Journal articles: 'Kinematic analysis'

1

Hanson, Robert B. "Statistical Analysis of Proper Motion Surveys." Symposium - International Astronomical Union 109 (1986): 43–45. http://dx.doi.org/10.1017/s0074180900076385.

Full text

Abstract:

Proper motion surveys offer a great deal of data bearing on important astronomical problems such as stellar kinematics and the luminosity function in the solar neighborhood. Major obstacles to the full use of proper motions have long been posed by: (1) incompleteness of proper motion surveys, (2) proper motion bias in kinematic studies, and (3) the indirect approaches and kinematical assumptions needed in traditional luminosity studies.

APA, Harvard, Vancouver, ISO, and other styles

2

Semenov, Denis, Vyacheslav Shlyakhtov, and Alexandr Rumyantsev. "Kinematic analysis as the basis for training strategy in gymnastics." BIO Web of Conferences 29 (2021): 01012. http://dx.doi.org/10.1051/bioconf/20212901012.

Full text

Abstract:

The kinematic analysis of gymnastic skills performance is a widely used research method in sports science. This study presents the experience of applying the method of kinematic analysis in the managing the training process of junior gymnasts on the example of mastering three basic gymnastic skills. The test group included 10 junior male gymnasts of the age 9 to 12. The subject of kinematic analysis was based on comparing gymnasts’ joint angles, angular velocity and angular acceleration parameters. The kinematics parameters of gymnastic skills performance by a highly qualified gymnast became the target model for junior gymnasts. As a result of these targets application in the training of junior gymnasts, changes in the basic skills kinematic parameters were detected. At the end of the study, the kinematics parameters of junior gymnasts became much closer to the model parameters. Thus, the effectiveness of the kinematics analysis method in the training of junior gymnasts was demonstrated.

APA, Harvard, Vancouver, ISO, and other styles

3

Schoenmakers, R. H. M. "Kinematic analysis of Sculptor Group galaxies." International Astronomical Union Colloquium 174 (2000): 54–59. http://dx.doi.org/10.1017/s0252921100054750.

Full text

Abstract:

AbstractAn analysis of the kinematics of the five major spiral galaxies in the Sculptor Group is presented. These galaxies are analyzed using the method of harmonic expansion of the velocity field as described in Schoenmakers, Franx and de Zeeuw (1997). Three different types of kinematic distortions were found: warps, lopsidedness and elongation. All the Sculptor galaxies show kinematic lopsidedness, two show signs of global elongation and two are kinematically warped. The detected kinematic distortions are well in excess of those typically found for isolated galaxies.

APA, Harvard, Vancouver, ISO, and other styles

4

Hu, Ming, and Jia Shun Shi. "The Kinematics Analysis of the 3-PTT Parallel Machine Tools." Applied Mechanics and Materials 701-702 (December 2014): 784–87. http://dx.doi.org/10.4028/www.scientific.net/amm.701-702.784.

Full text

Abstract:

This paper presents the kinematics for 3-PTT parallel machine tools, the kinematic is analytically performed, the forward and inverse position kinematic equations are explicit functions and workspace is derived and there is no singularity configuration and kinematic coupling in the whole workspace. The manipulability analytical of the parallel machine tool is investigated by the Jacobian matrix.

APA, Harvard, Vancouver, ISO, and other styles

5

Purwana, Unang, Dadi Rusdiana, and Winny Liliawati. "PENGUJIAN KEMAMPUAN MENGINTERPRETASIKAN GRAFIK KINEMATIKA CALON GURU FISIKA: THE POLYTOMOUS RASCH ANALYSIS." ORBITA: Jurnal Kajian, Inovasi dan Aplikasi Pendidikan Fisika 6, no. 2 (November 8, 2020): 259. http://dx.doi.org/10.31764/orbita.v6i2.3264.

Full text

Abstract:

ABSTRAKKemampuan interpretasi grafik merupakan kemampuan yang sangat penting dan kunci utama dalam memahami materi kinematika dan materi fisika lanjutan. Namun kemampuan interpretasi grafik materi kinematika mahasiswa calon guru masih rendah. Tujuan penelitian ini menguji kemampuan membaca dan menginterpretasikan grafik kinematika calon guru dengan analisis polytomous rasch model. Instrumen terdiri dari empat soal uraian menyajikan grafik kinematika. Tes diberikan ke 20 mahasiswa calon guru, terdiri dari 14 perempuan dan 6 laki-laki. Metode yang digunakan survei deskriptif kuantitatif dengan analisis menggunakan rasch model dengan data politomi. Hasil yang diperoleh nilai reliabilitas 0,58 kategori lemah, tingkat kesukaran untuk 3 soal dalam kategori sukar dan satu soal kategori mudah, daya pembeda berkategori sangat baik untuk seluruh soal. Kemampuan membaca dan menginterpretasikan grafik kinematika secara keseluruhan cukup baik. Kesimpulannya instrumen dan analisis yang digunakan dapat menguji kemampuan menginterpretasikan grafik kinematika calon guru. Kata kunci: interpretasi; grafik, kinematika; polytomous rasch. ABSTRACTThe ability to interpret graphs is a very important ability and the main key in understanding kinematics and advanced physics materials. However, the ability to interpret graphs of prospective teachers is still low. The purpose of this study is to test the ability to read and interpret the kinematic graphs of prospective teachers using polytomous rasch model analysis. The instrument consists of four essay questions presenting a kinematic graph. The test was given to 20 prospective teachers, consisting of 14 females and 6 males. The method used is quantitative descriptive survey with analysis using the rasch model with polytomous data. The results obtained were the reliability value of 0.58 in the weak category, the level of difficulty for 3 questions in the difficult category and one question in the easy category, the distinguishing power was very good for all the questions. The overall ability to read and interpret kinematics graphs is quite good. In conclusion, the instruments and analysis used can test the ability to interpret the prospective teacher's kinematics graph. Keywords: interpretation; graph; kinematics; polytomous.

APA, Harvard, Vancouver, ISO, and other styles

6

Yang, Qiang, Zhi Li Sun, Dong Liang Lei, and Peng Zhou. "Kinematic Reliability and Sensitivity Analysis of Delta Parallel Mechanism." Advanced Materials Research 118-120 (June 2010): 546–50. http://dx.doi.org/10.4028/www.scientific.net/amr.118-120.546.

Full text

Abstract:

Kinematic accuracy is an important index to evaluate the quality of mechanisms. Kinematic reliability is a significant standard to examine dynamic kinematic accuracy of mechanisms. Having deduced inverse kinematics and calculated model for position errors of Delta mechanism, kinematic reliability of the mechanism is calculated considering the randomness of every error components. Analytic method sensitivity analysis is adopted to describe contribution of the randomness of each error component to kinematic reliability of the mechanism, and the calculating approach is exactly given that the sensitivity analysis which is for getting the error contributions to reliability of which the position errors during movement is in the range of allowable accuracy at any time. Kinematic reliability and its sensitivity analysis can search key factor influencing kinematic accuracy, which can provide the foundation for error compensate and accuracy assurance technology of the mechanism.

