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Journal articles on the topic 'Kinematic synthesis'

Author: Grafiati

Published: 4 June 2021

Last updated: 25 July 2025

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1

James, P. A., and B. Roth. "A Unified Theory for Kinematic Synthesis." Journal of Mechanical Design 116, no. 1 (1994): 144–54. http://dx.doi.org/10.1115/1.2919338.

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In this paper we derive an analytic method for obtaining infinitesimal kinematic synthesis results as a limiting process from finitely-separated position kinematics. Expanding on previous work, we extend the unified theory to include spatial kinematic synthesis and we present a new numerical method. The new methods serve to unity finite, infinitesimal, and hybrid kinematic synthesis into one theory for kinematic synthesis.

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James, P. A., and B. Roth. "A Unified Theory for Finite, Infinitesimal, and Hybrid Kinematic Synthesis." Journal of Mechanical Design 115, no. 3 (1993): 552–59. http://dx.doi.org/10.1115/1.2919225.

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In this paper we derive an analytic method for obtaining infinitesimal kinematic synthesis results as a limiting process from finitely separated position kinematics. New relationships are introduced and a new numerical method is presented. Within the scope of linear, analytic theories, the loci associated with infinitesimal position theory and the loci associated with hybrid finite-infinitesimal position theory are shown to always be limiting cases of the corresponding finite theory. These new methods serve to unify finite, infinitesimal, and hybrid kinematic synthesis theories.

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Migrov, Aleksandr, and Ekaterina Oparina. "Analysis and Synthesis of Windshield Wiper Mechanism." Bulletin of scientific research results 2025, no. 2 (2025): 93–106. https://doi.org/10.20295/2223-9987-2025-2-93-106.

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Purpose: To perform a structural and kinematic analysis of a six-link windshield wiper mechanism based on the synthesis of the mechanism using the specified initial and final positions of the output link, to specify the mechanism links’ dimensions. Methods: The present paper is an examination of extant publications concerning the methods of synthesis, kinematics and dynamics of windshield wiper mechanisms. The analysis of existing mechanism designs was performed and their classification presented. A standard windshield wiper mechanism diagram was selected for analysis. A kinematic analysis of

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4

Chakarov, D., K. Kostadinov, D. Gotseva, and T. Tiankov. "Web-Based Synthesis of Robot Structures for Micro and Nano Manipulations." Solid State Phenomena 147-149 (January 2009): 25–30. http://dx.doi.org/10.4028/www.scientific.net/ssp.147-149.25.

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This paper describes how the web technologies are utilized for a robot system synthesis. A web application is created for automation of the synthesis of closed structures for micro- and nano-applications, utilizing the advantages tense piezo-actuators and closed robot kinematical structures. The algorithm, integrated into the developed web based application, offers a synthesis of robot kinematic chains without extensive knowledge in this domain. The aim is to facilitate synthesis of such kind of kinematic chains from specialists who will generate optimal solutions for automation and robotisati

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Толстошеев, Андрей, Andrey Tolstosheev, Вячеслав Татаринцев, and Vyacheslav Tatarincev. "STRUCTURAL SYNTHESIS OF SELF-ALIGNING GEARS OF INDUSTRIAL ROBOTS WITH PARALLEL KINEMATICS." Bulletin of Bryansk state technical university 2019, no. 4 (2019): 4–13. http://dx.doi.org/10.30987/article_5cb58f4ed2c444.85435034.

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The aim of this work is an analysis of excess ties in handler closed kinematics and development of the structural synthesis procedure for self-aligning gears of industrial robots with parallel kinematics. The design of a structure flowchart of a gear without excess ties in the procedure offered is carried out by means of prototype mechanism updating and includes the following stages: the reveal and analysis of excess ties, excess ties elimination, correctness checkup of excess ties elimination. For the excess ties analysis and solution check-up a structural analysis is carried out. At that a h

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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 (2021): 9002. http://dx.doi.org/10.3390/app11199002.

