Dissertations / Theses on the topic 'Kinematic analysis'

This diploma thesis was written within Czech-German study programme Production systems (VUT v Brně & TU Chemnitz). This thesis is divided into four main parts. In the first part is brought out the introduction to design of robotic cells. Following part is concentrated on analysis of present state in area of machines with parallel kinematics. The penultimate part, on which is focused the main attention, is dedicated to kinematic analysis of delta-robot. Closing part of this Thesis presents the study of experimental robotized workplace with integrated delta-robot.

The main objective of the present research is to develop a general method for the kinematic analysis of foldable structures. This objective is achieved in terms of a method called 'matrix dependency constraint' (MDC method) which is described in this thesis. The MDC method involves algebraic formulation of the geometry, degrees of freedom at the joints and the support conditions of a foldable structure.

Tensegrity structures consist of isolated compression members (rigid bars) suspended by a continuous network of tension members (cables). Tensegrity structures can be used as variable geometry truss (VGT) mechanisms by actuating links to change their length. This paper will present a new method of position finding for tensegrity structures that can be used for actuation as VGT mechanisms. Tensegrity structures are difficult to understand and mathematically model. This difficulty is primarily because tensegrity structures only exist in specific stable tensegrity positions. Previous work has focused on analysis based on statics, dynamics, and virtual work approaches. This work considers tensegrity structures from a kinematic viewpoint. The kinematic approach leads to a better understanding of the conditions under which tensegrity structures exist in the stable positions. The primary understanding that comes from this kinematic analysis is that stable positions for tensegrity structures exist only on the boundaries of nonassembly of the structure. This understanding also allows the tensegrity positions to be easily found. This paper presents a method of position finding based on kinematic constraints and applies that method to several example tensegrity structures.
Master of Science

This thesis addresses the kinematic analysis of mechanisms, in particular, the position analysis of kinematic chains, or linkages, that is, mechanisms with rigid bodies (links) interconnected by kinematic pairs (joints). This problem, of completely geometrical nature, consists in finding the feasible assembly modes that a kinematic chain can adopt. An assembly mode is a possible relative transformation between the links of a kinematic chain. When an assignment of positions and orientations is made for all links with respect to a given reference frame, an assembly mode is called a configuration. The methods reported in the literature for solving the position analysis of kinematic chains can be classified as graphical, analytical, or numerical. The graphical approaches are mostly geometrical and designed to solve particular problems. The analytical and numerical methods deal, in general, with kinematic chains of any topology and translate the original geometric problem into a system of kinematic analysis of all the Assur kinematic chains resulting from replacing some of its revolute joints by slider joints. Thus, it is concluded that the polynomials of all fully-parallel planar robots can be derived directly from that of the widely known 3-RPR robot. In addition to these results, this thesis also presents an efficient procedure, based on distance and oriented area constraints, and geometrical arguments, to trace coupler curves of pin-jointed Gr¨ubler kinematic chains. All these techniques and results together are contributions to theoretical kinematics of mechanisms, robot kinematics, and distance plane geometry. equations that defines the location of each link based, mainly, on independent loop equations. In the analytical approaches, the system of kinematic equations is reduced to a polynomial, known as the characteristic polynomial of the linkage, using different elimination methods —e.g., Gr¨obner bases or resultant techniques. In the numerical approaches, the system of kinematic equations is solved using, for instance, polynomial continuation or interval-based procedures. In any case, the use of independent loop equations to solve the position analysis of kinematic chains, almost a standard in kinematics of mechanisms, has seldom been questioned despite the resulting system of kinematic equations becomes quite involved even for simple linkages. Moreover, stating the position analysis of kinematic chains directly in terms of poses, with or without using independent loop equations, introduces two major disadvantages: arbitrary reference frames has to be included, and all formulas involve translations and rotations simultaneously. This thesis departs from this standard approach by, instead of directly computing Cartesian locations, expressing the original position problem as a system of distance-based constraints that are then solved using analytical and numerical procedures adapted to their particularities. In favor of developing the basics and theory of the proposed approach, this thesis focuses on the study of the most fundamental planar kinematic chains, namely, Baranov trusses, Assur kinematic chains, and pin-jointed Gr¨ubler kinematic chains. The results obtained have shown that the novel developed techniques are promising tools for the position analysis of kinematic chains and related problems. For example, using these techniques, the characteristic polynomials of most of the cataloged Baranov trusses can be obtained without relying on variable eliminations or trigonometric substitutions and using no other tools than elementary algebra. An outcome in clear contrast with the complex variable eliminations require when independent loop equations are used to tackle the problem. The impact of the above result is actually greater because it is shown that the characteristic polynomial of a Baranov truss, derived using the proposed distance-based techniques, contains all the necessary and sufficient information for solving the position
Esta tesis aborda el problema de análisis de posición de cadenas cinemáticas, mecanismos con cuerpos rígidos (enlaces) interconectados por pares cinemáticos (articulaciones). Este problema, de naturaleza geométrica, consiste en encontrar los modos de ensamblaje factibles que una cadena cinemática puede adoptar. Un modo de ensamblaje es una transformación relativa posible entre los enlaces de una cadena cinemática. Los métodos reportados en la literatura para la solución del análisis de posición de cadenas cinemáticas se pueden clasificar como gráficos, analíticos o numéricos. Los enfoques gráficos son geométricos y se diseñan para resolver problemas particulares. Los métodos analíticos y numéricos tratan con cadenas cinemáticas de cualquier topología y traducen el problema geométrico original en un sistema de ecuaciones cinemáticas que define la ubicación de cada enlace, basado generalmente en ecuaciones de bucle independientes. En los enfoques analíticos, el sistema de ecuaciones cinemáticas se reduce a un polinomio, conocido como el polinomio característico de la cadena cinemática, utilizando diferentes métodos de eliminación. En los métodos numéricos, el sistema se resuelve utilizando, por ejemplo, la continuación polinomial o procedimientos basados en intervalos. En cualquier caso, el uso de ecuaciones de bucle independientes, un estándar en cinemática de mecanismos, rara vez ha sido cuestionado a pesar de que el sistema resultante de ecuaciones es bastante complicado, incluso para cadenas simples. Por otra parte, establecer el análisis de la posición de cadenas cinemáticas directamente en términos de poses, con o sin el uso de ecuaciones de bucle independientes, presenta dos inconvenientes: sistemas de referencia arbitrarios deben ser introducidos, y todas las fórmulas implican traslaciones y rotaciones de forma simultánea. Esta tesis se aparta de este enfoque estándar expresando el problema de posición original como un sistema de restricciones basadas en distancias, en lugar de directamente calcular posiciones cartesianas. Estas restricciones son posteriormente resueltas con procedimientos analíticos y numéricos adaptados a sus particularidades. Con el propósito de desarrollar los conceptos básicos y la teoría del enfoque propuesto, esta tesis se centra en el estudio de las cadenas cinemáticas planas más fundamentales, a saber, estructuras de Baranov, cadenas cinemáticas de Assur, y cadenas cinemáticas de Grübler. Los resultados obtenidos han demostrado que las técnicas desarrolladas son herramientas prometedoras para el análisis de posición de cadenas cinemáticas y problemas relacionados. Por ejemplo, usando dichas técnicas, los polinomios característicos de la mayoría de las estructuras de Baranov catalogadas se puede obtener sin realizar eliminaciones de variables o sustituciones trigonométricas, y utilizando solo álgebra elemental. Un resultado en claro contraste con las complejas eliminaciones de variables que se requieren cuando se utilizan ecuaciones de bucle independientes. El impacto del resultado anterior es mayor porque se demuestra que el polinomio característico de una estructura de Baranov, derivado con las técnicas propuestas, contiene toda la información necesaria y suficiente para resolver el análisis de posición de las cadenas cinemáticas de Assur que resultan de la sustitución de algunas de sus articulaciones de revolución por articulaciones prismáticas. De esta forma, se concluye que los polinomios de todos los robots planares totalmente paralelos se pueden derivar directamente del polinomio característico del conocido robot 3-RPR. Adicionalmente, se presenta un procedimiento eficaz, basado en restricciones de distancias y áreas orientadas, y argumentos geométricos, para trazar curvas de acoplador de cadenas cinemáticas de Grübler. En conjunto, todas estas técnicas y resultados constituyen contribuciones a la cinemática teórica de mecanismos, la cinemática de robots, y la geometría plana de distancias. Barcelona 13-