APA, Harvard, Vancouver, ISO, and other styles

7

Jatsun, S. F., and Yan Naing Soe. "KINEMATIC AND JACOBIAN ANALYSIS APPROACH FOR THE FOUR-LEGGED ROBOT." Proceedings of the Southwest State University 22, no. 4 (August 28, 2018): 32–41. http://dx.doi.org/10.21869/2223-1560-2018-22-4-32-41.

Full text

Abstract:

This paper presents forward kinematics, inverse kinematics and Jacobian analysis of four-legged robot research. The kinematics analysis is the main problem of the legged robot. The four-legged robots are very complex more than wheeled robots. In this study,the four-legged robot of each leg calculates Denavit-Hartenberg (D-H) method,that is used for forward kinematics and the inverse is used the geometrical and mathematical methods.The Kinematic divided into two categories Forward Kinematic and Inverse Kinematics. The forward kinematic is calculated we knew the leg of endpoint position for the angles (θ1,θ2 and θ3 ). . Inverse kinematics is used to compute the joint angles which will achieve a desired position and orientation of the end-effector relative to the base frame. The Jacobian is one of the most important analyses for controlling smooth trajectory planning and execution in the derivation of the dynamic equation of robot motion.For calculation is used MATLAB software and robot modeling is used Simulink toolbox in MATLAB software. A program is obtained that calculate joint of angular velocity and angles to move from the desired position to target position. In this study are given different angular velocity and angle of the endpoint of the leg. The work mainly focuses on mechanical design, calculation of kinematic analysis, Jacobian function and experiment data of four-legged robots in MATLAB simulation.

APA, Harvard, Vancouver, ISO, and other styles

8

Han, Ziyong, Shihua Yuan, Xueyuan Li, and Junjie Zhou. "Enhanced closed-loop systematic kinematics analysis of wheeled mobile robots." International Journal of Advanced Robotic Systems 16, no. 4 (July 2019): 172988141986324. http://dx.doi.org/10.1177/1729881419863242.

Full text

Abstract:

The traditional homogeneous transform maintains central position in the kinematic modelling of robotics. However, for these kinematic modelling of wheeled mobile robots over uneven terrain, the homogeneous transform that represents angular velocity implicitly in the time derivative of the rotation matrix has a drawback in orientation representation. In this article, to improve the angular representation, a new general systematic method for kinematics modelling and analysis of wheeled mobile robot is proposed. The approach uses the Sheth–Uicker convention and loop-closure kinematic chains to derive the position, velocity and acceleration kinematics. The screw coordinates are used to reform the velocity kinematics to centroidal kinematics; then, the Jacobian calculation is simplified to solve the screw vector algebra equations instead of the matrix equations. Meanwhile, the linear and angular components of the centroidal kinematics are endowed with physical meanings and are easy to be selected as control variables. The approach is applied to a wheeled mobile robot, and its effectiveness is verified by the simulation results with various terrain.

APA, Harvard, Vancouver, ISO, and other styles

9

Hu, Bo, Bo Li, and He Cui. "Design and kinematics analysis of a novel serial–parallel kinematic machine." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 230, no. 18 (August 9, 2016): 3331–46. http://dx.doi.org/10.1177/0954406215624450.

Full text

Abstract:

A novel serial–parallel kinematic machine based on a serial–parallel manipulator is proposed and its kinematics and statics are studied systematically. First, the concept of serial–parallel kinematic machine formed by the 3-PRS parallel manipulator and the 2-UPR + SPR PM is proposed. Second, the displacement is derived in close form based on the geometrical and dimensional constraints existed in the serial–parallel kinematic machine. Third, the Jacobian, velocity and statics of the serial–parallel kinematic machine are derived in the explicit and compact form. Finally, the formulas for solving the acceleration of this serial–parallel kinematic machine are derived. This research will lay a good foundation for the development of the serial–parallel kinematic machine.

APA, Harvard, Vancouver, ISO, and other styles

10

Cai, Lin. "Kinematic Analysis of 5-UPS Parallel Machine Tool Based on Adams." Applied Mechanics and Materials 644-650 (September 2014): 215–19. http://dx.doi.org/10.4028/www.scientific.net/amm.644-650.215.

Full text

Abstract:

In this paper, the kinematics of 5-UPS parallel machine tool is analyzed, and a kinematic analysis method combining kinematic analysis and computer kinematics software is proposed. Under the premise that the parallel machine tool sector parameters is known, firstly we use the vector method to establish a mathematical model of inverse kinematics, and in accordance with a U-shaped processing trajectory the inverse solution is calculated; Secondly, three-dimensional model of the parallel machine tool is modeled in Adams, and kinematic constraints are set correctly; Finally, the inverse kinematics solution of the mathematical model is used as the Adams drive input, then the positive solutions is carried out. Compared through the Adams simulation results with U-machining path, it is verified that the inverse solution of the mathematical model and parallel machine tool bodies both are correct, it has certain significance for Parallel machine tools and other parallel robot kinematics analysis.

APA, Harvard, Vancouver, ISO, and other styles

11

Wang, Michael Yu, Tong Liu, and Diana M. Pelinescu. "Fixture Kinematic Analysis Based on the Full Contact Model of Rigid Bodies." Journal of Manufacturing Science and Engineering 125, no. 2 (April 15, 2003): 316–24. http://dx.doi.org/10.1115/1.1557293.

Full text

Abstract:

The conventional point-kinematic model of fixtures has only treated point geometry of the contacts between locators and workpiece. However, this model, which ignores the underlying surface properties of the locators-plus-workpiece system, is inherently incapable of capturing the effects of the geometric properties important to accurate positioning of the workpiece. In this paper, we present a fixture kinematic analysis based on the full kinematics of locator-workpiece contact. This model incorporates a “virtual” kinematic chain with meshing parameters of contact kinematics in a velocity formulation. Conditions of a deterministic fixture are derived. It is shown that the workpiece position and orientation are completely characterized by the kinematic properties of the locator contacts with the workpiece, including not only the arbitrary locator location errors but also the surface properties at nonprismatic locator-workpiece contacts. This is illustrated with numerical examples. The fixture kinematic analysis developed here has a strong implication for designing fixtures with high locating precision requirements.

APA, Harvard, Vancouver, ISO, and other styles

12

Staicu, Stefan, Zhufeng Shao, Zhaokun Zhang, Xiaoqiang Tang, and Liping Wang. "Kinematic analysis of the X4 translational–rotational parallel robot." International Journal of Advanced Robotic Systems 15, no. 5 (September 1, 2018): 172988141880384. http://dx.doi.org/10.1177/1729881418803849.

Full text

Abstract:

High-speed pick-and-place parallel manipulators have attracted considerable academic and industrial attention because of their numerous commercial applications. The X4 parallel robot was recently presented at Tsinghua University. This robot is a four-degree-of-freedom spatial parallel manipulator that consists of high-speed closed kinematic chains. Each of its limbs comprises an active pendulum and a passive parallelogram, which are connected to the end effector with other revolute joints. Kinematic issues of the X4 parallel robot, such as degree of freedom analysis, inverse kinematics, and singularity locus, are investigated in this study. Recursive matrix relations of kinematics are established, and expressions that determine the position, velocity, and acceleration of each robot element are developed. Finally, kinematic simulations of actuators and passive joints are conducted. The analysis and modeling methods illustrated in this study can be further applied to the kinematics research of other parallel mechanisms.