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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,

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Timofeev, G. A., I. Z. Kataev, and D. M. Samsonenko. "Research of the Rhombic Mechanism Kinematics." Proceedings of Higher Educational Institutions. Маchine Building, no. 4 (733) (April 2021): 12–17. http://dx.doi.org/10.18698/0536-1044-2021-4-12-17.

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Designing modern mechanisms and machines is a very complex and iterative process. One of its first stages is the kinematic analysis of mechanisms followed by structural, dynamic, kinetostatic, etc. The scheme of an asymmetric rhombic mechanism with a developed drive arm of the working group is investigated. The kinematics of the characteristic links points of this mechanism is considered: their kinematic pairs and centers of mass. The kinematics of points and links of this mechanism is considered. The main dependencies for determining the analogs of the velocities and accelerations of points a

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Staretu, Ionel. "The Structure, Work Space and Direct Kinematic of the Robots with 8 Axes of Type T Normal R Parallel (PM)(OM)." Applied Mechanics and Materials 658 (October 2014): 718–23. http://dx.doi.org/10.4028/www.scientific.net/amm.658.718.

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The paper presents first structural synthesis aspects of serial redundant open kinematic chains for industrial robots. These chains are obtained from 3-axis positioning kinematic chains that create non-degenerate workspaces plus first a rotation or translation coupling in parallel or perpendicular position, obtaining structures with 7-axis, to which by adding in the same way one more rotation or translation coupling structures with 8 axes are obtained. Below we present the direct kinematics analysis for this kinematic chain using the homogeneous operators’ method. This method is based on the u

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Tuleshov, Amandyk, Recep Halicioglu, Azhar Shadymanova, and Moldir Kuatova. "Kinematic synthesis method and eccentricity effects of a Stephenson mechanism." Mechanical Sciences 12, no. 1 (2021): 1–8. http://dx.doi.org/10.5194/ms-12-1-2021.

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Abstract. When implementing the technological process on crank presses, it is necessary to provide a predetermined working cycle of the slider motion: fast lifting, dwell, and slow lowering. The cycle cannot be realized without controlling the motor. In addition, using controllable motors increases the manufacturing cost. Due to the geometric and kinematic capabilities of the mechanism, changing the kinematics of the working link is the best choice. Thanks to the use of the Stephenson II mechanism, the slider skew is eliminated due to the parallel connecting rods and the increased area of slid

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Yuan, Ying Chao, and Yu Zhang. "Building of Fine-Tuning Mechanism Posture and Kinematics Model for Shield Segment Erector." Advanced Materials Research 634-638 (January 2013): 3737–40. http://dx.doi.org/10.4028/www.scientific.net/amr.634-638.3737.

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The fine-tuning posture 3-SPS-1-S-type mechanism’s kinematics model and position mechanism for segment erector is built by creating general stiffness motion and revolution motion’s posture parameterized representations based on the Lie groupoids theory’s kinematic synthesis, the duality between parallel mechanism structure and performance and PRY angle coordination system’s kinematics analysis.

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Zhumadil, Baigunchekov, Mustafa Azamat, Sobh Tarek, Patel Sarosh, and Utenov Muratulla. "A ROBOMECH CLASS PARALLEL MANIPULATOR WITH THREE DEGREES OF FREEDOM." Eastern-European Journal of Enterprise Technologies 3, no. 7 (105) (2020): 44–56. https://doi.org/10.15587/1729-4061.2020.203131.

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This paper presents the methods of structural-parametric synthesis and kinematic analysis of a parallel manipulator with three degrees of freedom working in a cylindrical coordinate system. This parallel manipulator belongs to a RoboMech class because it works under the set laws of motions of the end-effector and actuators, which simplifies the control system and improves its dynamics. Parallel manipulators of a RoboMech class work with certain structural schemes and geometrical parameters of their links. The considered parallel manipulator is formed by connecting the output point to a base us

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Tultayev, Baurzhan, Gani Balbayev, Algazy Zhauyt, Aidos Sultan, and Aigerim Mussina. "Kinematic Synthesis of Mechanism for System with a Technical Vision." MATEC Web of Conferences 237 (2018): 03009. http://dx.doi.org/10.1051/matecconf/201823703009.

