Browsing by Author "116ee5c6-5004-4783-89c9-dd3a766dd7c8"
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Dynamics of a four-bar mechanism with clearance and springs - Modeling and experimental analysis
Ahmedalbashir, Mona Abdullah Hassan; Romdhane, Lotfi; Lee, Jin-Hyuk (Korean Society of Mechanical Engineers and Springer, 2017)This paper presents a study of the dynamic behavior of a planar four-bar mechanism with clearance. A spring is added to improve the dynamic response of the mechanism with clearance. Simulations and experimental tests are ... -
Identifying Friction in a Nonlinear Chaotic System Using a Universal Adaptive Stabilizer
Wadi, Ali; Mukhopadhyay, Shayok; Romdhane, Lotfi (IEEE, 2022-04)This paper proposes a friction model parameter identification routine that can work with highly nonlinear and chaotic systems. The chosen system for this study is a passively-actuated tilted Furuta pendulum, which is known ... -
Task-Based Design Approach: Development of a Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation
Ennaiem, Ferdaws; Chaker, Abdelbadia; Laribi, Med Amine; Sandoval, Juan; Bennour, Sami; Mlika, Abdelfattah; Romdhane, Lotfi; Zeghloul, Saïd (MDPI, 2021)This paper deals with the optimal design of a planar cable-driven parallel robot (CDPR), with three degrees of freedom, intended for assisting the patient’s affected upper limb along a prescribed movement. A Qualisys motion ...