APA, Harvard, Vancouver, ISO, and other styles

13

Yang, Qiang, Zhi Li Sun, Yan Yan Shi, Dan Dan Jia, and Yu Tao Yan. "Kinematic Reliability Analysis of Five-Axis Machine Tool." Advanced Materials Research 308-310 (August 2011): 1292–96. http://dx.doi.org/10.4028/www.scientific.net/amr.308-310.1292.

Full text

Abstract:

Five-axis CNC machine tool is the top product of numerically controlled machine tool. Kinmatic accuracy is an important index to evaluate the quality of mechanism. Kinematic accuracy analysis of the Five-axis machine tool in previous study ignores the randomness of each input error component, so the conclusions are imprecise. Using the homogeneous transformation, inverse kinematics of VMC650 Five-axis machine tool is calculated. Based on Multi-body System Theory, error model of the machine tool is presented. Considering the randomness of every input error components, applying the Monte Carlo method, math model of kinematic reliability of the mechanism is deduced. The calculation method of kinematics reliability are put forward applying point evaluation and track evaluation. Kinematic reliability analysis provides some theoretical reference for improving the machining accuracy and operation life of machine tool.

APA, Harvard, Vancouver, ISO, and other styles

14

Müller, A. "Representation of the kinematic topology of mechanisms for kinematic analysis." Mechanical Sciences 6, no. 2 (August 12, 2015): 137–46. http://dx.doi.org/10.5194/ms-6-137-2015.

Full text

Abstract:

Abstract. The kinematic modeling of multi-loop mechanisms requires a systematic representation of the kinematic topology, i.e. the arrangement of links and joints. A linear graph, called the topological graph, is used to this end. Various forms of this graph have been introduced for application in mechanism kinematics and multibody dynamics aiming at matrix formulations of the governing equations. For the (higher-order) kinematic analysis of mechanisms a simple yet stringent representation of the topological information is often sufficient. This paper proposes a simple concept and notation for use in kinematic analysis. Upon a topological graph, an order relation of links and joints is introduced allowing for recursive computation of the mechanism configuration. An ordering is also introduced on the topologically independent fundamental cycles. The latter is indispensable for formulating generically independent loop closure constraints. These are presented for linkages with only lower pairs, as well as for mechanisms with one higher kinematic pair per fundamental cycle. The corresponding formulation is known as cut-body and cut-joint approach, respectively.

APA, Harvard, Vancouver, ISO, and other styles

15

Tian, Fang, Guang Ming Liu, and Ke Tao. "Kinematics Analysis for a PRRR Manipulator." Applied Mechanics and Materials 271-272 (December 2012): 1578–81. http://dx.doi.org/10.4028/www.scientific.net/amm.271-272.1578.

Full text

Abstract:

The PRRR manipulator of the kinematic equation transformation matrix is worked out by using D-H method, the kinematics solutions are derived ；The coordinate transform method and inverse transform method of the robot kinematics equations are derived, the inverse kinematics is derived and a example is given.

APA, Harvard, Vancouver, ISO, and other styles

16

Yang, Shuofei, and Yangmin Li. "Kinematic analysis of deployable parallel mechanisms." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 234, no. 1 (February 2, 2019): 263–72. http://dx.doi.org/10.1177/0954406218825325.

Full text

Abstract:

Inspired by the existing closed-loop deployable mechanisms and parallel mechanisms, a new kind of mechanisms, named deployable parallel mechanisms, is introduced in this paper, and the kinematic analysis is presented. As the combination of deployable mechanisms and parallel mechanisms, deployable parallel mechanisms have advantages of both the two kinds of mechanisms. They can be easily constructed by origami and folded from spatial structures into paper slices. Due to the parallel structures, they can be designed to have higher stiffness and larger volume compressibility than the existing deployable mechanisms. Thus, deployable parallel mechanisms have tremendous potential to be applied in the design of spatial solar panels, elastic reconfigurable robotic modules, etc. With reference to the kinematic analysis of parallel mechanisms, a finite and instantaneous screw method for kinematics of deployable parallel mechanisms is proposed, which is a generic method that is suitable for displacement and velocity modeling and analysis of any deployable parallel mechanism. A typical mechanism with symmetrical structure is taken as an example to show the validity of the proposed method, and simulation and experiment are carried out to verify the obtained results of kinematics. This paper puts forth the basic concepts of deployable parallel mechanisms and lays a theoretical foundation for their kinematic modeling and analysis.

APA, Harvard, Vancouver, ISO, and other styles

17

Xin, Shi Zhi, Luo Yu Feng, Hang Lu Bing, and Yang Ting Li. "A Simple Method for Inverse Kinematic Analysis of the General 6R Serial Robot." Journal of Mechanical Design 129, no. 8 (August 18, 2006): 793–98. http://dx.doi.org/10.1115/1.2735636.

Full text

Abstract:

The inverse kinematic analysis of the general 6R serial robot has been a very significant and important problem in the theory of the spatial mechanisms. Because the solution to inverse kinematics problem of the general 5R serial robot is unique and its assembly condition has been derived, a simple effective method for inverse kinematics problem of general 6R serial robot or forward kinematics problem of general 7R single-loop mechanism is presented based on a one-dimension searching algorithm. All the real solutions to inverse kinematics problems of the general 6R serial robot or forward kinematics problems of the general 7R single-loop mechanism can be obtained. The new method has the following features: (1) using one-dimension searching algorithm, all the real inverse kinematic solutions are obtained and it has higher computing efficiency; and (2) compared with the algebraic method, it has evidently reduced the difficulty of deducing formulas. The principle of the new method can be generalized to kinematic analysis of parallel mechanisms.

APA, Harvard, Vancouver, ISO, and other styles

18

Yu, Hong Jian, Bing Li, Yang Wang, and Ying Hu. "Kinematics and Dexterity Analysis for a Novel Hybrid Kinematic Machine." Key Engineering Materials 516 (June 2012): 420–25. http://dx.doi.org/10.4028/www.scientific.net/kem.516.420.

Full text

Abstract:

In this paper a novel 4 Degree-of-Freedom (DOF) parallel mechanism with the configuration of 4PUS-1RPU is applied for a 5-axis Hybrid Kinematic Machine (HKM), combined with an additional linear motion. The Parallel Kinematic Mechanism (PKM) is composed of four symmetrical driving chains and one central passive sub-chain. Firstly, the mechanism is described, and the mobility is analyzed. Then the inverse kinematics of the 4-DOF PKM and the direct kinematics for the serial central sub-chain are then presented. The dexterity and the workspace analysis for the mechanism are also carried out. Finally, machining experiment research is presented to verify the effect of the prototype. The research provides the basis for the further parametric design with consideration of kinematic and dexterity performance.

APA, Harvard, Vancouver, ISO, and other styles

19

Cui, Bing Yan, and Zhen Lin Jin. "Analysis of Workspace and Rotation Ability for a Novel Humanoid Robot Elbow Joint." Advanced Materials Research 69-70 (May 2009): 585–89. http://dx.doi.org/10.4028/www.scientific.net/amr.69-70.585.