The demands for an increase in productivity and reduced assembly costs require engineers to automate solutions that replace manual labor. This work concentrated on a common assembly primitive, threaded fastener insertion, in an effort to determine the nature of contact between a bolt and nut during thread mating. The assembly problem was initially simplified as a two-dimensional analysis to gain an understanding about how contacts between the bolt and nut change during counter-clockwise motion. Tessellated solid models were used during three-dimensional collision analysis in such a way that the approximate location of the contact point was enumerated. The advent of a second contact point presented a more constrained contact state since we are interested in maintaining both contacts; thus the bolt rotated about a vector defined by the initial two contact points until a third contact location was found. By analyzing the depth of intersection of the bolt into the nut as well as the vertical movement of the origin of the bolt reference frame, we determined that there are three types of contacts states present: unstable two-point, quasi-stable two-point, stable three point. Though the unstable case remains to be deciphered, the parametric equations derived in this work can be used without modification to create a full spectrum of maps at any point in the history of a threaded assembly problem. We investigated 81 potential orientations, each of which has its own set of contact points. From this exhaustive examination, we are capable of detailing a contact state history and, from this, have the potential to develop a constraint network.
Master of Science

Parallel mechanisms are being introduced as platforms for machine tools, where stiffness and vibration supression is vital. A novel parallel architecture, called double triangular (DeltaDelta), was proposed and studied in depth by Daniali in anticipation of applications which require fast and precise motion. However, Daniali failed to find the minimal solution to the spherical DeltaDelta parallel manipulator, which he suspected is quadratic. Here, projective geometry and Grassmannian incidence relationships are used to unify the method of direct kinematic analysis (DKP) of two types of three degree-of-freedom manipulators, viz., the planar and spherical versions of DeltaDeltaPM, while preserving the geometric meaning of the solution. This method was to demonstrate for the first time that SDeltaDeltaPM can have only two real assembly modes; however, the minimum solution is found to be of order eight. An example is included to show that SDeltaDeltaPM can actually possess eight real assembly modes. Only two of the eight real poses lie within the workspace, while the other six arise due to a quadruple triangular tesselation of the sphere. Furthermore, a method to solve the general three-points-on-three-lines problem along with application to statics and spatial parallel manipulators is presented.

In order to optimize the flight characteristics of aircraft, wings must be designed for the specific mission an aircraft will see. An airplane rarely has one specific mission, and therefore is usually designed as a compromise to meet many flight objectives with a single wing surface. Large-scale shape change of a wing would enable a wing design to be optimized for multiple missions. Engineers at the National Aeronautics and Space Administration (NASA) Langley Research Center are investigating a new Hyper-Elliptic Cambered Span (HECS) wing configuration that may lead to increased stability and control, and to improved aerodynamic efficiency, during flight. However, during take-off and landing, a conventional wing design (not curved down) may be preferred. Thus a need has been developed for a wing whose contour can be changed during flight. The so-called "morphing" that is required has been limited by a lack of feasible design solutions. One design concept is to use an adaptive structure, with an airfoil skin applied, as the shape-changing driver. Most designs of this kind require multiple actuators to control the changing shape. This thesis introduces a novel design for a morphing wing mechanism using a single degree-of-freedom kinematic chain. In this work, the concept is introduced with sufficient background to aid in understanding. The design tools developed include a synthesis procedure and a sensitivity analysis to determine the effects of manufacturing errors.
Master of Science

Unilaterally Actuated Robots (UAR)s are a class of robots defined by an actuation that is constrained to a single sign. Cable robots, grasping, fixturing and tensegrity systems are certain applications of UARs. In recent years, there has been increasing interest in robotic and other mechanical systems actuated or constrained by cables. In such systems, an individual constraint is applied to a body of the mechanism in the form of a pure force which can change its magnitude but cannot reverse its direction. This uni-directional actuation complicates the design of cable-driven robots and can result in limited performance. Cable Driven Parallel Robot (CDPR)s are a class of parallel mechanisms where the actuating legs are replaced by cables. CDPRs benefit from the higher payload to weight ratio and increased rigidity. There is growing interest in the cable actuation of multibody systems. There are potential applications for such mechanisms where low moving inertia is required. Cable-driven serial kinematic chain (CDSKC) are mechanisms where the rigid links form a serial kinematic chain and the cables are arranged in a parallel configuration. CDSKC benefits from the dexterity of the serial mechanisms and the actuation advantages of cable-driven manipulators. Firstly, the kinematic modeling of CDSKC is presented, with a focus on different types of cable routings. A geometric approach based on convex cones is utilized to develop novel cable actuation schemes. The cable routing scheme and architecture have a significant effect on the performance of the robot resulting in a limited workspace and high cable forces required to perform a desired task. A novel cable routing scheme is proposed to reduce the number of actuating cables. The internal routing scheme is where, in addition to being externally routed, the cable can be re-routed internally within the link. This type of routing can be considered as the most generalized form of the multi-segment pass-through routing scheme where a cable segment can be attached within the same link. Secondly, the analysis for CDSKCs require extensions from single link CDPRs to consider different routings. The conditions to satisfy wrench-closure and the workspace analysis of different multi-link unilateral manipulators are investigated. Due to redundant and constrained actuation, it is possible for a motion to be either infeasible or the desired motion can be produced by an infinite number of different actuation profiles. The motion generation of the CDSKCs with a minimal number of actuating cables is studied. The static stiffness evaluation of CDSKCs with different routing topologies and isotropic stiffness conditions were investigated. The dexterity and wrench-based metrics were evaluated throughout the mechanism's workspace. Through this thesis, the fundamental tools required in studying cable-driven serial kinematic chains have been presented. The results of this work highlight the potential of using CDSKCs in bio-inspired systems and tensegrity robots.

