Prof. M. Habibnejad Korayem
Full Professor
Department of Mechanical Engineering

Iran University of Science and Technology

hkorayem@iust.ac.ir

Biography

Moharam Habibnejad Korayem received his BSc (Hon) and MSc in Mechanical Engineering from the Amirkabir University of Technology in 1985 and 1987, respectively. He has obtained his PhD degree in mechanical engineering from the University of Wollongong, Australia, in 1994. He is a Professor in mechanical engineering at the Iran University of Science and Technology. He has been involved with teaching and research activities in the robotics areas at the Iran University of Science and Technology for the last 25 years. His research interests include dynamics of elastic mechanical manipulators, trajectory optimization, symbolic modeling, robotic multimedia software, mobile robots, industrial robotics standard, robot vision, soccer robot, and the analysis of mechanical manipulator with maximum load carrying capacity. He has published more than 670 papers in international journals and conferences in the robotic area.

Speech Title: Recent Advances in Flexible Manipulators and Applications

Abstract

Utilization of flexible link manipulators has been rising recently due to their wide range of applications in industry, medicine, aerospace, instrumentation, satellites and industrial automation. Such manipulators are replacing rigid links with larger dimensions and more weight in various industries. This talk will present the dynamic model of a flexible manipulator composed of N elastic links and robot actuators for which structural vibration is considered in order to determine dynamic load carrying capacity (DLCC). In view of the concurrent linear and rotary motions of the link caused by revolute-prismatic joints, the interaction of joint’s structural vibration and link fluctuation is taken as an effective model parameter. To model the expressed hub oscillation with respect to the link, the assumed modes method and mode shapes of Euler-Bernoulli beam with independent generalized modal coordinate with respect to the link are employed. The obtained equations are simultaneously solved in the coupled form and the simulation results are compared with a similar experimental setup, indicating that the flexible manipulator model with elastic link, hub and joints yields satisfactory results. Finally, several related projects which are conducted in the IUST Robotics Laboratory will be presented.