Relevant bibliographies by topics / Kinematics analysis

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Kinematics analysis'

Author: Grafiati
Published: 4 June 2021
Last updated: 1 February 2022

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Journal articles on the topic "Kinematics analysis"

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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.

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

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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.
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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.

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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.
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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.

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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.
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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.

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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.
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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.

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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.
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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.

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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.
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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.

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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.
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Cheng, Xiang Li, Yi Qi Zhou, Cui Peng Zuo, and Xiao Hua Fan. "Kinematical Analysis and Simulation of Upper Limb Rehabilitation Robot." Key Engineering Materials 474-476 (April 2011): 1315–20. http://dx.doi.org/10.4028/www.scientific.net/kem.474-476.1315.

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To assist stroke patients with rehabilitation training, an upper limb rehabilitation robot with an exoskeleton structure and three degrees of freedom (DOF) was developed in this paper. Under the guidance of the theory of rehabilitation medicine, the mechanical design of the robot was completed. Then, the kinematics equations were established by means of homogeneous transformation, including the forward kinematics and the inverse kinematics. The kinematical analysis was carried out and the algebraic solution of inverse kinematics was derived, which provided a theoretical basis for realizing the intelligent control. To validate the performance, the kinematical simulation was conducted, and the simulation results showed that the design of the exoskeleton robot was feasible.
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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.

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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.
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Dissertations / Theses on the topic "Kinematics analysis"

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Kozubík, Jiří. "Experimentální robotizované pracoviště s delta-robotem." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2011. http://www.nusl.cz/ntk/nusl-229633.

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This diploma thesis was written within Czech-German study programme Production systems (VUT v Brně & TU Chemnitz). This thesis is divided into four main parts. In the first part is brought out the introduction to design of robotic cells. Following part is concentrated on analysis of present state in area of machines with parallel kinematics. The penultimate part, on which is focused the main attention, is dedicated to kinematic analysis of delta-robot. Closing part of this Thesis presents the study of experimental robotized workplace with integrated delta-robot.
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Ren, Ping. "Kinematics Analysis of Two Parallel Locomotion Mechanisms." Diss., Virginia Tech, 2010. http://hdl.handle.net/10919/28909.

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This dissertation presents the kinematics study on two cases of parallel locomotion mechanisms. A parallel locomotion mechanism can be defined as â a mechanism with parallel configuration and discrete contact with respect to the ground which renders a platform the ability to moveâ . The first case is a tripedal robot and the second case is an actuated spoke wheel robot. The kinematics study on these two mobile robots mainly includes mobility, inverse and forward kinematics, instantaneous kinematics, singularity and so on. The tripedal robot STriDER (Self-excited Tripedal Dynamic Experimental Robot) is expected to walk utilizing its built-in passive dynamics, but in its triple stance phase, the kinematic configuration of the robot behaves like an in-parallel manipulator. The locomotion of this novel walking robot and its unique tripedal gait are discussed, followed by the definitions of its coordinate frames. Geometric methods are adopted for the forward and inverse displacement analysis in its triple stance phase. Simulations are presented to validate both the inverse and the forward displacement solutions. The instantaneous kinematics and singularity analysis are developed respectively. Based on the screw theory, the Jacobian matrices are assembled. Using Grassmann Line Geometry, each row of the Jacobian matrices is interpreted as a line in 3D space and the analytical conditions of the linear dependency cases are identified, which corresponds to the forward singular configurations of the robot. The actuated spoke wheel robot IMPASS (Intelligent Mobility Platform with Active Spoke System) is investigated as the second case. It is revealed that this robot has multiple modes of locomotion on the ground and it is able to change its topology by changing the contact scheme of its spokes with the ground. This robot is treated as a mechanism with variable topologies and Modified Grübler-Kutzbach criterion and Grassmann Line Geometry are adopted to identify the degrees of freedom (DOF) for each case of its topological structures. The characteristic DOF are then verified through the testing on the robot prototype. The forward and inverse kinematics is investigated for two cases of its topologies. In order to improve the computation efficiency of the inverse kinematics formulation, virtual serial manipulator models are constructed. The effectiveness of the virtual serial manipulator models has been validated with numerical simulations. In conclusion, kinematics analyses have been successfully performed on the two parallel locomotion mechanisms. The results are utilized to control the robotsâ motions in specific configurations. The foundation has been laid for the future development of the robot prototypes and the future research on dynamics, control, intelligence and so on.
Ph. D.
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Farkhondeh, Biabnavi Shahrbanoo. "A Kinematics Based Tolerance Analysis of Mechanisms." Cleveland State University / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=csu1211142984.