Full text

Abstract:

The workspace and the kinematic transmission play important role on the design and optimation of the eblow joint. In this paper, a novel humanoid robot elbow joint based on 2-DOF orthogonal spherical parallel mechanism is proposed. Position of elbow joint is analyzed using the vector method and projection theory. The kinematic balance equation of the eblow joint is established by analyzing the relationship of its input and output velocity. The kinematics transmission evaluation index and the global kinematic transmission evaluation index of the elbow are defined, and the distribution of the global kinematics transmission evaluation index in the workspace is drawn. And rotation ability of the elbow joint is analyzed. The analytical results indicate the elbow has advantages of big volume, smooth boundary, good kinematic transmission, strong rotation ability, which can provide theoretical base for the applications of the elbow.

APA, Harvard, Vancouver, ISO, and other styles

20

Douadi, Lounis, Davide Spinello, Wail Gueaieb, and Hassan Sarfraz. "Planar kinematics analysis of a snake-like robot." Robotica 32, no. 5 (November 4, 2013): 659–75. http://dx.doi.org/10.1017/s026357471300091x.

Full text

Abstract:

SUMMARYThis paper presents the kinematics of a planar multibody vehicle which is aimed at the exploration, data collection, non-destructive testing and general autonomous navigation and operations in confined environments such as pipelines. The robot is made of several identical modules hinged by passive revolute joints. Every module is actuated with four active revolute joints and can be regarded as a parallel mechanism on a mobile platform. The proposed kinematics allows to overcome the nonholonomic kinematic constraint, which characterizes typical wheeled robots, resulting into a higher number of degrees of freedom and therefore augmented actuation inputs. Singularities in the kinematics of the modules are analytically identified. We present the dimensional synthesis of the length of the arms obtained as the solution of an optimization problem with respect to a suitable dexterity index. Simulation results illustrate a kinematic control path following inside pipes. Critical scenarios such as 135° elbows and concentric restriction are explored. Path following shows the kinematic capability of deployment of the robot for autonomous operations in pipelines, with feedback implemented by on-board sensors.

APA, Harvard, Vancouver, ISO, and other styles

21

Hwang, Yunn Lin, Thi Na Ta, and Cao Sang Tran. "Dynamic Analysis and Control of Hydraulic Machine System and Industrial Robotic Manipulators." Applied Mechanics and Materials 883 (July 2018): 1–7. http://dx.doi.org/10.4028/www.scientific.net/amm.883.1.

Full text

Abstract:

Dynamic control on hydraulic machine system and kinematic control on industrial robotic manipulators are two studied topics in this research. The main objective of this study is to analyze dynamic, forward kinematic and inverse kinematic on a couple of mechanical systems and hydraulic mechanical systems in order to control these machines. The characteristics of hydraulic and manipulator robot parameters are firstly calculated by using dynamic theories. In the former topic, we perform an example on CNC machine tools which is designing a hydraulic controller to move a cutting tool along a circular path. Dynamics analysis, forward kinematics and inverse kinematics of industrial robotic are archived in the latter topic. Two experiments were also performed on RRR and RRRRRR manipulators by analyzing the inverse kinematic equations to make these robots follow the desired trajectories. This study takes innovations and achieves control improvement in different systems with optimization controller or trajectory planning.

APA, Harvard, Vancouver, ISO, and other styles

22

Park, F. C., and J. W. Kim. "Singularity Analysis of Closed Kinematic Chains." Journal of Mechanical Design 121, no. 1 (March 1, 1999): 32–38. http://dx.doi.org/10.1115/1.2829426.

Full text

Abstract:

This paper presents a coordinate-invariant differential geometric analysis of kinematic singularities for closed kinematic chains containing both active and passive joints. Using the geometric framework developed in Park and Kim (1996) for closed chain manipulability analysis, we classify closed chain singularities into three basic types: (i) those corresponding to singular points of the joint configuration space (configuration space singularities), (ii) those induced by the choice of actuated joints (actuator singularities), and (iii) those configurations in which the end-effector loses one or more degrees of freedom of available motion (end-effector singularities). The proposed geometric classification provides a high-level taxonomy for mechanism singularities that is independent of the choice of local coordinates used to describe the kinematics, and includes mechanisms that have more actuators than kinematic degrees of freedom.

APA, Harvard, Vancouver, ISO, and other styles

23

Yang, Qiang, Hongkun Ma, Jiaocheng Ma, Zhili Sun, and Cuiling Li. "Sensitivity Analysis of Reliability of Low-Mobility Parallel Mechanisms Based on a Response Surface Method." Applied Sciences 11, no. 19 (September 27, 2021): 9002. http://dx.doi.org/10.3390/app11199002.

Full text

Abstract:

Kinematic accuracy is a crucial indicator for evaluating the performance of mechanisms. Low-mobility parallel mechanisms are examples of parallel robots that have been successfully employed in many industrial fields. Previous studies analyzing the kinematic accuracy analysis of parallel mechanisms typically ignore the randomness of each component of input error, leading to imprecise conclusions. In this paper, we use homogeneous transforms to develop the inverse kinematics models of an improved Delta parallel mechanism. Based on the inverse kinematics and the first-order Taylor approximation, a model is presented considering errors from the kinematic parameters describing the mechanism’s geometry, clearance errors associated with revolute joints and driving errors associated with actuators. The response surface method is employed to build an explicit limit state function for describing position errors of the end-effector in the combined direction. As a result, a mathematical model of kinematic reliability of the improved Delta mechanism is derived considering the randomness of every input error component. And then, reliability sensitivity of the improved Delta parallel mechanism is analyzed, and the influences of the randomness of each input error component on the kinematic reliability of the mechanism are quantitatively calculated. The kinematic reliability and proposed sensitivity analysis provide a theoretical reference for the synthesis and optimum design of parallel mechanisms for kinematic accuracy.

APA, Harvard, Vancouver, ISO, and other styles

24

Li, Ya Li, and Min Zhou. "Sensitivity Analysis of Rockfall Kinematic Parameters in Expressway." Advanced Materials Research 243-249 (May 2011): 3263–67. http://dx.doi.org/10.4028/www.scientific.net/amr.243-249.3263.

Full text

Abstract:

The rockfall trajectories are affected by many kinematic parameters. So it is very necessary to exactly analyze the sensitivity of rockfall kinematic parameters to the control indices for design of protective structures. In this paper, the kinematics combined with the orthogonal test is adopted to analyze the sensitivity of rockfall kinematic parameters. Taking the rockfall hazard near the DK27+120 section of the jing-ying expressway in china for example, three control indices are taken as the testing indices, and five kinematic parameters are taken as the testing factors. The orthogonal test table is used to design twenty-five kinds of schemes, and the numerical simulation tests of rockfall trajectories are carried out. The range analysis are performed to study the sensitivity of rockfall kinematic parameters, and then the main parameters influencing the control indices for design of protective structures are obtained, which provides scientific basis for the rockfall prevention in jing-ying expressway.