This thesis comprises a study on the kinematic and force analyses of the overconstrained mechanisms. The scope of the overconstrained mechanisms is too wide and difficult to handle. Therefore, the study is restricted to the planar overconstrained mechanisms. Although the study involves only the planar overconstrained mechanisms, the investigated methods and approaches could be extended to the spatial overconstrained mechanisms as well. In this thesis, kinematic analysis is performed in order to investigate how an overconstrained mechanism can be constructed. Four methods are used. These are the analytical method, the method of cognates, the method of combining identical modules and the method of extending an overconstrained mechanism with extra links. This thesis also involves the force analysis of the overconstrained mechanisms. A method is introduced in order to eliminate the force indeterminacy encountered in the overconstrained mechanisms. The results are design based and directly associated with the assembly phase of the mechanism.

This thesis presents an extensive study of the kinematics of parallel manipulators. The latter are considered here as a subset of a more general class of kinematic chains called complex kinematic chains which are defined as chains in which there exists at least one link having a degree of connectivity greater than or equal to three. The degree of connectivity of a link is defined here as the number of rigid bodies that are directly attached to this link by kinematic pairs.
The first portion of the thesis is devoted to the study of simple kinematic chains which are the basic elements from which complex kinematic chains, and hence parallel manipulators, are constructed. The analysis of complex kinematic chains is then pursued through their graph representation and through the derivation of the associated Jacobian matrix. The three types of singularities pertaining to this class of kinematic chains are identified using the latter concept. They are illustrated with some examples. This also leads to an unambiguous definition of parallel manipulators based on their graph representation.
Parallel manipulators are then analyzed in detail. The analysis includes the solution of the direct and inverse kinematic problems, the velocity and acceleration inversions and an investigation of the singularities. These problems are discussed in a general framework before special cases are introduced. The kinematic design optimization of parallel manipulators is then undertaken using some performance criteria such as symmetry, workspace, local dexterity and global dexterity. A new performance index called global conditioning index (GCI) is also defined.
Finally, the kinematic inversion of redundant parallel manipulators is approached as a local dexterity maximization problem. The concept of trajectory map is introduced and an algorithm for the generation of smooth trajectories is given.

This thesis treats type synthesis and kinematic analysis of translational parallel manipulators (TPMs) from a group theoretical point of view.
For the TPM type synthesis, based on displacement group theory (DGT), TPM leg motion is represented by a series of displacement subgroups. For symmetrical three-legged TPMs, three categories are classified and a total of 90 architectures are proposed. For asymmetrical three-legged TPMs, 13 cases of possible leg combinations are presented and some possible constructions of TPMs are shown. The advantages of DGT in mechanism synthesis are described.
For the kinematic analysis of symmetrical TPMs, geometric elements are employed to denote the workspace of different leg links. Solutions of the inverse and direct kinematics of a certain example are obtained. Moreover, the proposed approach is applied to a class of TPMs, and the corresponding geometric representations are listed. The applicability of the proposed approach is discussed as well.
This thesis provides a theoretical approach to design TPMs and analyze their kinematics for practical applications.

This thesis presents a study on the design and analysis of a morphing flap structure integrated with actuation mechanism for potential application to large aircraft. Unlike the conventional rigid flap mounted on the wing trailing edge, the morphing flap is designed as a unitized structural system integrated with three primary components: the upper and lower flexible skins reinforced by stringers, an eccentric beam actuation mechanism (EBAM) with discs fixed on it, and the connection of the discs with the stringers. Based on the EBAM concept proposed by Dr Guo in previous research [1], the current study has been focused on the EBAM design and optimization, kinematic simulation and structural modelling of the morphing flap. Although a lot of efforts have been made to develop the morphing flap in previous research, it is lack of detailed design of the disc-skin linkage and clear view on the mechanism optimization in relation to the shape requirement. The main objective of this research is to meet the morphing shape requirements and calculate the actuation torque for a specified morphing flap. Firstly effort was made to design and optimize the disc shape and locations in the EBAM for the best matching of the specified morphing shape with minimum actuation torque demand. It is found that minimum three discs are required and their locations have little effect on the actuation torque. Secondly attention was focused on designs of the disc and a C-linkage with the stringers. To ensure that the C- linkage works in practice, a twisted stringer flange design was proposed. Thirdly the actuation mechanism was integrated with the stiffened skin to play the role of an active rib in the flap structure. Based on the design, FE modelling and analysis of the morphing flap structure was carried out. The behaviour of the morphing flap under the internal actuation and external aerodynamic load was applied for stress analysis and detailed design of the structures. Finally the kinematics of the integrated morphing flap was simulated by using CATIA to demonstrate the feasibility and the effectiveness of the improved design.

Worm gearing is very widely used, especially in heavy industry, but due to the complexity of worm gear geometry, worm gear research has lagged behind that for spur and helical gears. In the last decade, however, the potential for significant improvement in worm gearing has dramatically increased: computers have given greater freedom to analyse worm gearing; CNC machines make it possible to aim for optimised worm gear geometries with very high accuracy and the development of synthetic lubricants has substantially improved lubrication conditions. In the UK, over the last few years, research effort in the field of worm gearing has increased considerably. As a part of this recent activity in the UK, the author has been involved mainly in developing the analytical mechanics and metrology of worm gears. A method for the generalised 3D non-elastic worm gear mesh analysis and associated software have been developed and worm wheel metrology software has been implemented on a CNC measuring machine in the UK National Gear Metrology Laboratory, to allow, for the first time, analytical measurement of worm wheel tooth flanks. Combination of the mesh analysis software and CNC measurement of worm wheels has assisted in the design and manufacture of worm gears with modified tooth profiles. Two methods of 3D non-elastic worm gear analysis have been developed for conjugate action and non-conjugate action respectively. The conjugate analysis determines the lines of contact, sliding and rolling velocities, limitations of the working area (the envelope of contact lines on a worm surface and singularities on a wheel surface), principal relative curvatures and the orientations of contact lines. It is based on the B-matrix method [Zhang and Hu, 1989]. The non-conjugate analysis predicts entry and exit gaps, contact ratio, wear marking on the worm flank, instantaneous contact topology on all the engaged tooth flanks, total contact area, contact pattern and transmission error. This is based on numerical simulation of the actual worm gear running process under no-load. Although the non-elastic analysis models have been designed for any type of worm gearing, and have been used to study Cavex (ZC) wormgears and the meshing of a ZA Abstract worm with a helical gear, most of the work has been on involute (ZI) worm gearing, since this is, by far, the most commonly produced type in the UK. This thesis presents the work as follows: 1) The development of the B-Matrix kinematic method for conjugate analysis. The B-Matrix method, presented in chapter 2, elegantly simplifies the derivation and calculation procedures, since the geometric parameters and the motional parameters can be arranged in separate matrices. As a result, the models can be applied to different geometries and coordinate systems with no need for further difficult derivations. The method leads to an easier way of integrating the theory of various types of worm gearing into compact generalised models. It is much more convenient and reliable to let the computer formulate and solve matrix equations numerically, treating each matrix as a simple variable, than to develop analytically the corresponding long tedious non-linear equations. 2) The development of mathematical equations to allow CNC measuring machines to measure cylindrical worm wheels with respect to their mating worms. The measurements are 3-dimensional and absolute, in the sense that the results are the deviations from the theoretical geometries rather than comparative measurements relative to a (necessarily imperfect) master worm wheel. The measurement theory has been implemented on a particular CNC measuring machine. This is presented in chapters 3 and 5. 3) The development of the non-conjugate analysis. The fundamental basis of the non-conjugate analysis presented in this thesis is to rotate the worm wheel to bring its tooth flank into contact with the worm flank at each given angle of worm rotation, so that the no-load transmission error and gap contours can be determined. This method is suitable for both cylindrical and globoidal worm gears, since the rotation angles of worm and wheel are used to simulate the running process directly. Abstract The method also allows the wheel tooth flank to be obtained either by conjugate analysis of the hobbing process, or by analytical measurements or other methods (for example, when a theoretically-generated involute helical gear is used to mesh with a worm). This work is presented in chapter 4. 4) implementation of the non-elastic analysis theory. The non-elastic analysis software has been written for personal computers. In addition, dimensional calculations specified by BS 721 and commonly used hob design methods have been added to the non-elastic analysis software to increase user-friendliness. The software has been used to investigate the effects on the worm gear contact and performance of machining errors and profile deviations or modifications. The structure of this analysis software allows for the inclusion of new modules for other types of worm gearing without in any way disturbing the integrity of the program's existing abilities. The non-elastic analysis software is user-friendly with a "Windows" graphical user interface. Software reliability and error tolerance have been of particular concern during program development. This work is presented in chapter 5. 5) The software has been thoroughly validated against other published results and/or actual production. The software has been used extensively for both research and commercial purposes, and the user interface developed further in response to user feedback. Examples of these applications are given in chapter 7.