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Petrou, Georgios. "Kinematics of cricket phonotaxis." Thesis, University of Edinburgh, 2012. http://hdl.handle.net/1842/7944.

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Male crickets produce a species specific song to attract females which in response move towards the sound source. This behaviour, termed phonotaxis, has been the subject of many morphological, neurophysiological and behavioural studies making it one of the most well studied examples of acoustic communication in the animal kingdom. Despite this fact, the precise leg movements during this behaviour is unknown. This is of specific interest as the cricket’s ears are located on their front legs, meaning that the perception of the sound input might change as the insect moves. This dissertation describes a methodology and an analysis that fills this knowledge gap. I developed a semi-automated tracking system for insect motion based on commercially available high-speed video cameras and freely available software. I used it to collect detailed three dimensional kinematic information from female crickets performing free walking phonotaxis towards a calling song stimulus. I marked the insect’s joints with small dots of paint and recorded the movements from underneath with a pair of cameras following the insect as it walks on the transparent floor of an arena. Tracking is done offline, utilizing a kinematic model to constrain the processing. I obtained, for the first time, the positions and angles of all joints of all legs and six additional body joints, synchronised with stance-swing transitions and the sound pattern, at a 300 Hz frame rate. I then analysed this data based on four categories: The single leg motion analysis revealed the importance of the thoraco-coxal (ThC) and body joints in the movement of the insect. Furthermore the inside middle leg’s tibio-tarsal (TiTa) joint was the centre of the rotation during turning. Certain joints appear to be the most crucial ones for the transition from straight walking to turning. The leg coordination analysis revealed the patterns followed during straight walking and turning. Furthermore, some leg combinations cannot be explained by current coordination rules. The angles relative to the active speaker revealed the deviation of the crickets as they followed a meandering course towards it. The estimation of ears’ input revealed the differences between the two sides as the insect performed phonotaxis by using a simple algorithm. In general, the results reveal both similarities and differences with other cricket studies and other insects such as cockroaches and stick insects. The work presented herein advances the current knowledge on cricket phonotactic behaviour and will be used in the further development of models of neural control of phonotaxis.
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Bulca, Ferhan. "The kinematics and workspace analysis of platform mechanisms /." Thesis, McGill University, 1998. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=34706.

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This thesis concerns parallel, platform mechanisms, consisting of two distal links that are connected to each other by a set of open kinematic chains, called legs. Particularly, mechanisms with redundant loops, kinematically quite challenging, are investigated. Existing methods of analysis and their shortcomings are outlined and alternatives which help to overcome them are developed.
Definitions and analyses of platform mechanisms, mobility and degree-of-freedom are reviewed. Kinematic analysis and workspace determination of platform mechanisms are thoroughly investigated.
An algebraic method, based on the functional matrix of mechanisms, as defined by Freudenstein, is applied to determine their degree of freedom (DOF). It is shown with examples that this method unambiguously yields the DOF for mechanisms where other methods fail.
The effects of extra legs, and hence, redundant loops, are discussed. The statics, differential and positional kinematics of these mechanisms are investigated. Kinematic-mapping techniques are used to analyze the constraints applied by individual legs to the platform. Current methods of workspace analysis of platform mechanisms are reviewed. A novel technique, which contains both position and orientation information, is introduced. It is shown that this method successfully treats platform mechanisms, with or without redundant loops. However, it may be computationally expensive for some mechanisms, such as spherical wrist mechanisms. An alternative technique, based on the Euler-Rodrigues parameters of a rotation, is also introduced for spherical mechanisms, of both serial and platform types.
The features of some of the methods introduced here are applied to a novel mechanism introduced elsewhere, namely, the double-tetrahedral mechanism (DTM), which it is a paradigm of closed-loop mechanisms with redundant loops.
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Bulca, Ferhan. "The kinematics and workspace analysis of platform mechanisms." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape11/PQDD_0006/NQ44374.pdf.

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Rojas, Nicolàs. "Distance-based formulations for the position analysis of kinematic chains." Doctoral thesis, Universitat Politècnica de Catalunya, 2012. http://hdl.handle.net/10803/83516.

