Kinematics and Dynamics Modelling of Automatic Faceting Robot and the Geometry of Facet

Kinematics and Dynamics Modelling of Automatic Faceting Robot and the Geometry of Facet | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Kinematics and Dynamics Modelling of Automatic Faceting Robot and the Geometry of Facet Javad Sharifi, Mohammad Sina Mohammadi, Alireza Mahmoodi Fard This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-2736407/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract In this paper, an automatic faceting robot is studied. The kinematics and dynamics of this robot-faceter are calculated and analyzed. The relationship between shear height and rotational angle assuming a hemisphere perform and the canonical preform is derived accurately which is essential for faceting of gemstone jewelry. Also, we calculate the effect of shear forces on the mechanical arm during the facet of gemstone with canonical preform. Different stress components of faceter robot manipulator are analyzed here. Faceting Robot Gemstone Robotic Robot Dynamics Robot Kinematics Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-2736407","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":187034465,"identity":"ac700a82-9eea-4669-936b-3724ad8635b1","order_by":0,"name":"Javad Sharifi","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA30lEQVRIie2RsQrCMBRFIw/S5RbXQkV/QSkUwcFfydSpguAqUhHqIp37GU7OhWC/oZOL4OAkBBzFpC5ObUfBnCE3wz28F8KYxfKD9BLGSCecHRU6vUF3BZILo6DTJKMwFBjX2V7PBanl+jKAA3Wv1lMwR56PjYvlgvt5uQLIPc3iUi+GKKoalUPBCVxgrpUg5lrxELYppPASegpuQfzqouwT5rtprdB1kXZStqnvZkbhIS0yD7ztLZMdSYWnmKMvryp+boZ9R5bNSmI+8wP36rOpbhh93enR1rZYLJb/5A3wHzsm8hqMIgAAAABJRU5ErkJggg==","orcid":"","institution":"Qom University of Technology","correspondingAuthor":true,"submittingAuthor":false,"prefix":"","firstName":"Javad","middleName":"","lastName":"Sharifi","suffix":""},{"id":187034466,"identity":"def10b21-ec80-4ca0-8526-251fd3ec7686","order_by":1,"name":"Mohammad Sina Mohammadi","email":"","orcid":"","institution":"Qom University of Technology","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Mohammad","middleName":"Sina","lastName":"Mohammadi","suffix":""},{"id":187034467,"identity":"f0efc250-0c94-4997-b228-63b290931539","order_by":2,"name":"Alireza Mahmoodi Fard","email":"","orcid":"","institution":"Qom University of Technology","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Alireza","middleName":"Mahmoodi","lastName":"Fard","suffix":""}],"badges":[],"createdAt":"2023-03-25 19:14:05","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-2736407/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-2736407/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":34972600,"identity":"05428ae4-f4ad-41f3-8a07-7701a7abf955","added_by":"auto","created_at":"2023-03-29 10:33:06","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":857895,"visible":true,"origin":"","legend":"","description":"","filename":"FaceterRobotv1.pdf","url":"https://assets-eu.researchsquare.com/files/rs-2736407/v1_covered.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Kinematics and Dynamics Modelling of Automatic Faceting Robot and the Geometry of Facet","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Faceting Robot, Gemstone, Robotic, Robot Dynamics, Robot Kinematics","lastPublishedDoi":"10.21203/rs.3.rs-2736407/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-2736407/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"In this paper, an automatic faceting robot is studied. The kinematics and dynamics of this robot-faceter are calculated and analyzed. The relationship between shear height and rotational angle assuming a hemisphere perform and the canonical preform is derived accurately which is essential for faceting of gemstone jewelry. Also, we calculate the effect of shear forces on the mechanical arm during the facet of gemstone with canonical preform. Different stress components of faceter robot manipulator are analyzed here.","manuscriptTitle":"Kinematics and Dynamics Modelling of Automatic Faceting Robot and the Geometry of Facet","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2023-03-29 10:32:56","doi":"10.21203/rs.3.rs-2736407/v1","editorialEvents":[{"type":"communityComments","content":0}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true}}],"origin":"","ownerIdentity":"261a9fb5-1b55-47ff-9b4c-8fcf506909e4","owner":[],"postedDate":"March 29th, 2023","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"posted","subjectAreas":[],"tags":[],"updatedAt":"2023-04-07T04:59:13+00:00","versionOfRecord":[],"versionCreatedAt":"2023-03-29 10:32:56","video":"","vorDoi":"","vorDoiUrl":"","workflowStages":[]},"version":"v1","identity":"rs-2736407","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-2736407","identity":"rs-2736407","version":["v1"]},"buildId":"7rjqhiLT3MXkJMwkYKINL","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}