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A solution to the problem of synthesizing an initial three-dimensional kinematic chain with spherical and rotary kinematic pairs is presented. It is shown that this chain can be used as a structural module for structural-kinematic synthesis of three-dimensional four-link motion generating lever mechanisms by the preset positions of the in-and output links. This paper affects the actual today’s problem of optimal synthesis of spatial link mechanisms. In this regard, the task of developing methods for the synthesis of complex spatial link mechanisms with the desired laws of motion of the input a

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13

Hsieh, Wen Hsiang, and Chia Heng Tsai. "Kinematic Study on a New Coil Winder of RSPC Type." Advanced Materials Research 156-157 (October 2010): 1488–91. http://dx.doi.org/10.4028/www.scientific.net/amr.156-157.1488.

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The objective of this paper aims at investigating the feasibility of new coil winders with a spatial RSPC mechanism by conducting kinematic simulation. First, the design requirements and design constraints are specified based on the kinematics characteristic of coil winders. Then, the (4, 4) kinematic chains are obtained by number synthesis, and the atlas of feasible chains is generated. After that, the atlas of specialized feasible chains is found. Finally, new designs are obtained through the particularization process. In addition, an illustrated example of the RSPC mechanismselected from th

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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.

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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.

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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.

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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.

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

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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 num

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Veiga, Santiago, Jorge Lorenzo, Alfonso Trinidad, Robin Pla, Andrea Fallas-Campos, and Alfonso de la Rubia. "Kinematic Analysis of the Underwater Undulatory Swimming Cycle: A Systematic and Synthetic Review." International Journal of Environmental Research and Public Health 19, no. 19 (2022): 12196. http://dx.doi.org/10.3390/ijerph191912196.

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The increase of low-cost technology for underwater filming has made quantitative analysis an affordable resource for swimming coaches on a frequent basis. In this context, a synthesis of the kinematic determinants of underwater undulatory swimming (UUS) seems to be lacking. The aim of the present study was to synthesise the scientific evidence on the kinematic characteristics of competitive swimmers during UUS and the main kinematic determinants of UUS performance, as well as to summarise the main methodological considerations for UUS kinematic analysis. A systematic literature search was perf

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18

Tian, Chunxu, Dan Zhang, and Jian Liu. "A novel class of generalized parallel manipulators with high rotational capability." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 234, no. 23 (2020): 4599–619. http://dx.doi.org/10.1177/0954406220925836.

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A conventional parallel manipulator is characterized by connecting one moving platform with two or more serial kinematic limbs. Since each limb is independently supporting one moving platform, the moving platform must be a rigid body with several kinematic pairs fixed on it. However, for generalized parallel manipulators with articulated moving platforms, the moving platforms are not limited to rigid bodies but including serial kinematic chains or internal kinematic joints. The introduction of articulated moving platforms allows for improving the kinematic performance of generalized parallel m

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19

Chen, Jinxi, Jiejin Ding, Weiwei Hong, and Rongjiang Cui. "Structural synthesis of plane kinematic chain inversions without detecting isomorphism." Mechanical Sciences 12, no. 2 (2021): 1061–71. http://dx.doi.org/10.5194/ms-12-1061-2021.

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Abstract. A plane kinematic chain inversion refers to a plane kinematic chain with one link fixed (assigned as the ground link). In the creative design of mechanisms, it is important to select proper ground links. The structural synthesis of plane kinematic chain inversions is helpful for improving the efficiency of mechanism design. However, the existing structural synthesis methods involve isomorphism detection, which is cumbersome. This paper proposes a simple and efficient structural synthesis method for plane kinematic chain inversions without detecting isomorphism. The fifth power of the

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20

Jenison, Rick L., and Robert A. Lutfi. "Kinematic synthesis of auditory motion." Journal of the Acoustical Society of America 92, no. 4 (1992): 2458–59. http://dx.doi.org/10.1121/1.404502.

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21

Simo-Serra, Edgar, and Alba Perez-Gracia. "Kinematic synthesis using tree topologies." Mechanism and Machine Theory 72 (February 2014): 94–113. http://dx.doi.org/10.1016/j.mechmachtheory.2013.10.004.