Thesis (Sc. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, February 2004.
Includes bibliographical references (p. 193-198).
This thesis presents a family of XY flexure mechanisms with large ranges of motion, first-order decoupled degrees of freedom, and small parasitic error motions. Synthesis is based on an systematic and symmetric layout of constraints that are realized by means of common flexure building blocks. An analytical formulation incorporating geometric non-linearities is used in deriving the characteristics of these flexure building blocks. Of concern are issues related to qualification and quantification of undesirable motions, mobility, stiffness variation within the range of motion, determination of center of stiffness, and sensitivity to manufacturing and assembly tolerances. Based on the properties of the building blocks, the performances characteristics of the resulting XY flexure mechanisms are discussed and the influence of symmetry in reducing error motions is analytically illustrated. To verify the design theory, a 300mm x 300mm prototype stage was fabricated, assembled and tested at the National Institute of Standards and Technology (NIST). Measurements using laser interferometry, autocollimation and capacitance gauges indicate levels of performance much better than the capabilities of the current state of the art of precision flexure stages. The prototype flexure stage has a 5mm x 5mm range of motion, with cross-axis errors of the order of one part in one thousand, and motion stage yaw errors of the order of a few arc seconds.
by Shorya Awtar.
Sc.D.

The kinematic analysis of an articulated twin body, four-wheel, robotic vehicle is presented. Polaris, a research platform and contending robotic vehicle in the Intelligent Ground Vehicle Competition (IGVC) at Virginia Tech, was redesigned in 2006 to improve the mobility of the vehicle by incorporating an innovative four-bar linkage that connects the two bodies. The new linkage design minimizes vehicle off-tracking by allowing the rear wheels to closely track the path of the front wheels. This thesis will outline the theoretical kinematic model of the four-bar linkage as applied to a twin-bodied, differentially driven vehicle. The kinematic model is validated through computer simulation as well as experimentation on a fully operational robotic vehicle. The kinematic model presented here outlines the foundations for an autonomous, four-wheel drive, multi-body control system and opens avenues for dynamically controlling the tracking of the vehicleâ s rear body with an actuated linkage configuration.
Master of Science

The entire thesis text is included in the research.pdf file; the official abstract appears in the short.pdf file; a non-technical public abstract appears in the public.pdf file. Title from PDF of title page (University of Missouri--Columbia, viewed on December 22, 2009). Thesis advisor: Yuyi Lin. Includes bibliographical references.

Spin bowling is a valuable skill in cricket, holding a place in the record books for its wicket taking abilities. The spin bowling technique is complex; however, the instruction of this skill has been largely formulated from the collective intuitions of past players. In addition, a standard model of bowling technique has been generally prescribed for both off‑spin and leg‑spin bowlers, with no biomechanics research validating this approach. Consequently, the understanding of spin bowling performance and technique have been largely left at an anecdotal level. In addition, it has not been validated that one basic action model is applicable for both off-spin and leg-spin. Therefore, the aim of this thesis was to explore the kinematics of spin bowlers to determine the differences in spin bowling performance and technique between off‑spin and leg‑spin bowling. Consequently, coaches and players can be provided with a clearer understanding of both the assessment and instruction of off‑spin and leg‑spin bowling, potentially allowing successful spin bowlers to be taught to perfect their skill. A review of scientific and coaching literature was performed to examine what is currently known about spin bowling performance and technique (Chapter 2). While there were a number of studies that have investigated particular aspects of spin bowling, there were evidently substantial gaps in the scientific literature. No study has performed a thorough analysis of the kinematics of spin bowling comparing off‑spin and leg‑spin techniques. Any potential differences in technique could have implications for the assessment and coaching of each spin bowling type. Furthermore, no study has investigated the segmental kinematics associated with generating ball spin. Coaching literature, as well as research performed in fast bowling and other similar motions, provided some suggestion for what may be found in spin bowling. In Chapter 3, the performance outcomes of spin bowlers were assessed using a three‑dimensional (3D) motion analysis of the spinning ball. The placement of three retro‑reflective markers on the ball’s surface allowed for the measurement of both linear and angular kinematics. Thirty‑four district‑level spin bowlers (twenty off‑spinners and thirteen leg‑spinners), delivered twenty standard deliveries, and five of any variation deliveries in their repertoire. Data were processed to calculate the ball’s linear speed, spin rate, and direction of the angular velocity vector, with respect to a right-handed bowler. The results show that spin bowlers can be categorised according to the horizontal component of the angular velocity vector (horizontal spin angle). The off‑spinners delivered with a negative horizontal spin angle, indicating a ball that would potentially deviate to the right after landing, while the leg‑spinners delivered with a positive horizontal spin angle, indicating a ball that would potentially deviate to the left after landing. In addition, the vertical component (vertical spin angle) was used to quantify the amount of swerve potentially produced by bowlers. It was found that leg-spin bowlers could deliver with either a positive or negative vertical spin angle, associated with swerve either towards the left or right, respectively. To determine the relationship between the contrasting spin directions and spin bowling technique, a comparison of the off‑spin and leg‑spin bowling techniques was performed (Chapter 4). The three‑dimensional (3D) kinematics of 23 off‑spin and 20 leg‑spin bowlers were measured. As suggested in the coaching literature, off‑spin bowlers had a significantly shorter stride length (p = 0.01) and lower spin rate (p < 0.01), but a greater release height than leg‑spinners (p = 0.01). However, the study found a number of other kinematic differences that were not documented in the coaching literature. The leg‑spinners were characterised by a larger rear knee flexion (p = 0.01), faster approach speed (p < 0.01), and flexing elbow action during the arm‑acceleration phase, compared with the off-spinners who extend the elbow more than 15°, which constitutes an illegal “throwing” action according to the ICC specifications for suspect bowling actions (International Cricket Council, 2015). Off‑spin and leg‑spin bowlers were also similar in a number of kinematic variables; however, some of these deviated from the standard coaching model such as a front‑on mixed bowling action, flexed front knee angle at release, and varying use forearm mechanics (Type‑1 and Type‑2). Chapter 5 identified the segmental kinematics of technique that were specifically associated with the main performance outcome, spin rate. Amongst the 23 off‑spin and 20 leg‑spin bowlers in the cohort, a large majority used a Type‑2 action (forearm rotation in the opposing direction to the direction of spin torque imparted on the ball). Therefore, an analysis of 3D segmental kinematics was determined from the Type‑2 bowlers: 15 leg‑spin and 20 off‑spin bowlers. Bivariate product‑moment correlation coefficients revealed a number of variables that were associated with spin rate. Type‑2 off‑spin bowling was associated to a greater extent with the timing of thorax movements, while Type‑2 leg‑spin bowling was associated to a greater extent with the pelvis rotation and pelvis‑shoulder separation movements. Rear hip flexion velocity differentiated between bowlers in both groups, in subtly different ways; the off‑spin technique was determined by the magnitude of the velocity, whereas the leg‑spin technique was determined by the timing of the velocity. Contrary to the standard coaching model, the rear hip flexion velocity occurred after the pelvis rotation. Generalised linear models identified the most critical variables. In the off‑spin group, the earlier occurrence of thorax anterior flexion maximum velocity accounted for 17.8% of the increase in spin rate, with an additional 1.9% accounted for by the rear hip flexion velocity. In the leg‑spin group, an earlier occurrence of the maximum rear hip flexion alone accounted for 32% of the variance in spin rate. The major differences between the variables identified in off‑spin and leg‑spin groups can potentially be attributed to the contrasting spin directions produced by each technique. The results of this thesis have implications for both the assessment and coaching of spin bowling. A clear methodology was established to measure any spin bowling delivery in the laboratory, determining its potential spin direction and swerve direction. Conceivable changes to coaching instructional manuals could be made, based on the findings of the kinematic studies. By understanding what aspects of technique are related to generating greater spin of the ball, coaching can be more effective, particularly when differentiating between off‑spin and leg‑spin as well as their respective Type‑1 and Type‑2 actions. Future research can expand on the studies performed in this thesis, repeating the analyses on different and more specific cohorts. For example, groups based on the forearm action (Type‑1 or Type‑2), front knee action (flexor or extender), as well as expanding to the elite level of bowlers. A more detailed analysis of the timing of segment rotations could provide a more specific understanding of the segmental sequencing profile in different types of spin bowling. Furthermore, a kinetic analysis could expand on the findings of this study, providing a deeper understanding for the mechanisms behind the kinematic differences.