APA, Harvard, Vancouver, ISO, and other styles

25

Li, Bin Cheng, Dan Yang, and Rong Zhi Lu. "Kinematics Analysis and Control System Design of 6-DOF Parallel Kinematic Machine with Matlab and EMC2." Advanced Materials Research 102-104 (March 2010): 363–67. http://dx.doi.org/10.4028/www.scientific.net/amr.102-104.363.

Full text

Abstract:

This paper obtained the inverse kinematics model through performing kinematic analysis of 6-DOF parallel kinematic machine (PKM) via the MATLAB software. On the basis of that, kinematics inverse module in EMC2(Enhanced Machine Controller) is recompiled and verified through CNC machining simulation, which set up an important foundation for later prototype construction and motor output control.

APA, Harvard, Vancouver, ISO, and other styles

26

Tian, Yingzhong, Mingxuan Luan, Xu Gao, Wenbin Wang, and Long Li. "Kinematic Analysis of Continuum Robot Consisted of Driven Flexible Rods." Mathematical Problems in Engineering 2016 (2016): 1–7. http://dx.doi.org/10.1155/2016/6984194.

Full text

Abstract:

This paper presents the kinematic analysis of a continuum bionic robot with three flexible actuation rods. Since the motion of the end-effector is actuated by the deformation of the rods, the robot structure is with high elasticity and good compliance and the kinematic analysis of the robot requires special treatment. We propose a kinematic model based on the geometry with constant curvature. The analysis consists of two independent mappings: a general mapping for the kinematics of all robots and a specific mapping for this kind of robots. Both of those mappings are developed for the single section and for the multisections. We aim at providing a guide for kinematic analysis of the similar manipulators through this paper.

APA, Harvard, Vancouver, ISO, and other styles

27

Kazerounian, Kazem, Khalid Latif, Kimberly Rodriguez, and Carlos Alvarado. "Nano-Kinematics for Analysis Of Protein Molecules." Journal of Mechanical Design 127, no. 4 (August 5, 2004): 699–711. http://dx.doi.org/10.1115/1.1867956.

Full text

Abstract:

Proteins are evolution’s mechanisms of choice. The study of nano-mechanical systems must encompass an understanding of the geometry and conformation of protein molecules. Proteins are open or closed loop kinematic chains of miniature rigid bodies connected by revolute joints. The Kinematics community is in a unique position to extend the boundaries of knowledge in nano biomechanical systems. In this work, we have presented a comprehensive methodology for kinematics notation and direct kinematics for protein molecules. These methods utilize the zero-position analysis method and draws upon other recent advances in robot manipulation theories. The procedures involved in finding the coordinates of every atom in the protein chain as a function of the dihedral and Rotamer angles are computationally the most efficient formulation developed to date. The notation and the methodologies of this paper are incorporated in the computer software package PROTOFOLD and will be made available to individuals interested in using it. PROTOFOLD is a software package that implements novel and comprehensive methodologies for ab initio prediction of the final three-dimensional conformation of a protein, given only its linear structure. In addition to the new kinematics methodologies mentioned above, we have also included all the basic kinematic parameter values that are needed in any kinematic analysis involving proteins. While these values are based on a body of knowledge recorded in the protein data bank, they are presented in a form conducive to kinematics.

APA, Harvard, Vancouver, ISO, and other styles

28

Zhang, Rui Jun, Qing Xuan Jia, Liu Meng, and Ji Wei Qiu. "Sensitivity Analysis and Numerical Simulation of the Planar Mechanism Kinematic Accuracy." Advanced Materials Research 605-607 (December 2012): 1460–64. http://dx.doi.org/10.4028/www.scientific.net/amr.605-607.1460.

Full text

Abstract:

A kind of accuracy sensitivity analysis and numerical simulation method about the mechanism kinematic is proposed for the purpose of getting the reliability sensitivity of the planar mechanism. Combining with the reliability sensitivity analysis method and the computer simulation technology, this method is on the basis of the research of the kinematics equations and the mechanism kinematic accuracy model. Taking the kinematic accuracy sensitivity analysis of the planar four-bar mechanism as an example, the results verify the effectiveness and feasibility of the method.

APA, Harvard, Vancouver, ISO, and other styles

29

Zhao, Yong Guo, Yong Fei Xiao, and Tie Chen. "Kinematics Analysis for a 4-DOF Palletizing Robot Manipulator." Applied Mechanics and Materials 313-314 (March 2013): 937–40. http://dx.doi.org/10.4028/www.scientific.net/amm.313-314.937.

Full text

Abstract:

In order to meet theneeds of high-speedpalletizing inlogistics automation industry, a 4 d4-DOF palletizingrobot manipulatorwas designed. Inthis paper,focusing on kinematic analysis, forward kinematics modeland inverse kinematics were introduced in detail.

APA, Harvard, Vancouver, ISO, and other styles

30

Gatti, Gianluca, Domenico Mundo, and Guido Danieli. "KINEMATIC ANALYSIS AND PERFORMANCE EVALUATION OF 6R INSTRUMENTED SPATIAL LINKAGES." Transactions of the Canadian Society for Mechanical Engineering 34, no. 1 (March 2010): 57–73. http://dx.doi.org/10.1139/tcsme-2010-0004.

Full text

Abstract:

Six-degree-of-freedom instrumented spatial linkages are often used to measure anatomical joint motion for clinical studies or research applications in biomechanics. Their appropriate design is a fundamental issue to allow for accurate measurements and ease of application, and this mainly relies on addressing the kinematic analysis of the linkage. The aim of this paper is to integrate and extend past literature in the field by giving a generalized set of guidelines and ready-to-use mathematical relationships to approach the whole kinematic analysis of a general instrumented spatial linkage in a systematic way. The direct kinematics is formulated using common robotics formulation and, with reference to a specific linkage architecture, a geometrical approach is proposed to solve for the inverse kinematics in closed-form. Kinematic error analysis is addressed in a generalized way by using differential transformation theory, and it is then applied to the specific case under study. By the proper definition of a virtual joint, the inverse kinematics is used to estimate the static performance of the linkage over its specific task space.

APA, Harvard, Vancouver, ISO, and other styles

31

Smith, Andrew W. "A Biomechanical Analysis of Amputee Athlete Gait." International Journal of Sport Biomechanics 6, no. 3 (August 1990): 262–82. http://dx.doi.org/10.1123/ijsb.6.3.262.

Full text

Abstract:

The aims of the present study were to quantify lower limb kinetics and kinematics during walking and slow jogging of below-knee amputee athletes and to demonstrate the usefulness of the additional information provided by kinetic analyses as compared to that of kinematic assessments alone. Kinematic and force platform data from three amputee subjects were collected while the subjects walked and jogged in the laboratory. Results indicated that neither prosthesis (SACH and an energy-storing carbon fiber or ESCF) emulated the kinetics or the kinematics of so-called normal gait during walking. While the knee joint on the prosthetic side clearly tended to be biased toward extension during stance, the knee flexors were dominant and acted concentrically during this phase of the gait cycle. An examination of prosthetic limb hip and knee joint kinetics at both cadences revealed the functional role played by the hamstrings early in stance. The results indicated that with increasing cadence, less variability, measured by coefficients of variation, was evident in the kinematic data while the opposite was true for the kinetics.

