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Deflection Analysis of an Elastic Single Link Robotic Manipulator
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Abstract

Robotics manipulators with structural flexibility provide an attractive alternative to rigid robotics manipulators for many of the new and evolving applications in robotics. In certain applications their use is unavoidable. The increased complexity in modeling and control of such manipulators is offset by desirable performance enhancements in some respects. In this paperthe single- link flexible robotics manipulator was designed and implemented from Perspex and designed with 0.5 m length , 0.02 m width and with 0.004 m thickness with mass located at the tip. There are four subsystems; motion, control, accelerometer and gyro and a host computer subsystem. The work principle of single-link robotics manipulator is the base servomotor. It rotates a hub with the link on it and measure the  tip deflection. the deflection  was measured for three cases without load,  with 27.5 and with 59.4 gram at the end of the flexible link . During each of the above cases I rotated the base servo motor at an angular velocity equals to 90 deg./s using control card based on ATMEGA640 microcontroller. the deflection  was measured for the three cases and the deflection measured by MMA7631 Accelerometer and Gyro . This accelerometer  controlled by  using MEGA Arduino board . Then the dataI collected collected from accelerometer and plot it using MATLAB software and compared between theoretical results obtained from MATLAB program that based on Lagrange equation of motion and experimental results and we found the maximum deflection occurred when V=180 deg/sec and tip load=59.5 gram.

Keywords: Flexible Link Manipulator , Industrial robotics , Robotics Manipulator ,Beam Deflection.

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Publication Date
Sun Jan 01 2023
Journal Name
International Conference Of Computational Methods In Sciences And Engineering Iccmse 2021
Synthesis, description and bacteriological valuation of metal complexes including an amoxicillin−based Schiff base
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Publication Date
Thu Jan 01 2026
Journal Name
Journal Of Interdisciplinary Mathematics
An approximate solution for PDEs of third order under mixed and nonlocal boundary conditions
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This work aims to find a solution to the problem under investigation and to study non-local boundary-value problems for rectangular domains and two-dimensional thirdorder partial differential equations (PDEs). A finite-difference method combined with the trapezoidal rule is used to solve problems. The numerical results were determined to be steady and accurate.

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Publication Date
Fri Sep 06 2024
Journal Name
Brazilian Journal Of Physics
Effect of the Fear Factor and Prey Refuge in an Asymmetric Predator–Prey Model
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This study investigates the influence of fear, refuge, and migration in a predator–prey model, where the interactions between the species follow an asymmetric function response. In contrast to some other findings, we propose that prey develop an anti-predator response in response to a concentration of predators, which in turn increases the fear factor of the predators. The conditions under which all ecologically meaningful equilibrium points exist are discussed in detail. The local and global dynamics of the model are determined at all equilibrium points. The model admits several interesting results by changing the rate of fear of predators and predator aggregate sensitivity. Numerical simulations have been performed to verify our theoret

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Publication Date
Thu Feb 19 2026
Journal Name
International Journal Of Surgery Open
Secondary trigeminal neuralgia: an in-depth review of etiopathology, clinical manifestations, and management approaches
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Secondary trigeminal neuralgia (STN) results from an identifiable underlying pathology, including tumor compression, multiple sclerosis, arteriovenous malformations, hypertension, structural lesions, inflammation, trauma, or familial genetic conditions. This study, through a comprehensive review of the literature in PubMed, Google Scholar, Web of Science, and the Cochrane Library, explores the multifaceted aspects of STN. This study delves into the diverse etiological factors, focusing on the pathophysiological mechanisms that lead to trigeminal nerve dysfunction. The clinical manifestations of STN often overlap with those of primary trigeminal neuralgia, creating diagnostic challenges and necessitating a thorough evaluation that in