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This thesis addresses the kinematic analysis of mechanisms, in particular, the position analysis of kinematic chains, or linkages, that is, mechanisms with rigid bodies (links) interconnected by kinematic pairs (joints). This problem, of completely geometrical nature, consists in finding the feasible assembly modes that a kinematic chain can adopt. An assembly mode is a possible relative transformation between the links of a kinematic chain. When an assignment of positions and orientations is made for all links with respect to a given reference frame, an assembly mode is called a configuration. The methods reported in the literature for solving the position analysis of kinematic chains can be classified as graphical, analytical, or numerical. The graphical approaches are mostly geometrical and designed to solve particular problems. The analytical and numerical methods deal, in general, with kinematic chains of any topology and translate the original geometric problem into a system of kinematic analysis of all the Assur kinematic chains resulting from replacing some of its revolute joints by slider joints. Thus, it is concluded that the polynomials of all fully-parallel planar robots can be derived directly from that of the widely known 3-RPR robot. In addition to these results, this thesis also presents an efficient procedure, based on distance and oriented area constraints, and geometrical arguments, to trace coupler curves of pin-jointed Gr¨ubler kinematic chains. All these techniques and results together are contributions to theoretical kinematics of mechanisms, robot kinematics, and distance plane geometry. equations that defines the location of each link based, mainly, on independent loop equations. In the analytical approaches, the system of kinematic equations is reduced to a polynomial, known as the characteristic polynomial of the linkage, using different elimination methods —e.g., Gr¨obner bases or resultant techniques. In the numerical approaches, the system of kinematic equations is solved using, for instance, polynomial continuation or interval-based procedures. In any case, the use of independent loop equations to solve the position analysis of kinematic chains, almost a standard in kinematics of mechanisms, has seldom been questioned despite the resulting system of kinematic equations becomes quite involved even for simple linkages. Moreover, stating the position analysis of kinematic chains directly in terms of poses, with or without using independent loop equations, introduces two major disadvantages: arbitrary reference frames has to be included, and all formulas involve translations and rotations simultaneously. This thesis departs from this standard approach by, instead of directly computing Cartesian locations, expressing the original position problem as a system of distance-based constraints that are then solved using analytical and numerical procedures adapted to their particularities. In favor of developing the basics and theory of the proposed approach, this thesis focuses on the study of the most fundamental planar kinematic chains, namely, Baranov trusses, Assur kinematic chains, and pin-jointed Gr¨ubler kinematic chains. The results obtained have shown that the novel developed techniques are promising tools for the position analysis of kinematic chains and related problems. For example, using these techniques, the characteristic polynomials of most of the cataloged Baranov trusses can be obtained without relying on variable eliminations or trigonometric substitutions and using no other tools than elementary algebra. An outcome in clear contrast with the complex variable eliminations require when independent loop equations are used to tackle the problem. The impact of the above result is actually greater because it is shown that the characteristic polynomial of a Baranov truss, derived using the proposed distance-based techniques, contains all the necessary and sufficient information for solving the position
Esta tesis aborda el problema de análisis de posición de cadenas cinemáticas, mecanismos con cuerpos rígidos (enlaces) interconectados por pares cinemáticos (articulaciones). Este problema, de naturaleza geométrica, consiste en encontrar los modos de ensamblaje factibles que una cadena cinemática puede adoptar. Un modo de ensamblaje es una transformación relativa posible entre los enlaces de una cadena cinemática. Los métodos reportados en la literatura para la solución del análisis de posición de cadenas cinemáticas se pueden clasificar como gráficos, analíticos o numéricos. Los enfoques gráficos son geométricos y se diseñan para resolver problemas particulares. Los métodos analíticos y numéricos tratan con cadenas cinemáticas de cualquier topología y traducen el problema geométrico original en un sistema de ecuaciones cinemáticas que define la ubicación de cada enlace, basado generalmente en ecuaciones de bucle independientes. En los enfoques analíticos, el sistema de ecuaciones cinemáticas se reduce a un polinomio, conocido como el polinomio característico de la cadena cinemática, utilizando diferentes métodos de eliminación. En los métodos numéricos, el sistema se resuelve utilizando, por ejemplo, la continuación polinomial o procedimientos basados en intervalos. En cualquier caso, el uso de ecuaciones de bucle independientes, un estándar en cinemática de mecanismos, rara vez ha sido cuestionado a pesar de que el sistema resultante de ecuaciones es bastante complicado, incluso para cadenas simples. Por otra parte, establecer el análisis de la posición de cadenas cinemáticas directamente en términos de poses, con o sin el uso de ecuaciones de bucle independientes, presenta dos inconvenientes: sistemas de referencia arbitrarios deben ser introducidos, y todas las fórmulas implican traslaciones y rotaciones de forma simultánea. Esta tesis se aparta de este enfoque estándar expresando el problema de posición original como un sistema de restricciones basadas en distancias, en lugar de directamente calcular posiciones cartesianas. Estas restricciones son posteriormente resueltas con procedimientos analíticos y numéricos adaptados a sus particularidades. Con el propósito de desarrollar los conceptos básicos y la teoría del enfoque propuesto, esta tesis se centra en el estudio de las cadenas cinemáticas planas más fundamentales, a saber, estructuras de Baranov, cadenas cinemáticas de Assur, y cadenas cinemáticas de Grübler. Los resultados obtenidos han demostrado que las técnicas desarrolladas son herramientas prometedoras para el análisis de posición de cadenas cinemáticas y problemas relacionados. Por ejemplo, usando dichas técnicas, los polinomios característicos de la mayoría de las estructuras de Baranov catalogadas se puede obtener sin realizar eliminaciones de variables o sustituciones trigonométricas, y utilizando solo álgebra elemental. Un resultado en claro contraste con las complejas eliminaciones de variables que se requieren cuando se utilizan ecuaciones de bucle independientes. El impacto del resultado anterior es mayor porque se demuestra que el polinomio característico de una estructura de Baranov, derivado con las técnicas propuestas, contiene toda la información necesaria y suficiente para resolver el análisis de posición de las cadenas cinemáticas de Assur que resultan de la sustitución de algunas de sus articulaciones de revolución por articulaciones prismáticas. De esta forma, se concluye que los polinomios de todos los robots planares totalmente paralelos se pueden derivar directamente del polinomio característico del conocido robot 3-RPR. Adicionalmente, se presenta un procedimiento eficaz, basado en restricciones de distancias y áreas orientadas, y argumentos geométricos, para trazar curvas de acoplador de cadenas cinemáticas de Grübler. En conjunto, todas estas técnicas y resultados constituyen contribuciones a la cinemática teórica de mecanismos, la cinemática de robots, y la geometría plana de distancias. Barcelona 13-
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Arnell, M. M. "Numerical descriptors of the intersegmental kinematics of gait." Thesis, University of Manchester, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.233041.