APA, Harvard, Vancouver, ISO, and other styles

32

Tsai, Lung-Wen, and Sameer Joshi. "Kinematic Analysis of 3-DOF Position Mechanisms for Use in Hybrid Kinematic Machines." Journal of Mechanical Design 124, no. 2 (May 16, 2002): 245–53. http://dx.doi.org/10.1115/1.1468860.

Full text

Abstract:

This paper introduces a new kinematic architecture called the hybrid kinematic machine. A hybrid kinematic machine typically consists of a position mechanism and an orientation mechanism that can be arranged in series or in parallel to achieve the notion of modular and reconfigurable machining centers. To demonstrate the concept, four parallel manipulators with translational motion characteristics have been identified. The kinematics of these mechanisms are described. Then, the well-conditioned workspace of each mechanism is maximized, and the stiffness properties are mapped. A comparison of the workspace volume and stiffness properties of these four mechanisms indicates that the 3-RUU manipulator appears to be the best design among the four architectures.

APA, Harvard, Vancouver, ISO, and other styles

33

Asif, Seemal, and Philip Webb. "Kinematics Analysis of 6-DoF Articulated Robot with Spherical Wrist." Mathematical Problems in Engineering 2021 (February 2, 2021): 1–11. http://dx.doi.org/10.1155/2021/6647035.

Full text

Abstract:

The aim of the paper is to study the kinematics of the manipulator. The articulated robot with a spherical wrist has been used for this purpose. The Comau NM45 Manipulator has been chosen for the kinematic model study. The manipulator contains six revolution joints. Pieper’s approach has been employed to study the kinematics (inverse) of the robot manipulator. Using this approach, the inverse kinematic problem is divided into two small less complex problems. This reduces the time of analysing the manipulator kinematically. The forward and inverse kinematics has been performed, and mathematical solutions are detailed based on D-H (Denavit–Hartenberg) parameters. The kinematics solution has been verified by solving the manipulator’s motion. It has been observed that the model is accurate as the motion trajectory was smoothly followed by the manipulator.

APA, Harvard, Vancouver, ISO, and other styles

34

Joskowicz, Leo, Elisha Sacks, and Vijay Srinivasan. "Kinematic tolerance analysis." Computer-Aided Design 29, no. 2 (February 1997): 147–57. http://dx.doi.org/10.1016/s0010-4485(96)00043-7.

Full text

APA, Harvard, Vancouver, ISO, and other styles

35

Mezghani, Neila, Rayan Soltana, Youssef Ouakrim, Alix Cagnin, Alexandre Fuentes, Nicola Hagemeister, and Pascal-André Vendittoli. "Healthy Knee Kinematic Phenotypes Identification Based on a Clustering Data Analysis." Applied Sciences 11, no. 24 (December 17, 2021): 12054. http://dx.doi.org/10.3390/app112412054.

Full text

Abstract:

The purpose of this study is to identify healthy phenotypes in knee kinematics based on clustering data analysis. Our analysis uses the 3D knee kinematics curves, namely, flexion/extension, abduction/adduction, and tibial internal/external rotation, measured via a KneeKG™ system during a gait task. We investigated two data representation approaches that are based on the joint analysis of the three dimensions. The first is a global approach that is considered a concatenation of the kinematic data without any dimensionality reduction. The second is a local approach that is considered a set of 69 biomechanical parameters of interest extracted from the 3D kinematic curves. The data representations are followed by a clustering process, based on the BIRCH (balanced iterative reducing and clustering using hierarchies) discriminant model, to separate 3D knee kinematics into homogeneous groups or clusters. Phenotypes were obtained by averaging those groups. We validated the clusters using inter-cluster correlation and statistical hypothesis tests. The simulation results showed that the global approach is more efficient, and it allows the identification of three descriptive 3D kinematic phenotypes within a healthy knee population.

APA, Harvard, Vancouver, ISO, and other styles

36

Zhao, Jing-Shan, Xiao-Cheng Sun, and Song-Tao Wei. "Kinematics and Dynamics Analysis of a 3UPS-UPU-S Parallel Mechanism." Machines 11, no. 8 (August 18, 2023): 840. http://dx.doi.org/10.3390/machines11080840.

Full text

Abstract:

In this paper, a two-rotational degrees of freedom parallel mechanism with five kinematic subchains (3UPS-UPU-S) (U, P, and S stand for universal joints, prismatic joints, and spherical joints) for an aerospace product is introduced, and its kinematic and dynamic characteristics are subsequently analyzed. The kinematic and dynamic analyses of this mechanism are carried out in screw coordinates. Firstly, the inverse kinematics is performed through the kinematic equations established by the velocity screws of each joint to obtain the position, posture, and velocity of each joint within the mechanism. Then, a dynamic modeling method with screw theory for multi-body systems is proposed. In this method, the momentum screws are established by the momentum and moment of momentum according to the fundamentals of screws. By using the kinematic parameters of joints, the dynamic analysis can be carried out through the dynamic equations formed by momentum screws and force screws. This method unifies the kinematic and dynamic analyses by expressing all parameters in screw form. The approach can be employed in the development of computational dynamics because of its simplified and straightforward analysis procedure and its high adaptability for different kinds of multi-body systems.

APA, Harvard, Vancouver, ISO, and other styles

37

Wang, Chong, Dongxue Liu, Qun Sun, and Tong Wang. "Analysis of Open Architecture 6R Robot Forward and Inverse Kinematics Adaptive to Structural Variations." Mathematical Problems in Engineering 2021 (March 15, 2021): 1–11. http://dx.doi.org/10.1155/2021/4516109.

Full text

Abstract:

This paper presents a kinematic analysis for an open architecture 6R robot controller, which is designed to control robots made by domestic manufactures with structural variations. Usually, robot kinematic studies are often introduced for specific robot types, and therefore, difficult to apply the kinematic model from one to another robot. This study incorporates most of the robot structural variations in one model so that it is convenient to switch robot types by modifying model parameters. By combining an adequate set of parameters, the kinematic models, especially the inverse kinematics, are derived. The kinematic models are proved to be suitable for many classic industrial robot types, such as Puma560, ABB IRB120/1600, KAWASAKI RS003N/RS010N, FANUC M6iB/M10iA, and therefore be applicable to those with similar structures. The analysis and derivation of the forward and inverse kinematic models are presented, and the results are proven to be accurate.

APA, Harvard, Vancouver, ISO, and other styles

38

Bai, Hai Ying, Chun Yan Fu, and Xiu Zhi Zhang. "Kinematics Analysis of Heavy Dump Truck Lifting Mechanism." Advanced Materials Research 472-475 (February 2012): 2245–50. http://dx.doi.org/10.4028/www.scientific.net/amr.472-475.2245.

Full text

Abstract:

The kinematic characteristics and work principle of dump truck lifting mechanism are very complex. In this paper kinematics analysis with complex vector method is used. By this method the angle motion characteristics of components are obtained, the main parameters are calculated and the center of mass is determined when dumping granular materials. Through kinematic analysis, this paper provides a theoretical basis for reliability and stability of lifting mechanism and improves the design of heavy dump truck.