With the rise autonomous and robotic systems in field applications, the need for dexterous, highly adaptable end effectors has become a major research topic. Control mechanisms of robotics hands with a high number independent actuators is recognized as a complex, high dimensional problem, with exponentially complex algorithms. However, recent studies have shown that human hand motion possesses very high joint correlation which translates into a set of predefined postures, or synergies. The hand produces a motion using a complementing contribution of multiple joints, called synergies. The similarities place variables onto a common dimensional space, effectively reducing the number of independent variables. In this thesis, we analyze the motion of the hand during a set of objects grasps using mul- tivariate Principal Component Analysis (mPCA) to extract both the principal variables and their correlation during grasping. We introduce the use of Functional PCA (fPCA) primarily on princi- pal components to study the dynamic requirements of the motion. The goal is to defined a set of synergies common and specific to all motions. We expand the analysis by classifying the objects grasps, or tasks, using their functional components, or harmonics over the entire motion. A set of groups are described based on these classification that confirms empirical findings. Lastly, we evaluate the motions generated from the analysis by applying them onto robotic hands. The results from the mPCA and fPCA procedures are used to map the principal components from each motion onto underactuated robotic designs. We produce a viable routine that indicates how the mapping is performed, and finally, we implement the motion generated onto a real hand. The resultant robotic motion was evaluated on how it mimics the human motion.

The main objective of this study was to determine differences, if any, in three-dimensional (3D) kinematic characteristics of the three principal punches (the jab, hook and uppercut) executed by novice, intermediate and elite level amateur boxers. Specifically, the kinematic variables related to the displacement, linear velocity and acceleration of the upper body segments, translational hand acceleration and vertical ground reaction force generated by boxers were analyzed. The subjects of this study composed of 10 novice, 9 intermediate, and 11 elite level amateur boxers. Ages of the subjects ranged from 18 to 34 years old. All subjects executed their punches toward a head-high target on a standard practice bag. The motions were captured with PhaseSpace real time optical tracking system with 8 high speed cameras at 240 fps. Then, the motions captured were analyzed to quantify the kinematic factors associated with each punch. The results showed that the uppercut punch generated larger linear shoulder, elbow and wrist velocity compared to the jab punch. Similarly, the uppercut punch generated larger linear shoulder, elbow and wrist acceleration compared to the hook and jab punches. Moreover, the uppercut and hook punches generated larger translational hand acceleration compared to the jab punch. As a conclusion, the results for all kinematic variables demonstrated that the type of punch executed was the major determinant of the magnitude of each factor studied. Moreover, the technique employed can significantly affect the resulting displacement, linear velocity and acceleration, and translational hand acceleration of the fist.

