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Go to Editorial ManagerDynamic modeling of a robot manipulator is a central problem in an accurate robot control. In this paper; the dynamic equations of motion were derived by using Eular-Lagrange method for a six degree of freedom articulated robot manipulator based on the geometrical jacobian construction for each link and actuator. In addition, friction effects beside the end effector forces that act the environment are considered. A Matlab Simulink plant is developed to embrace the theoretical work and simulate the dynamic response for a designed nonlinear controller Proportional Derivative plus Gravity (PD+G), also a modified controller is applied to reject the disturbances and the internal friction effect where the settling errors were 3.57E-6, 2.09E-7, -3.63E-6, 8.84E-6, -5.39E-8 and -4.39E-5 (deg) for joints one to six respectively. The presented approach can be applicable to solve the dynamic problem of other n-link robot manipulators and achieve a suitable solution for tracking trajectories.
A substantial amount of research has been dedicated to improving the efficiency of heat exchangers, which are extensively utilized in electronic equipment, heating and air conditioning systems, space vehicles, thermal power systems, industrial applications, and transportation. Enhancing the efficiency of these devices can lead to significant reductions in materials, cost, and space. Constructal design offers a promising approach to optimizing various heat transfer systems, including electronic packages, by applying the constructal law to achieve optimal configurations. This review aims to examine recent advancements in the application of constructal design theory to heat exchangers and its potential for enhancing thermal performance. The most recent state-of-the-art developments are thoroughly described, along with their evaluating parameters, and recommendations for further research in this field are provided.