APA, Harvard, Vancouver, ISO, and other styles

39

Ashe, William B., Sarah E. Innis, Julia N. Shanno, Camille J. Hochheimer, Ronald D. Williams, Sarah J. Ratcliffe, J. Randall Moorman, and Shrirang M. Gadrey. "Analysis of respiratory kinematics: a method to characterize breaths from motion signals." Physiological Measurement 43, no. 1 (January 28, 2022): 015007. http://dx.doi.org/10.1088/1361-6579/ac4d1a.

Full text

Abstract:

Abstract Objective. Breathing motion (respiratory kinematics) can be characterized by the interval and depth of each breath, and by magnitude-synchrony relationships between locations. Such characteristics and their breath-by-breath variability might be useful indicators of respiratory health. To enable breath-by-breath characterization of respiratory kinematics, we developed a method to detect breaths using motion sensors. Approach. In 34 volunteers who underwent maximal exercise testing, we used 8 motion sensors to record upper rib, lower rib and abdominal kinematics at 3 exercise stages (rest, lactate threshold and exhaustion). We recorded volumetric air flow signals using clinical exercise laboratory equipment and synchronized them with kinematic signals. Using instantaneous phase landmarks from the analytic representation of kinematic and flow signals, we identified individual breaths and derived respiratory rate (RR) signals at 1 Hz. To evaluate the fidelity of kinematics-derived RR, we calculated bias, limits of agreement, and cross-correlation coefficients (CCC) relative to flow-derived RR. To identify coupling between kinematics and flow, we calculated the Shannon entropy of the relative frequency with which flow landmarks were distributed over the phase of the kinematic cycle. Main Results. We found good agreement in the kinematics-derived and flow-derived RR signals [bias (95% limit of agreement) = 0.1 (± 7) breaths/minute; CCC median (IQR) = 0.80 (0.48–0.91)]. In individual signals, kinematics and flow were well-coupled (entropy 0.9–1.4 across sensors), but the relationship varied within (by exercise stage) and between individuals. The final result was that the flow landmarks did not consistently localize to any particular phase of the kinematic signals (entropy 2.2–3.0 across sensors). Significance. The Analysis of Respiratory Kinematics method can yield highly resolved respiratory rate signals by separating individual breaths. This method will facilitate characterization of clinically significant breathing motion patterns on a breath-by-breath basis. The relationship between respiratory kinematics and flow is much more complex than expected, varying between and within individuals.

APA, Harvard, Vancouver, ISO, and other styles

40

Shi, Xiaohua, Yu Guo, Xuechan Chen, Ziming Chen, and Zhiwei Yang. "Kinematics and Singularity Analysis of a 7-DOF Redundant Manipulator." Sensors 21, no. 21 (October 31, 2021): 7257. http://dx.doi.org/10.3390/s21217257.

Full text

Abstract:

A new method of kinematic analysis and singularity analysis is proposed for a 7-DOF redundant manipulator with three consecutive parallel axes. First, the redundancy angle is described according to the self-motion characteristics of the manipulator, the position and orientation of the end-effector are separated, and the inverse kinematics of this manipulator is analyzed by geometric methods with the redundancy angle as a constraint. Then, the Jacobian matrix is established to derive the conditions for the kinematic singularities of the robotic arm by using the primitive matrix method and the block matrix method. Then, the kinematic singularities conditions in the joint space are mapped to the Cartesian space, and the singular configuration is described using the end poses and redundancy angles of the robotic arm, and a singularity avoidance method based on the redundancy angles and end pose is proposed. Finally, the correctness and feasibility of the inverse kinematics algorithm and the singularity avoidance method are verified by simulation examples.

APA, Harvard, Vancouver, ISO, and other styles

41

Xin, Hong Bing, Qiang Huang, and Yue Qing Yu. "Structural Analysis of Mechanism with Compound Hinges in Ordinal Single Opened Chain Theory." Advanced Materials Research 418-420 (December 2011): 2050–54. http://dx.doi.org/10.4028/www.scientific.net/amr.418-420.2050.

Full text

Abstract:

The coupling degree and structure factor of mechanism are the important parameters for the research of principle of mechanism structure, kinematics and dynamics in the ordinal single opened chain method, This article presents the algorithm of coupling degree for the kinematic chain with compound hinges on the basis of that for the kinematic chain without compound hinges and the dual-color topology graph, through which the mechanism with compound hinges can be decomposed into basic kinematic chains, the correctness of the algorithm has been verified by the practical example.

APA, Harvard, Vancouver, ISO, and other styles

42

Gaeid, Khalaf S., Asaad F. Nashee, Ibrahim A. Ahmed, and Mohammed H. Dekheel. "Robot control and kinematic analysis with 6DoF manipulator using direct kinematic method." Bulletin of Electrical Engineering and Informatics 10, no. 1 (February 1, 2021): 70–78. http://dx.doi.org/10.11591/eei.v10i1.2482.

Full text

Abstract:

The robots pay important role in all parts of our life. Hence, the modeling of the robot is essential to develop the performance specification. Robot model of six degree of freedom (6DoF) manipulator implemented numerically using model-based technique. The kinematic analysis and simulation were studied with Inverse kinematics of the robot manipulator through Denevit and Hartenberg method. Matrix transformation method is used in this work in order to separate joint variables from kinematic equations. The finding of the desired configuration is obtained precisely in all motion trajectory along the end-effector path. MATLAB/SIMULINK with R2018b is used for the implementation of the model-based robot system. Simulation results showed that the robot rinks follow their references smoothly and precisely and ensure the effectiveness of direct kinematic algorithm in the analysis and control of the robotic field.

APA, Harvard, Vancouver, ISO, and other styles

43

Kim, S. Y., J. Y. Kim, K. Hayashi, and A. S. Kapatkin. "Skin movement during the kinematic analysis of the canine pelvic limb." Veterinary and Comparative Orthopaedics and Traumatology 24, no. 05 (2011): 326–32. http://dx.doi.org/10.3415/vcot-10-08-0123.

Full text

Abstract:

Summary Objectives: To determine whether the canine pelvic limb can be considered a linkage of rigid bodies during kinematic analysis. Methods: The lengths of the femur and tibia based on skin markers were examined throughout gait cycles in six dogs trotting on a treadmill at 2 m/sec. The angular kinematics of the hip, stifle and tarsal joints were calculated based on a conventional stifle marker (CSM) and computed virtual stifle positions (VSP). Based on the CSM and VSP, the kinematic data from the joints were compared and the agreement among them determined. The difference between the CSM and VSP coordinates were illustrated. Result: The femoral and tibial lengths based on skin markers were not constant throughout a gait cycle and the lengths changed in repeatable patterns in each dog. There was close agreement between the joint angles based on the CSM and VSP in the tarsal joint but not in the hip and stifle joints, where the kinematics based on the CSM tended to calculate smaller angular excursion than the kinematics based on VSP. The pattern of displacement of the CSM was repeatable through a gait cycle. Clinical relevance: There was skin movement which causes considerable artifact during kinematic analysis of the canine pelvic limb. The skin movement has to be accounted for during canine kinematic analysis.The current study was presented at Veterinary Orthopedic Society Conference, Steamboat Springs, CO, USA, February 28 - March 7, 2009.