This thesis has developed an efficient methodology for automatic kinematic analysis of planar linkages using the concept of modular kinematics. Unlike conventional general purpose kinematic analysis packages where each joint in the mechanism is represented using a set of non-linear constraint equations which need to be solved by some iterative numerical procedure, modular kinematics is based on the original observation by Assur that kinematic state of a mechanism involving large number of links can be constructed out of the kinematic states of patterns of sub chains called modules taken in a given sequence called module sequence which in turn emulates the step by step construction procedure of traditional graphical methods. The position, velocity and acceleration analysis of modules are available in closed form. Kinematic analysis of modules later in the sequence is enabled by those of the ones earlier in the sequence, hence, the kinematic analysis of a mechanism is accomplished without any iterative endeavor by doing the kinematics of the modules as given in the module sequence. [102] classified all modules into three fundamental types namely input, dyad and transformation and also introduced the concept of constraint module for analyzing graphically non-constructible mechanisms within the paradigm of modular kinematics where a small step of numerical search was needed in an over all closed form kinematic formulation. Module sequence for a mechanism using the modules is not unique. Choice of a later module in the sequence depends upon the selection of modules earlier in the sequence. This thesis has presented a systematic approach of identifying all such methods for all the inversions of the mechanism and represented in the form of a module hierarchy or a module tree where each path from root to the leaf node represents a valid module sequence for the kinematic chain in hand. The work also extended the set of modules by adding eight new modules to what has already been used in literature to make it complete in the sense that all planar mechanisms involving revolute, prismatic and pin-in-slot (including circular slots) can be handled. The computational effort involved for analyzing these mechanisms thus depend on the number of constraint modules occurring in succession in the module sequence. However, maximum possible number of constraint modules in any mechanism with up to twelve links is only two. The derivative analysis also uses the same module sequence, but they are always devoid of any iterative steps. During the process of generation of a module sequence, at every stage multitude of modules could be identified for their potential placement in the sequence. But for every module sequence the difference between the number of input modules and that of constraint modules is constant and is equal to the kinematic degrees-of-freedom (d.o.f) of the mechanism. The algorithm presented in this thesis minimizes the number of generalized inputs (and hence extraneous constraints) and thus attempting to identify the simplest of the module sequences. In that sense the module sequences represented in the module tree are all optimal module sequences. The present work introduced the concept of multi phase modular kinematics which enables a large variety of mechanisms, conventionally identified as complex mechanisms, to be solved in closed form. This is achieved through the use of novel virtual link and virtual joints. Virtual link is slightly different from a normal rigid link in the sense that the joint locations on this are functions of some independent parameters. Since, the locations of joints are not fixed even in the local coordinate frame of the virtual link, the relative velocities between joints are not zero, they need to be appropriately accounted in kinematic analysis. The theory presented in the thesis is implemented in a computer program written in C++ on Windows platform and Graphics library (OpenGL) is used to display linkage configurations and simulations. The program takes the data of joints, input pairs, ground link in certain format through a file. Geometric models developed in any of the existing modeling softwares like ProE, Ideas, AutoCad etc. can be imported in VRML format to the links and in case of no geometric models a simple convex 2D geometry is created for each link for the purpose of visualization. Geometric import of links helps not only in understanding the simulations better but also in useful for dynamic analysis, dynamic motion analysis and interference analysis. A complete kinematic analysis (position, velocity and acceleration) is given for a four bar mechanism and illustrated the positional ( configuration) analysis using modular kinematics for several other examples like old-ham, quick-return mechanisms etc. in the current work. Multi-phase modular approach is illustrated using a five bar with floating input pairs, a back actor and a drafter mechanism and the Back actor configuration is shown with the imported link geometries. It is observed in practice that there are many apparently spatial Mechanisms, which are constructed out of symmetric dispositions of planar mechanisms in space. A pseudo spatial mechanism concept is proposed to solve this class of spatial mechanisms, which can actually be analyzed with the effort of solving only one such component. This concept is illustrated with Shaker and Umbrella mechanisms. Possible extensions of the concept for modeling and analysis of more general class of pseudo-spatial mechanisms are also indicated.

碩士
國立臺灣科技大學
機械工程研究所
83
This paper develops general methods for analyzing the instantaneous kinematics and statics of closed-loop kinematic chains. These methods are based on linear algebra, screw theory, and the principle of virtual work. All formula developed are put into forms of linear algebra thus they can be easily implemented on mathematic software. The singu-larities and the series-parallel dualities in kinematics and statics are also investigated. Several numerical examples are provided for illustrations.

碩士
吳鳳科技大學
光機電暨材料研究所
107
The research is focused on the design of a bicycle with a new drive mechanism. The purpose of this study designs a better transmission of the drive mechanism for a bicycle. This can save more energy for people to drive it. The vector loop method is employed to analyze the kinematics of the drive mechanism and the study on the synthesis of linkage lengths is used to determine the better choice of the sizes to make it more comfortable while people are driving steps bicycles.

碩士
國立臺北科技大學
精密機構設計產業研發碩士專班
95
Bikes, a kind of simple mechanic vehicle that does not consume any fuel, are quite general and popular in the modern era and has been widely welcome in many countries for at least the following six reasons: (1) it is portable; (2) it does not bring pollution to our environment; (3) it does not cause traffic jam; (4) it saves energy and natural resources; (5) we do not have to spend any social resources to lay asphalt roads for it; (6) its low speed reduces the risk of serious accidents. Adapting to all possible circumstances under which it may be utilized, bikes can be divided into three types: tricycles, bicycles, and monocycles. Among these, because of the increasing demand of the user, synergy-bikes, foldable bikes, and bikes with different sizes adapted to different age groups are further developed. The content of this study is about the transformation between bicycles and tricycles, and between vertical bikes and horizontal bikes. We aim to design multifunctional bikes in a kinematics point of view. In this study, we make a comprehensive literature review and analysis about bikes. We find that most of the patents for bikes are about single-function bikes, and only few of them are about multifunctional bikes. However, almost these multifunctional bikes have deficits in assembling and dismantling. Therefore, we aim at developing a kind of multifunctional bike with one single mechanical transition. We consult the sizes of real bikes to build up the necessary concepts and the transformation of the bikes. Moreover, under the framework of mechanical analysis of kinematics, we analyze the kinematics of our bikes and with the help of Solid Work, we draw the three-dimensional exploded view and combination view, which are further analyzed with ANSYS.

碩士
國立臺北科技大學
精密機構設計產業研發碩士專班
95
This research is aimed at the common humanoid robot on the market. First of all, collect its relevant network information and reference material, then sort out, classify and analyze all of these. According to the open materials been collected, classify its degree of freedom of mechanism, probe into the difference caused because of the different free degree of its hands and feet. The data of this research is based on the open information put on the official website, select a style with the most abundant materials, KHR-2HV, which is two foot type humanoid robot produced by KANDO Company, to carry on kinematics analysis. From simulating the movements of side rolling and the stress of joints of the supporting arms of this KHR-2HV two foot type humanoid robot to finish the analysis. During researching, the whole process is – first drawing 3D parts and combination photos of KHR-2HV two foot type humanoid robot with Pro/Engineer Wildfire 3.0, using Pro/Mechanism to simulate side rolling, then using Pro/Mechanica to carry on the stress analysis. Finally discuss and compare with the real product of KHR-2HV two foot type humanoid robot to work out the kinematics analysis.

博士
國立臺灣大學
機械工程學研究所
89
The concept of kinematic fractionation for geared mechanisms is introduced in this work. Based on this concept, systematic approaches to the topological analysis and kinematic analysis are developed to facilitate the conceptual design of geared mechanisms. In this dissertation, it will be shown that a carrier and all gears on it form a kinematic unit of the geared mechanism. By separating the kinematic units, a geared mechanism can be decomposed according to the kinematic relations between input and output. Two approaches to perform kinematic fractionation are developed including the matrix-based method and the graph-based method. By identifying the embedded kinematic units, kinematic insight can be exposed, which leads to straightforward and promising rules to prevent redundant links. These rules form the basis of a by-inspection procedure to determine admissible locations of ground, input and output in a geared kinematic chain. As the topological configuration of a mechanism is determined, the connecting conditions among kinematic units reveal the kinematic propagating path between input and output. Along the path, the global kinematic relation can then be determined by collecting the local gains of each kinematic unit. It is believed that the concept of kinematic fractionation is beneficial to the conceptual design of geared mechanisms since the designer can have comprehensive awareness of the kinematic insight of the mechanism.