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Unnikrishnan, Harikrishnan. "ANALYSIS OF VOCAL FOLD KINEMATICS USING HIGH SPEED VIDEO." UKnowledge, 2016. http://uknowledge.uky.edu/ece_etds/82.

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Vocal folds are the twin in-folding of the mucous membrane stretched horizontally across the larynx. They vibrate modulating the constant air flow initiated from the lungs. The pulsating pressure wave blowing through the glottis is thus the source for voiced speech production. Study of vocal fold dynamics during voicing are critical for the treatment of voice pathologies. Since the vocal folds move at 100 - 350 cycles per second, their visual inspection is currently done by strobosocopy which merges information from multiple cycles to present an apparent motion. High Speed Digital Laryngeal Imaging(HSDLI) with a temporal resolution of up to 10,000 frames per second has been established as better suited for assessing the vocal fold vibratory function through direct recording. But the widespread use of HSDLI is limited due to lack of consensus on the modalities like features to be examined. Development of the image processing techniques which circumvents the need for the tedious and time consuming effort of examining large volumes of recording has room for improvement. Fundamental questions like the required frame rate or resolution for the recordings is still not adequately answered. HSDLI cannot get the absolute physical measurement of the anatomical features and vocal fold displacement. This work addresses these challenges through improved signal processing. A vocal fold edge extraction technique with subpixel accuracy, suited even for hard to record pediatric population is developed first. The algorithm which is equally applicable for pediatric and adult subjects, is implemented to facilitate user inspection and intervention. Objective features describing the fold dynamics, which are extracted from the edge displacement waveform are proposed and analyzed on a diverse dataset of healthy males, females and children. The sampling and quantization noise present in the recordings are analyzed and methods to mitigate them are investigated. A customized Kalman smoothing and spline interpolation on the displacement waveform is found to improve the feature estimation stability. The relationship between frame rate, spatial resolution and vibration for efficient capturing of information is derived. Finally, to address the inability to measure physical measurement, a structured light projection calibrated with respect to the endoscope is prototyped.
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Whittier, William Brooks. "Kinematic Analysis of Tensegrity Structures." Thesis, Virginia Tech, 2002. http://hdl.handle.net/10919/35909.