APA, Harvard, Vancouver, ISO, and other styles

44

Kim, Doik, and Wan Kyun Chung. "Kinematic Condition Analysis of Three-DOF Pure Translational Parallel Manipulators." Journal of Mechanical Design 125, no. 2 (June 1, 2003): 323–31. http://dx.doi.org/10.1115/1.1564573.

Full text

Abstract:

Several 3-DOF pure translational parallel manipulators have been reported recently. However, kinematic conditions of such translational parallel manipulators have not been studied deeply. Most previously reported translational parallel manipulators were analyzed by considering constraints on the motion of an independent leg. In addition to the constraints of independent legs, the effect of the constraints on an overall mechanism are analyzed in this paper. The overall kinematic constraints are explained by introducing the restriction of motion, which is a constraint that prohibits a manipulator from moving in a certain region or direction, instantaneously. By introducing it, kinematic constraints can be embedded explicitly in the formulation of rate kinematics, and by analyzing it, constraints for a desired motion can be found. This paper derives constraints for pure translational motion in a systematic way. Necessary and sufficient conditions are suggested and several translational parallel manipulators with their kinematic features are provided.

APA, Harvard, Vancouver, ISO, and other styles

45

Carlos Sergio Pivetta, Fernando De Azevedo Silva, and José Elias Tomazini. "Mechanisms kinematic analysis by geometric and computational approach." World Journal of Advanced Engineering Technology and Sciences 6, no. 2 (July 30, 2022): 026–37. http://dx.doi.org/10.30574/wjaets.2022.6.2.0077.

Full text

Abstract:

The kinematics of a four-bar mechanism and others extern elements using one developed method is investigated. The basic four bar mechanism is coupled with a sliding element in a straight line and another sliding element guided by a straight line coupled to a rotating connection. The positions, speeds and accelerations are investigated in the full possible cycle. The PC and the Excel spreadsheet are used for the kinematic solution and simulation of the mechanical system. The kinematic analysis is performed considering specified the initial and end angular positions of the input bar, with an established angular increment. The method used allowed to verify the kinematic of the mechanism with precision and also the working simulation and the visualization, making it a viable alternative and allowing the information of the results.

APA, Harvard, Vancouver, ISO, and other styles

46

Hong, Lin. "Analysis on Kinematic Characteristics Relevant to Three-R Bar Group." Applied Mechanics and Materials 63-64 (June 2011): 115–18. http://dx.doi.org/10.4028/www.scientific.net/amm.63-64.115.

Full text

Abstract:

Three R bar group as a typical mechanism of a linkage is studied. Analysis method is based on the theory of kinematics and the method of mathematics. After deriving of relevant kinematic equations, detail analysis about positions, velocities, accelerations, and angles, angular velocities, angular accelerations of bars as well as other kinematics parameters of three R bar group to be searched can be obtained in the paper. Relationships between known and unknown parameters of three R bar group have been determined according to different working states of three R bar group. The method presented in the paper provides a feasible and more efficient method for the analysis of kinematic characteristics of plane linkages.

APA, Harvard, Vancouver, ISO, and other styles

47

Hroncová, Darina, Ingrid Delyová, Peter Sivák, and Vojtech Neumann. "THE DESIGN OF MOVEMENT OF THE ROBOT MODEL IN STRUCTURED ENVIRONMENT USING MSC ADAMS." Acta Mechatronica 6, no. 1 (March 31, 2021): 1–5. http://dx.doi.org/10.22306/am.v6i1.72.

Full text

Abstract:

In this work, the issue of kinematic analysis of the open kinematic chain of an industrial robot is discussed. The aim of the work lies in the kinematic analysis of the robot and the display of kinematic quantities in the work process. Transformation matrices of coordinate systems of individual members are determined for the solution by the matrix method. The direct method of kinematics using the MSC Adams View program is solved. The result is a graphical representation of the kinematic variables of the mechanical system of the end point of the effector and trajectory when moving in its working space.

APA, Harvard, Vancouver, ISO, and other styles

48

di Biase, Lazzaro, Luigi Raiano, Maria Letizia Caminiti, Pasquale Maria Pecoraro, and Vincenzo Di Lazzaro. "Parkinson’s Disease Wearable Gait Analysis: Kinematic and Dynamic Markers for Diagnosis." Sensors 22, no. 22 (November 13, 2022): 8773. http://dx.doi.org/10.3390/s22228773.

Full text

Abstract:

Introduction: Gait features differ between Parkinson’s disease (PD) and healthy subjects (HS). Kinematic alterations of gait include reduced gait speed, swing time, and stride length between PD patients and HS. Stride time and swing time variability are increased in PD patients with respect to HS. Additionally, dynamic parameters of asymmetry of gait are significantly different among the two groups. The aim of the present study is to evaluate which kind of gait analysis (dynamic or kinematic) is more informative to discriminate PD and HS gait features. Methods: In the present study, we analyzed gait dynamic and kinematic features of 108 PD patients and 88 HS from four cohorts of two datasets. Results: Kinematic features showed statistically significant differences among PD patients and HS for gait speed and time Up and Go test and for selected kinematic dispersion indices (standard deviation and interquartile range of swing, stance, and double support time). Dynamic features did not show any statistically significant difference between PD patients and HS. Discussion: Despite kinematics features like acceleration being directly proportional to dynamic features like ground reaction force, the results of this study showed the so-called force/rhythm dichotomy since kinematic features were more informative than dynamic ones.

APA, Harvard, Vancouver, ISO, and other styles

49

Saprykina, N. A., A. V. Proskokov, and A. A. Saprykin. "KINEMATIC AND DYNAMIC ANALYSIS OF A LINEAR DELTA ROBOT." Spravochnik. Inzhenernyi zhurnal, no. 278 (May 2020): 27–32. http://dx.doi.org/10.14489/hb.2020.05.pp.027-032.

Full text

Abstract:

Mechanisms with parallel kinematics are the subject of many theoretical and applied research problems. The article proposes a design of a linear 3D printer with Delta kinematics. A structural analysis of the mechanism is carried out, and a method for determining kinematic and dynamic characteristics that affect the spatial synthesis of parallel robots is given. This work will help engineers or researchers to choose the geometric parameters of the printer to perform the required tasks.

APA, Harvard, Vancouver, ISO, and other styles

50

Saprykina, N. A., A. V. Proskokov, and A. A. Saprykin. "KINEMATIC AND DYNAMIC ANALYSIS OF A LINEAR DELTA ROBOT." Spravochnik. Inzhenernyi zhurnal, no. 278 (May 2020): 27–32. http://dx.doi.org/10.14489/hb.2020.05.pp.027-032.

Full text

Abstract:

Mechanisms with parallel kinematics are the subject of many theoretical and applied research problems. The article proposes a design of a linear 3D printer with Delta kinematics. A structural analysis of the mechanism is carried out, and a method for determining kinematic and dynamic characteristics that affect the spatial synthesis of parallel robots is given. This work will help engineers or researchers to choose the geometric parameters of the printer to perform the required tasks.

APA, Harvard, Vancouver, ISO, and other styles

Journal articles on the topic 'Kinematic analysis'

Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles