In this paper, a mathematical model capable of handling a three-dimensional (3D) flexible n-degree of freedom manipulator having both revolute and prismatic joints is considered. This model is used to study the longitudinal, transversal, and torsional vibration characteristics of the robot manipulator and obtain kinematic and dynamic equations of motion. The presence of prismatic joints makes the mathematical derivation complex. In this paper, for the first time, prismatic joints as well as revolute joints have been considered in the structure of a 3D flexible n-degree of freedom manipulator. The kinematic and dynamic equations of motion representing longitudinal, transversal, and torsional vibration characteristics have been solved in parametric form with no discretization. In this investigation, in order to obtain an analytical solution of the vibrational equations, a novel approach is presented using the perturbation method. By solving the equations of motion, it is shown that mode shapes of the link with prismatic joints can be modeled as the equivalent clamped beam at each time instant. As an example, this method is applied to a three degrees of freedom robot with revolute and prismatic joints. The obtained equations are solved using the perturbation method and the results are used to simulate vibrational behavior of the manipulator.

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This article proposes a fuzzy sliding mode control based on multi-objective genetic algorithm for the path control of a twolink robot. Sliding mode control (SMC) is known for its competences in manipulating imprecision and bounded tribulations in modeling. In SMC, the high frequency that eventuates from a halting control action, known as the chattering phenomenon, is a severe problem. Fuzzy logic controller (FLC) has recently gained the popularity of a grand method that is used in combination with the sliding mode control method, which can remove certain drawbacks from this issue. In this hybrid controlling system, the strength of the sliding mode control lies in its fitness to account for modeling imprecision and external tribulations, while the FLC provides premier damping and reduced chattering. Nevertheless, the major drawback in a fuzzy control is its lack of designing techniques. Most of fuzzy rules are human knowledge oriented, and accordingly these rules vary from person to person in spite of the same performance of the system. To handle these time-consuming problems, multipurpose genetic algorithms are applied for the optimization of fuzzy sliding mode control, through the Pareto approach.

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This paper presents the outcomes of computational mechanics applied in the root-cause investigation on hot section failure of a 25 MW gas turbo generator in the domestic power plant after 2228 start-stops and 52,586 h operation. The failure includes the complete damage of the first and the second stage of nozzles, blades, seals, shroud segments, and also a peripheral damage on the disk of first stage. Several reported cases from the different power plants with similar events evidenced that the failure is a serious common type in the mentioned gas turbine engine. A previous study on complete metallurgical analysis of disk, moving blades, and lock-pins, was done by Poursaeidi and Mohammadi (2008, “Failure Analysis of Lock-Pin in a Gas Turbine Engine,” Eng. Fail. Anal., 15(7), pp. 847–855), which concluded that the mechanical specification of applied materials had been satisfied. Nevertheless, some problems were found in the fractographic results of lock-pins: the typical fatigue fracture surfaces in the neck of failed lock-pins and frankly localized pitting signs near the head of lock-pin. The lock-pins are kinds of small devices that lock the buckets after inserting them into disk grooves. In this work, a 3D finite element model (FEM) of a blade, a disk, and a lock-pin are made and analyzed by the ANSYS software. The results of the FEM showed a reasonable agreement between the analysis and position of fracture on lock-pins. Also, the results showed that the second vibrational mode of the bucket is a possible cause of failure because in this mode the peak stress occurs on the head of the lock-pin. However, inadequate design and long time service reduced the performance of lock-pins for sustaining a severe hot condition in the first stage of the turbine section.