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Publication Date
Sat Sep 26 2026
Journal Name
International Journal Of Low-carbon Technologies
Spatiotemporal patterns of bifacial and monofacial photovoltaic energy potential in an arid climate zone
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Abstract<p>Climate change significantly affects photovoltaic (PV) energy potential in arid regions. This study quantifies climate change impacts on both monofacial and bifacial PV energy potential across Iraq using Community Climate System Model (CCSM4) projections under Representative Concentration Pathway (RCP) 4.5 and RCP8.5 scenarios spanning 2020–2100. Specific mathematical frameworks accounting for thermal and irradiance characteristics were applied across 18 representative regions covering Iraq’s diverse climatic zones, with bifacial systems modeled using dual-surface irradiance capture incorporating ground reflection and thermal dynamics. Results reveal distinct northwest–southe</p> ... Show More
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Publication Date
Wed Mar 30 2022
Journal Name
Journal Of Economics And Administrative Sciences
Analyzing the impact of exchange rate fluctuations and inflation on the GDP in Iraq using the modern methodology of Cointegration for the period (1988-2020)
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     The research aims to analyze the impact of exchange rate fluctuations (EXM and EXN) and inflation (INF) on the gross domestic product (GDP) in Iraq for the period 1988-2020. The research is important by analyzing the magnitude of the macroeconomic and especially GDP effects of these variables, as well as the economic effects of exchange rates on economic activity. The results of the standard analysis using the ARDL model showed a long-term equilibrium relationship, according to the Bound Test methodology, from explanatory (independent) variables to the internal (dependent) variable, while the value of the error correction vector factor was negative and moral at a level less than (1%). The relationship bet

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Publication Date
Thu Jun 01 2006
Journal Name
Journal Of The College Of Languages (jcl)
تجزيه وتحليل اسامى اعلام در گـلستان سعدى
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Sheikh Saadi al shirazi is consider as one of the most great Iranian poet through history. This poet has managed to leave his profound stamp on the
شيخ سعدى يكى از بزرگترين شاع ا رن تاريخ اي ا رن مسحوب ميشود ٬ اسم او مشرف الدين مصلح بن
عبد الله و شهرت او به شيخ سعدى است او يكى ازستاره هاى قدر اول ادب اي ا رنست كه نظم و نثر و بديع او
زبان فارسى ا ر باعلى درجت فصاحت رسانيد
ولادت شيخ در شي ا رز از اواخر قرن ششم هجرى ووفات وى اواخر قرن هفتم ذكر شده است .
وى مؤلفات كثيرى داش
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Publication Date
Mon Oct 10 2016
Journal Name
مجلة الادارة والاقتصاد
تحليل وقياس العلاقة بين نسبة تفضيل السيولة ومعدل التضخم في الاقتصاد العراقي للمدة 1990-2016
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تفضيل السيولة - تضخم جانب الطلب - الاستقرار النقدي - معدل التضخم

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Publication Date
Wed Jan 01 2020
Journal Name
مجلة الفنون والاداب وعلوم الانسانيات والاجتماع
تحليل النصوص الادبية في كتاب الادب والنصوص للصف الخامس الادبي في ضوء مهارات التفكير الابداعي
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Publication Date
Fri Jun 17 2022
Journal Name
Journal Of Baghdad College Of Dentistry
Clinicopathological analysis of 80 cases of oral lobular and non lobular capillary hemangioma (pyogenic granuloma): A Retrospective study
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Background: Oral pyogenic granuloma (PG) is a clinicopathological entity that could develop due to the reaction to a variety of stimuli, such as low-grade local irritation, traumatic damage, and hormonal stimulation. There are two histopathological types of pyogenic granuloma; lobular type -capillary hemangioma (LCH) and non-lobular type; with PG,LCH has highly vascular, diffuse capillary growth while non- lobular variant mimicking granulation tissue with heavily inflammated stroma. The study aims were to review the clinical  and histopathological spectrum of an oral pyogenic granuloma from different intraoral sites in order to avoid diagnostic pitfalls associated with similar morphological lesions and to determine

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