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22

Lipson, Hod. "Evolutionary synthesis of kinematic mechanisms." Artificial Intelligence for Engineering Design, Analysis and Manufacturing 22, no. 3 (2008): 195–205. http://dx.doi.org/10.1017/s0890060408000139.

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AbstractThis paper discusses the application of genetic programming to the synthesis of compound two-dimensional kinematic mechanisms, and benchmarks the results against one of the classical kinematic challenges of 19th century mechanical design. Considerations for selecting a representation for mechanism design are presented, and a number of human-competitive inventions are shown.

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Subramanian, Devika, and Cheuk-San (Edward) Wang. "Kinematic synthesis with configuration spaces." Research in Engineering Design 7, no. 3 (1995): 193–213. http://dx.doi.org/10.1007/bf01638099.

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Delyová, Ingrid, Darina Hroncová, Peter Frankovský, Peter Sivák, Ján Kostka, and Vojtech Neumann. "Application of direct and inverse kinematics and dynamics in motion planning of manipulator links." International Journal of Applied Mechanics and Engineering 28, no. 3 (2023): 53–64. http://dx.doi.org/10.59441/ijame/169515.

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For the synthesis of manipulators and robots, an accurate analysis of the movements of the individual links is essential. This thesis deals with motion planning of the effector of a multi-linked manipulator. An important topic in this area is the orientation and position of links and kinematic pairs in space. In particular, attention should be paid to the position of their endpoint as well as other significant points. Trajectory planning allows the manipulator to perform complex tasks, such as picking and placing objects or following a particular path in space. Overall, trajectory planning of

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McCarthy, J. M., and B. Ravani. "Differential Kinematics of Spherical and Spatial Motions Using Kinematic Mapping." Journal of Applied Mechanics 53, no. 1 (1986): 15–22. http://dx.doi.org/10.1115/1.3171705.

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This paper develops the basic framework for studying differential kinematics of spherical and spatial motions using a mapping of spatial kinematics. Relationships are derived relating the intrinsic properties of the image curves corresponding to a mapping of spherical and spatial kinematics and the instantaneous invariants of the corresponding spherical and spatial motions. In addition, in the case of spherical motions, the equations for the inflection cone and cubic cone of stationary geodesic curvature, important in spherical mechanism synthesis, are derived in terms of the curvature and tor

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Chu, Jinkui, and Yanhuo Zou. "An algorithm for structural synthesis of planar simple and multiple joint kinematic chains." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 228, no. 12 (2013): 2178–92. http://dx.doi.org/10.1177/0954406213516306.

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Structural synthesis of kinematic chains is one of the most creative and important stages in mechanical design. It provides a number of optional structure types when new mechanisms are created. In this paper, a new algorithm for structural synthesis of planar simple and multiple joint kinematic chains has been proposed by subsequently adding single-kinematic-chain method. By this algorithm, the structure of multiple joint kinematic chains with specified degree-of-freedom, the number of links, and total multiple joint factors P can be synthesized in batch. When P = 0, the structure of simple jo

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Schappler, Moritz. "Dimensional Synthesis of Parallel Robots Using Bilevel Optimization for Design Optimization and Resolution of Functional Redundancy." Robotics 14, no. 3 (2025): 29. https://doi.org/10.3390/robotics14030029.

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Parallel-kinematic machines or parallel robots have only been established in a few applications where their advantage over serial kinematics due to their high payload capacity, stiffness, or dynamics with their limited workspace-to-installation-space ratio pays out. However, some applications still have not yet been sufficiently or satisfactorily automated in which parallel robots could be advantageous. As their performance is much more dependent on their complex dimensioning, an automated design tool—not existing yet—is required to optimize the parameterization of parallel robots for applicat

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Alsubaie, Amal M., Masood Mazaheri, Eduardo Martinez-Valdes, and Deborah Falla. "Is movement variability altered in people with chronic non-specific low back pain? A systematic review." PLOS ONE 18, no. 6 (2023): e0287029. http://dx.doi.org/10.1371/journal.pone.0287029.

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Background Variability in spine kinematics is a common motor adaptation to pain, which has been measured in various ways. However, it remains unclear whether low back pain (LBP) is typically characterised by increased, decreased or unchanged kinematic variability. Therefore, the aim of this review was to synthesise the evidence on whether the amount and structure of spine kinematic variability is altered in people with chronic non-specific LBP (CNSLBP). Methods Electronic databases, grey literature, and key journals were searched from inception up to August 2022, following a published and regi

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Moon, Francis C. "Franz Reuleaux: Contributions to 19th century kinematics and theory of machines." Applied Mechanics Reviews 56, no. 2 (2003): 261–85. http://dx.doi.org/10.1115/1.1523427.

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This review surveys late 19th century kinematics and the theory of machines as seen through the contributions of the German engineering scientist, Franz Reuleaux (1829–1905), often called the “Father of Kinematics.” Extremely famous in his time and one of the first honorary members of ASME, Reuleaux was largely forgotten in much of modern mechanics literature in English until the recent rediscovery of some of his work. In addition to his contributions to kinematics, we review Reuleaux’s ideas about design synthesis, optimization and aesthetics in design, and in engineering education, as well a

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Liu, A. X., and T. L. Yang. "Finding All Solutions to Unconstrained Nonlinear Optimization for Approximate Synthesis of Planar Linkages Using Continuation Method." Journal of Mechanical Design 121, no. 3 (1999): 368–74. http://dx.doi.org/10.1115/1.2829469.

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Generally, approximate kinematic synthesis of planar linkage is studied using optimization method. But this method has two defects: i) the suitable initial guesses are hard to determine and ii) the global optimum solution is difficult to find. In this paper, a new method which can find all solutions to approximate kinematic synthesis of planar linkage is proposed. Firstly, we reduce the approximate synthesis problem to finding all solutions to polynomial equations. Polynomial continuation method is then used to find all solutions. Finally, all possible linkages can be obtained. Approximate syn

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Jin, Zhe, and Q. J. Ge. "Computer Aided Synthesis of Piecewise Rational Motions for Planar 2R and 3R Robot Arms." Journal of Mechanical Design 129, no. 10 (2006): 1031–36. http://dx.doi.org/10.1115/1.2756082.

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This paper deals with the problem of synthesizing piecewise rational motions of an object that satisfies kinematic constraints imposed by a planar robot arm with revolute joints. This paper brings together the kinematics of planar robot arms and the recently developed freeform rational motions to study the problem of synthesizing constrained rational motions for Cartesian motion planning. Through the use of planar quaternions, it is shown that for the case of a planar 2R arm, the problem of rational motion synthesis can be reduced to that of circular interpolations in two separate planes and t

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Hsieh, Wen Hsiang, and Chih Yang Tseng. "Structural Synthesis of Spatial 4-Link Mechanisms for Coil Winding." Applied Mechanics and Materials 423-426 (September 2013): 1809–12. http://dx.doi.org/10.4028/www.scientific.net/amm.423-426.1809.

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The purpose of this paper aims at performing the structural synthesis for coil winders of the spatial 4-link type, therefore the atlas of new designs can be obtained. First, the design requirements and design constraints are specified based on the kinematics characteristic of coil winders. Then, the (4, 4) kinematic chains are obtained by number synthesis, and the atlas of feasible chains is generated. After that, the atlas of specialized feasible chains is found. Finally, all new designs are obtained through the particularization process, and two new design are found in this study.

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Bamdad, Mahdi, and M. Mehdi Bahri. "Kinematics and Manipulability Analysis of a Highly Articulated Soft Robotic Manipulator." Robotica 37, no. 5 (2019): 868–82. http://dx.doi.org/10.1017/s0263574718001376.

