position (for a rigid robot) on- line. The methodology depends on the interfering between the maps of the two cases; the rigid case (ideal), and the deformed case (actual) for compensation of error. According to this methodology, a class (program) was built using the visual Basic.Net; this class is called the compensation class. In this work, a two degrees of freedom articulated type lightweight semi-flexible robot was used. This robot is confined to move in a vertical plane. The smart structure system was represented by; the sensors for measuring the error deformation variables were mounted on the two links of the robot, Data acquisition (DAQ) system and the actuators of the joints. The smart structure robot systems were designed and built in this work. Also, to control the smart structure robot’s systems, software was built using Visual Basic.Net. Compensation tests have been achieved on the complete system to check the performance and results of the compensation system. This system showed a good improvement in the performance of robot for compensation and reduction in the error between the ideal position (rigid robot) and the practical position (measured position). The average error after the compensation reduced to 12.32 times in the x-direction and 21.76 times in the y-direction.
Due to the wide use of rubber components in different engineering applications such as vibration isolators, engine mounts, car tires, and bridge bearing pads, etc. This rubber component mostly subjected to high levels of vibration and noise which are among the most reasons that lead to the failure of the structures. In the present paper has been performed experimentally to investigate the influences: different content ratios of natural rubber (NR) and polybutadiene (BR.cis) rubber blends [1: (50/50) %, 2: (60/40) %, 3: (70/30) %, 4: (80/20) %, 5: (90/10) %, 6: (100/0) % pphr], and two carbon blacks types (N375, and N220) on the dynamic properties (Rebound Resilience, Damping Time, and Decay Rate). The experimental results showed that the rubber compound that has the blending ratio [1: (50/50) %] has high resilience (low damping), high damping time and high displacement for two carbon black types used in this work. While these properties were improved whenever the rubber blend close to the percentage [5: (90/10) %]. The damping time, amplitude, and resilience of a rubber compound with a blending (90/10) % and carbon black (N220) are decreased by (24.53 %, 36.854 %, and 36.852 %), respectively, compared with a rubber blend that has the blending ratio of (50/50) %.