碩士
國立成功大學
醫學工程研究所
86
Ankle joint complex, consisting of talocrural and subtalar joints, provides stability and energy exchange for human walking. However, due to poor anatomical accessibility of talus, kinematics and kinetics of ankle joint complex had not been well studied. In the past, ankle motion was simulated with mathematical models and measured by cadaver specimen or using skin marker system. They usually treated ankle joint complex as a single hindfoot segment. Until recently, detailed analysis of subtalar joint motion We assume ankle joint complex to be a three-segment linkage system and use skeletal marker system to separately evaluate talocrural and subtalar motion. The subject performed three kinds of open chain motion in sagittal, coronal and transverse planes, and walked in the motion laboratory. The images of markers were collected with six video cameras and digitized by ExpertVisionTM motion analysis system, then downloaded to a 586 PC for calculation of Euler angles and screw axis parameters using appropriate proWith minimal invasive procedure of inserting a smooth pin into talus, we can separately and accurately evaluate talocrural and subtalar joints kinematics. The pins were removed after experiment and only somewhat soreness sensation around pin holes during walking was noted. There left no significant complication or any sequela. As data showed, skin markers could detect calcaneal motion properly due to relatively small skin movement in this region. There was little translation in ankle joint complex occurred Although the kinematic data obtained from a single subject in this experiment can tell us the trend of motion of angle joint complex both during walking and in open chain movement, more information from more subjects is mandatory to draw more definite conclusions. In the meanwhile, kinetic analysis using force plate data and inverse dynamics can supplement kinematic analysis for presenting a comprehensive understanding of the ankle joint complex.

碩士
國立成功大學
醫學工程研究所
86
Ankle joint complex, consisting of talocrural and subtalar joints, provides stability and energy exchange for human walking. However, due to poor anatomical accessibility of talus, kinematics and kinetics of ankle joint complex had not been well studied. In the past, ankle motion was simulated with mathematical models and measured by cadaver specimen or using skin marker system. They usually treated ankle joint complex as a single hindfoot segment. Until recently, detailed analysis of subtalar joint motion during stance phase of normal walking was performed with skeletal markers and 3D motion analysis system. The video-based motion analysis system can provide a 3D analysis of joint motion and accurate real time dynamic study could be obtained by its fast sampling rate. With well-fixed smooth pins connected to reflective markers set, soft tissue movement which is more important in those joints with smaller range of motion such as subtalar and midfoot joints can be eliminated. Also, skeletal markers system made possible the kinematic study of small bones and those which cannot be easily approached such as talus, carpal bones and tarsal bones. We assume ankle joint complex to be a three-segment linkage system and use skeletal marker system to separately evaluate talocrural and subtalar motion. The subject performed three kinds of open kinetic chain motion in sagittal, coronal and transverse planes, and walked in the motion laboratory. The images of markers were collected with six video cameras and digitized by ExpertVisionTM motion analysis system, then downloaded to a 586 PC for calculation of Euler angles and screw axis parameters using appropriate programs coded in MATLAB language. With minimal invasive procedure of inserting a smooth pin into talus, we can separately and accurately evaluate talocrural and subtalar joints kinematics. The pins were removed after experiment and only somewhat soreness sensation around pin holes during walking was noted. There left no significant complication or any sequela. As data showed, skin markers could detect calcaneal motion properly due to relatively small skin movement in this region. There was little translation in ankle joint complex occurred during normal walking. Although the kinematic data obtained from a single subject in this experiment can tell us the trend of motion of ankle joint complex bothduring walking and in open kinetic chain movement, more information from more subjects is mandatory to draw more definite conclusions. In the meanwhile, kinetic analysis using force plate data and inverse dynamics can supplement kinematic analysis for presenting a comprehensive understanding of the ankle joint complex.

博士
淡江大學
機械與機電工程學系博士班
98
In this dissertation, the structure of the 6 degree-of-freedom parallel manipulator HEXA is modified to take a 6RUS form so that closed-form solutions for direct kinematic analysis can be found. In addition, workspace analysis, direct singular position analysis, and stiffness analysis on this 6RUS manipulator are also performed. In direct kinematic analysis, the manipulator is first transformed into an equivalent 3RS structure, and then three polynomial equations are obtained by using the property of constant length between three spherical joints on the moving platform. Sylvester dialytic elimination method is used to obtain direct kinematic solutions. Constant orientation workspace and orientation workspace are found by performing inverse position analysis. Jacobian matrices of HEXA and the 6RUS manipulator are obtained by using screw theory. Certain direct singular positions of the two manipulators are found from these matrices. Also determined from the Jacobian matrices is the stiffness of central configuration of the two manipulators.

碩士
中原大學
機械工程研究所
94
Mechanism and control system design for two-wheels self-balancing transporter is studied in this article. While two-wheels self-balancing transporter moves forward or backward with a change of angle, the employed gyroscope immediately detects the anglular change for feedback control purpose. Fuzzy control method associated with the MATLAB/SIMULINK is used to balance the wheel system. Recurdyn simulation software is also in coorporated with MATLAB to provide effective analysis and animation instrumental to verify the movement and stability performance of the wheel system.

碩士
國立臺北科技大學
車輛工程系碩士班
92
This study analyzes the motions of independent suspension systems, including Macpherson Struct type, and Double-Wishbone type, usually found in general-purpose passenger cars. The researcher first establishes the 2-D mathematical models of these two suspension systems, and calculates the camber angle and wheel center lateral displacement relative to vehicle height, wheel vertical displacement, vehicle roll, variation of linkage length and joint shift by using closure equation. Then the characteristics of different independent suspension systems are compared and the analysis results are contrasted through ADMS/CAR software. The comparisons show that there is a little difference between the results by closure equations and that by ADMS/CAR software. Therefore, before proceeding to software simulation, the researcher can analyze the motions of independent suspension systems qualitatively by using closure equations.

A method to design foot trajectory in Cartesian coordinates for a six-leg walking machine is presented in this thesis. The walking machine is based on the geometry of the darkling beetle. The walking procedure developed by Y.S. Baek is introduced first to provide step length and leg swing time for foot trajectory planning. This procedure also supplies required parameters to describe the relationship between feet and body during locomotion. The trajectory of a single foot consists of the path and its temporal attributes, that is, velocity and acceleration. Several methods and constraints for path and velocity profile design are discussed. Software developed in Microsoft Quick C is used to generate and animate on the screen a single desired foot trajectory applied to each of the six legs by combining paths and velocity profiles. The generated trajectory is converted to joint coordinates to provide necessary data for leg control. Since a single foot trajectory is applied to three pairs of legs of different design, three sets of joint coordinate sequences are produced. Furthermore, each leg consists of three segments and three joints necessitating nine control sequences altogether. Half-ellipse and trochoidal paths are interpolated with 5th and 6th order polynomials to determine minimum required joint acceleration. All paths and their first and second derivatives are required to be smooth. The effect of body pitch are also examined.
Graduation date: 1995

碩士
國立成功大學
醫學工程研究所
83
The foot and ankle joint is complex and important in human joints, so it is important toward improving research on the motion of the foot and ankle joint by restructing the accurate kinematic model of the foot and ankle. This research used two surface model: bony landmark set mosel and marker triad model. Placeing two model on foot and ankle that be assumed to three rigid body including tibial segment, hindfoot, and forefoot. Euler angle method and instant screw axis method are employed to describe the relative angular motion of foot and ankle durning stance phase in this study. The results are similar to the previous research, namely the reliability could be accepted. For ankle joint, bony landmark set model is better than marker triad model on standard deviation, but repeatability that was produced by marker triad model is better. For midtarsal joint, the bony landmark set model is better whether standard deviation or repetability. In other words, bony landmark set model could be used to research the angle motion of midtarsal joint, but marker triad could be utilized to research the angle motion of ankle joint after improving the size of marker triad.