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SummaryRecently, the idea of applying “jamming” of appropriate media has been exploited for a novel continuum robot design. It is completed by applying vacuum in a robot structure filled with granular media. The backbone deformation and motion are achieved by controlling the fluid pressure. A jammable robotic manipulator does not certainly follow constant curvature during bending, that is, gravitational loads cause section sag. The kinematics describes the deformation of continuum manipulators. This formulation is expected to facilitate additional synthesis and analysis on workspace. This pape

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Shi, Hong, Wei Nan Li, and Ning Zhu. "Kinematic and Workspace Simulation of Flexible Assembly Tooling for Aero-Engine." Applied Mechanics and Materials 385-386 (August 2013): 212–15. http://dx.doi.org/10.4028/www.scientific.net/amm.385-386.212.

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This article, combining the robot theory, applies the serial parallel manipulator to the configuration to design a flexible assembly tooling, which is used for aero-engines of different types and models. First, the inverse kinematics solution and workspace are analyzed, then a model in Adams is built to simulate the kinematic characteristics. Finally, the simulation result is used to contrast with the theoretical calculation to verify the correctness, and to solve forward kinematics. This work has outstanding theoretical and practical significance for assembly accuracy improvement, optimizing

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Alizade, Rasim, Suleyman Soltanov, and Abusalat Hamidov. "Structural Synthesis of Lower-Class Robot Manipulators with General Constraint One." Robotics 10, no. 1 (2021): 14. http://dx.doi.org/10.3390/robotics10010014.

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In this research, the structural synthesis of lower-class robot manipulators with general constraint one is investigated. The number of constraints d = 1 and the mobility number λ = 5 for sphere–sphere and sphere–plane combinations of higher kinematic pairs are investigated by using the analytical approach. Structural synthesis of new first- and second-class robot manipulators is investigated by using transformations of higher kinematic pairs to lower kinematic pairs. Therefore, using this approach, we obtain structural groups with general constraint one. Further, kinematic structures and phys

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Sun, Wei, Jianyi Kong, and Liangbo Sun. "A joint–joint matrix representation of planar kinematic chains with multiple joints and isomorphism identification." Advances in Mechanical Engineering 10, no. 6 (2018): 168781401877840. http://dx.doi.org/10.1177/1687814018778404.

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The synthesis of the kinematic chain needs to obtain the information of the kinematic chain accurately and comprehensively. Isomorphism identification is an essential step in kinematic chain synthesis. In this article, a novel isomorphism determination method of planar kinematic chains with multiple joints based on joint–joint matrix description was proposed. First, a joint–joint matrix is presented to describe the kinematic chain, which can uniquely represent the kinematic chain structure. Then links and joints information were extracted from the matrix. And the link code and joint code were

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Abadjieva, Emilia. "Kinematic Theory of Spatial Rack Drives." Applied Mechanics and Materials 851 (August 2016): 265–72. http://dx.doi.org/10.4028/www.scientific.net/amm.851.265.

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On the basis of performed vector analysis of spatial motion transformation of type rotation into translation is created a kinematic theory of this transformation type. Using the kinematic theory the basic kinematic-geometric characteristics of spatial rack mechanisms, applicable to their analysis and synthesis are initiated. These characteristics: kinematic cylinder of level, kinematic relative helicoids, and kinematic pitch surfaces are elements of kinematic geometry of the spatial rack drives

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Kinzel, Edward C., James P. Schmiedeler, and Gordon R. Pennock. "Kinematic Synthesis for Finitely Separated Positions Using Geometric Constraint Programming." Journal of Mechanical Design 128, no. 5 (2005): 1070–79. http://dx.doi.org/10.1115/1.2216735.

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This paper presents an original approach to the kinematic synthesis of planar mechanisms for finitely separated positions. The technique, referred to here as geometric constraint programming, uses the sketching mode of commercial parametric computer-aided design software to create kinematic diagrams. The elements of these diagrams are parametrically related so that when a parameter is changed, the design is modified automatically. Geometric constraints are imposed graphically through a well-designed user interface, and numerical solvers integrated into the software solve the relevant systems o

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KHARZHEVSKYI, VIACHESLAV, MAKSYM MARCHENKO, VITALII TKACHUK, and OLEH BEREZIUK. "SYNTHESIS OF ADJUSTABLE MECHANISM OF SEWING MACHINE AND ITS KINEMATIC ANALYSIS USING SOLIDWORKS." Herald of Khmelnytskyi National University. Technical sciences 329, no. 6 (2023): 380–85. http://dx.doi.org/10.31891/2307-5732-2023-329-6-380-385.