碩士
國立成功大學
醫學工程學系
81
Clinically, more than half of the wheelchair users often suffer from shoulder pain. Because of the limited work capacity of the arms, the mechanical efficiency of the wheelchair self-propulsion is only about 10\%. Therefore, evaluating the mechanism design and the mobility of the wheelchair and the interaction between users and wheelchairs plays an important role to improve the mechanical efficiency of wheelchair propulsion. A biomechanical model is a valuable tool to determine the optimal movement pattern of propul- sion in order to avoid muscle strain resulting from abnormal range of motion of the shoulder and elbow joints. The object of this study was to establish the kinematic models of upper limbs. By image based motion analysis system, the movement pattern of the shoulder, elbow and wrist joint of nine male subjects during propelling the wheelchair on the treadmill were collected and analyzed. The results serve as the basis of the further kinetic analysis and the guide of wheelchair propul- sion for the beginners. At the same time, this study was to compare the effects of hand rim diameter on movement patterns of upper extremity in order to serve as references for wheelchair''s mechanism design. The result completely described the three-dimension kinematic character- istics and real movements of upper limbs. The range of motion of the elbow joint was proportional to the diameter of the hand rim. And some subjects had large radius deviation, which implicitly indicated that repetitive wheelchair propulsion for a long time may lead to the occurrence of carpal tunnel. From the examination of the shoulder movement, there is no obvious indication about shoulder pain. Therefore, a further study to calculate the forces and moments of the joints and muscles might be necessary.

碩士
國立臺北科技大學
車輛工程系所
100
This study analyzes the motions of independent suspension mechanism, including Double-Wishbone type and Macpherson Strut type, usually found in general-purpose passenger cars. This study builds space suspension mechanisms through kinematic analysis of vehicle suspension mechanisms including quarter-car, half-car and full-car. Kinematic analysis of suspension derivative method can be used to find the body-wheel movement relationships and the instant axis. Then the characteristics of different independent suspension systems are compared with the simulation of ADAMS/Car software. Therefore, the design parameters of vehicle suspension can be modified according to results of analysis; in addition, this study can provide a platform for vehicle dynamic analysis.

碩士
國立體育大學
運動科學研究所
97
Recently, the times of the practice of single base movement have increased during the years. Besides the advantages of high level of difficulty and speedy action, the toss movement has evolved into an important technique of single base stunts. There are three research purposes: first, to understand factors in each phase of toss movement model; second, to discuss the differences of successful and failed movements for the purpose to suggest what both coaches and players can improve in training and practicing. Two SONY HDR-HC9 cameras, along with APAS software, are used to capture and then to analyze the kinematic parameter from six excellent bases and their upper bases. The results are as follows. First, in the probationary period, “close” distance is adopted between the bases and the upper bases. Second, in the early stage of the squat period, upper bases’ slight jumping would adjust the function of the level distance and benefit the explosive force. The average angle of the depth of squat with squatting knee joints is from 35° to 69 ° if a deep squatting is performed. The upper bases’ gravity would move back earlier before he squats at the lowest level. The best time for the upper bases’ explosive force to be wielded is followed by the upper bases’ explosive force and the time had better be as short as possible. Third, in the performance of tossing, the lower bases’ gravity is kept lower than the upper bases. When the pedal period of the lower bases’ lower limbs has reached at a highest speed, the sequent movement of each joint is as followed: first from lower limbs, shoulders, and to elbows, and each joint should be fully stretched out. Fourth, in soaring period, the upper bases’ pushing gesture would help the body keep balanced. Fifth, in the sustaining period, it would be more beneficial to keep the balance to move the upper bases’ body ahead of the lower bases than to draws the upper bases backward away from the lower bases. . Sixth, the cause of error is the less height of the upper bases or the over-backward of the lower bases.

碩士
國立高雄第一科技大學
機械與自動化工程所
98
Nowadays, construction machinery manufacturers tend to use low vibration; low noise and low exhaust pollution product development. However, the efficiency of high-performance trend, the construction of the machine arm structure tends to type than today''s larger and heavier. This design policies likely lead to instability of the machine itself, and particularly in low frequency which is lower than 10 Hz to cause mechanical arms'' vibration, which to the operator and the mechanical arm is very harmful, and to the repair, they are unable to prevent and overhaul before major failure. The paper is divided into two parts, the first part will introduce and define the mechanism of excavator and driven hydraulic cylinder when excavator moves, By SolidWorks cartography software to create the simple 3D graphics, and by MSC Visual Nastran 4D (hereinafter called "MSC") analysis of the definition of point motion simulation to explore the definition of points relative to the origin of the displacement, to analyze the dynamic mainly in order to understand the mechanism of the action curve. The second part will create the dynamic equation by the simple graphic of mechanism and using Matlab software to simulate movement and displacement curves. Finally, by using the MSC and the Matlab output of the definition of the displacement curves to proceed the fitting. Base on the experimental result, the hydraulic cylinder of the output point and the front bucket of the output point, in addition to the cumulative calculation error, the others are close to zero error. By the motion diagram, to create the simple check displacement curves, to establish the overhaul and the aging components history, and to reduces the time of tradition taking apart for overhaul and the service accuracy.

碩士
國立體育學院
教練研究所
92
Kinematic analysis of male 100m sprint start Abstrat The technigues of the running start will have major influence on 100 meter running performance. Eight elite sprint runners with mean height（178cm）,weight（73kg）and age（23yrs）,were participated in the study. One Redlake high speed camera （125Hz）and Kwon 3D software were used to collect and analyze the running start data. The kinemctic variables and running performance were computed by using Pearson product correlation for（1）reaction time and 10 meter record,（2）velocity of center of gravity（CG）at front foot takeoff block and 20 meter record,（3）velocity of CG at the start of the three steps and 20 meter record, （4）stride and performance. The results indicate that the velocity of CG at start has significant correlation with 10 meter record , however the reaction time does not have significant correlation with the running start performance.

碩士
淡江大學
機械與機電工程學系碩士班
96
Moving platform’s motion constraints of the parallel manipulator CaPaMan2 are first derived in this thesis. These constraints are then used to find the manipulator’s workspace and the range of driving angles. Velocity constraints are obtained by taking the first time derivatives of the motion constraints, and constraint singularity positions may be defined as positions making Jacobian matrices in velocity constraints singular. In this study several constraint singularity positions ,as well as inverse and forward singular position, are determined.

碩士
淡江大學
機械與機電工程學系碩士班
96
In this thesis the singularity and static analysis of a 6R serial manipulator are performed. The manipulator may be used in a manufacturing process or as a leg in a biped robot. The manipulator cannot perform any further motion when it is in a singular configuration, hence such configurations should be avoided during path planning. The Jacobian matrices are derived by three different methods in this thesis. The matrix derived using screw theory has the simplest form, from which all positions causing singularity may be obtained. These positions are then substituted into another Jacobian matrix to verify results. In addition, as the manipulator is a leg of a biped robot, using a static analysis the torque on each joint is determined for a particular posture which, according to prior experimental data, would give rise to the largest torque.