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The paper is dedicated to the task of optimal design of eight-linked linkage mechanism of the chain stitch sewing machine, for which it is necessary to solve the problem of the adjustable stroke of the needle. The algorithm and corresponding formulas for conducting a kinematic study of the specified mechanism are presented in the article that allows conducting the optimization design using different criteria. The results of calculations using kinematic research formulas are already given, that made it possible to determine the optimal limits of the needle stroke. The conducted research also to

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Pozhbelko, V. I., and E. N. Kuts. "Structural Synthesis of a Family of Planar 8-Link Kinematic Chains for Linkages with Multiple Joints and the Most Complex Ternary Link." Proceedings of Higher Educational Institutions. Маchine Building, no. 01 (718) (January 2020): 21–31. http://dx.doi.org/10.18698/0536-1044-2020-1-21-31.

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Structural synthesis of closed kinematic chains to create various mechanisms is the first and most difficult stage of creative design of complex machines due to the large variance of possible structural solutions. In this paper, the authors examine the problem of structural synthesis of a family of eight-link kinematic chains with multiple joints of various types and the most complex three-joint link in order to create multi-loop multiple-joint mechanisms with one degree of freedom. To solve this problem, a synthesis technique is proposed based on the search for all integer solutions of a gene

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Nurakhmetov, Baurzhan, Kuanyshbek Sartayev, and Zhanat Myrzageldiyeva. "Direct and inverse kinematic problems of tripod-type parallel manipulator." Mechanics 25, no. 5 (2019): 391–96. http://dx.doi.org/10.5755/j01.mech.25.5.19523.

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The purpose of the work is to study the structural features of the tripod-type parallel manipulator as well as to solve direct and inverse kinematic problems for such a manipulator. The developed algorithms and computer-generated programs for synthesis and analysis of the tripod-type parallel manipulator are useful for designing spatial mechanisms with parallel kinematics with many degrees of freedom, with an arbitrary number of edges and an arbitrary arrangement of segments with different kinematic pairs that can be used in many ways. For example, the foregoing can be used in machine processi

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Hu, X. Y., F. L. Mao, and K. Hu. "Synthesis and Analysis of 3-CPC Space Mobile Parallel Mechanism." Journal of Physics: Conference Series 2890, no. 1 (2024): 012069. http://dx.doi.org/10.1088/1742-6596/2890/1/012069.

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Abstract The degree of freedom of 3-CPC space mobile parallel mechanism is calculated according to the screw theory, and the kinematics model of 3-CPC space mobile parallel mechanism is established by coordinate transformation method. By analyzing the forward and inverse kinematics, the Jacobian matrix 3-CPC space mobile parallel mechanism is derived. The workspace is obtained, and the kinematics performance is simulated. The results show that the forward and inverse kinematics of 3-CPC space mobile parallel mechanism is simple to solve, the workspace is large, and the mechanism has good kinem

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Wang, Hui, Wen Li, Haitao Liu, Jianxin Zhang, and Songtao Liu. "Conceptual design and dimensional synthesis of a novel parallel mechanism for lower-limb rehabilitation." Robotica 37, no. 3 (2018): 469–80. http://dx.doi.org/10.1017/s0263574718001121.

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SUMMARYThis paper introduces a novel 2R1T parallel manipulator redundantly actuated by pneumatic muscles for lower-limb rehabilitation. First, the conceptual design of the proposed 3-DOF parallel mechanism is presented. Then, the inverse kinematics and the generalized Jacobian analysis are carried out. Based on the generalized Jacobian and the constraint characteristics of the mechanism, the force/motion transmissibility of the redundantly actuated parallel mechanism is investigatedviafour individual cases without actuation redundancy, leading to a suitable local transmission index for the eva

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Iandiorio, Christian, and Pietro Salvini. "Elasto-Kinematics and Instantaneous Invariants of Compliant Mechanisms Based on Flexure Hinges." Micromachines 14, no. 4 (2023): 783. http://dx.doi.org/10.3390/mi14040783.

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The kinematic synthesis of compliant mechanisms based on flexure hinges is not an easy task. A commonly used method is the equivalent rigid model, which involves replacing the flexure hinges with rigid bars connected with lumped hinges using the already known methods of synthesis. This way, albeit simpler, hides some interesting issues. This paper addresses the elasto-kinematics and instantaneous invariants of flexure hinges with a direct approach, making use of a nonlinear model to predict their behaviour. The differential equations that govern the nonlinear geometric response are given in a

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Luca, Liliana, Iulian Popescu, Mirela Cherciu, Stefan Ghimisi, Marius Liviu Cirtina, and Minodora Maria Pasare. "Synthesis of Two New Mechanisms Which Generate a Highly Aesthetic Design Image—The Flower of Life." Applied Sciences 10, no. 5 (2020): 1670. http://dx.doi.org/10.3390/app10051670.

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(1) Background: The objective of this study was to develop the field of mechanisms that generate aesthetic curves, as they can be useful in designing machines for the manufacture of highly beautiful products. We started from the image of the Flower of Life and we set out to build mechanisms in the field of mechanical engineering that can generate this image. (2) Methods: First, we studied in detail the geometry of the figure. Secondly, based on the mathematical considerations, we made the synthesis of a mechanism able to trace this image, based on the Geneva mechanism with intermittent movemen

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Robson, Nina, and Shramana Ghosh. "Geometric design of planar mechanisms based on virtual guides for manipulation." Robotica 34, no. 12 (2015): 2653–68. http://dx.doi.org/10.1017/s0263574715000272.

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SUMMARYThis paper presents recent results and applications of our planar kinematic synthesis of serial and parallel linkages to guide a rigid body, such that it does not violate normal direction and curvature constraints imposed by contact with objects in the environment. The paper briefly reviews the recently developed theory on transforming contact direction and curvature constraints into conditions on velocity and acceleration of certain points in the moving body to obtain synthesis equations which can, subsequently be solved to find the dimensions of a mechanical linkage. The main contribu

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Gong, Chaohui, Matthew J. Travers, Henry C. Astley, et al. "Kinematic gait synthesis for snake robots." International Journal of Robotics Research 35, no. 1-3 (2015): 100–113. http://dx.doi.org/10.1177/0278364915593793.

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Tso, Pei-Lum. "The Kinematic Synthesis of Toggle Clamps." Journal of Manufacturing Science and Engineering 120, no. 3 (1998): 648–55. http://dx.doi.org/10.1115/1.2830170.

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The toggle clamp is one of the most common forms of clamps used throughout industry. They are commercially available in different types and models satisfying almost all ordinary fixture clamping requirements. Based on the theorem of implicit function system existence and the concept of solution plane, computers have been employed to generate planar four-bar mechanisms for three position function generation problem at the toggle positions. A quadratic equation which defines the locus can be plotted in the plane of solutions which have toggle at first, second, or third positions. Additionally th

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Yao, Jin, and Jorge Angeles. "THE KINEMATIC SYNTHESIS OF STEERING MECHANISMS." Transactions of the Canadian Society for Mechanical Engineering 24, no. 3-4 (2000): 453–76. http://dx.doi.org/10.1139/tcsme-2000-0035.

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We propose a computational-kinematics approach based on elimination procedures to synthesize a steering four-bar linkage. In this regard, we aim at minimizing the root-mean square error of the synthesized linkage in meeting the steering condition over a number of linkage configurations within the linkage range of motion. A minimization problem is thus formulated, whose normality conditions lead to two polynomial equations in two unknown design variables. Upon eliminating one of these two variables, a monovariate polynomial equation is obtained, whose roots yield all locally-optimum linkages. F

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Kyung, Min-Ho, and Elisha Sacks. "Parameter synthesis of higher kinematic pairs." Computer-Aided Design 35, no. 6 (2003): 567–75. http://dx.doi.org/10.1016/s0010-4485(02)00079-9.

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