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

1

Kinematics analysis and synthesis. New York: McGraw-Hill, 1991.

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Machines and mechanisms: Applied kinematics analysis. Upper Saddle River, N.J: Prentice Hall, 1999.

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1941-, Ghosh A., and Dittrich Günter, eds. Kinematic analysis and synthesis of mechanisms. Boca Raton: CRC Press, 1994.

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Lenarčič, Jadran. Advances in Robot Kinematics: Analysis and Control. Dordrecht: Springer Netherlands, 1998.

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Lenarčič, Jadran, and Manfred L. Husty, eds. Advances in Robot Kinematics: Analysis and Control. Dordrecht: Springer Netherlands, 1998. http://dx.doi.org/10.1007/978-94-015-9064-8.

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Lenarčič, Jadran, and Philippe Wenger, eds. Advances in Robot Kinematics: Analysis and Design. Dordrecht: Springer Netherlands, 2008. http://dx.doi.org/10.1007/978-1-4020-8600-7.

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Duffy, Joseph, and III Carl D. Crane. Kinematic Analysis of Robot Manipulators. Cambridge: Cambridge University Press, 1998.

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E, Parkin Robert. Applied robotic analysis. Englewood Cliffs, N.J: Prentice Hall, 1991.

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Spatial mechanisms: Analysis and synthesis. Boca Raton, Fla: CRC Press, 2001.

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1937-, Duffy Joseph, ed. Kinematic analysis of robot manipulators. Cambridge, U.K: Cambridge University Press, 1998.

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Book chapters on the topic "Kinematics analysis"

1

Huang, Zhen, Qinchuan Li, and Huafeng Ding. "Kinematic Influence Coefficient and Kinematics Analysis." In Theory of Parallel Mechanisms, 135–62. Dordrecht: Springer Netherlands, 2012. http://dx.doi.org/10.1007/978-94-007-4201-7_5.

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Liu, Xin-Jun, and Jinsong Wang. "Position Analysis of Parallel Mechanisms." In Parallel Kinematics, 81–119. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-36929-2_3.

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Haslwanter, Thomas. "Analysis of 3-D Movement Recordings." In 3D Kinematics, 85–98. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-75277-8_6.

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Wenger, Philippe, and Damien Chablat. "Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators." In Computational Kinematics, 43–50. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-01947-0_6.

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Liu, Xin-Jun, and Jinsong Wang. "Velocity and Jacobian Analysis of Parallel Mechanisms." In Parallel Kinematics, 121–28. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-36929-2_4.

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Mundo, D., G. Gatti, G. Danieli, and D. B. Dooner. "Kinematic analysis of an adjustable slider-crank mechanism." In Computational Kinematics, 257–64. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-01947-0_32.

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Kumar, Shivesh, Abhilash Nayak, Bertold Bongardt, Andreas Mueller, and Frank Kirchner. "Kinematic Analysis of Active Ankle Using Computational Algebraic Geometry." In Computational Kinematics, 117–25. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-60867-9_14.

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Talpaert, Yves R. "Kinematics of Continua." In Tensor Analysis and Continuum Mechanics, 263–313. Dordrecht: Springer Netherlands, 2002. http://dx.doi.org/10.1007/978-94-015-9988-7_4.

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Pisla, D., N. Plitea, B. Gherman, A. Pisla, and C. Vaida. "Kinematical Analysis and Design of a New Surgical Parallel Robot." In Computational Kinematics, 273–82. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-01947-0_34.

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Pastorelli, Stefano, and Alessandro Battezzato. "Singularity Analysis of a 3 Degrees-of-Freedom Parallel Manipulator." In Computational Kinematics, 331–40. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-01947-0_41.

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Conference papers on the topic "Kinematics analysis"

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Zoppi, Matteo, Dimiter Zlatanov, and Rezia Molfino. "Kinematics Analysis of the Exechon Tripod." In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/detc2010-28668.

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The Exechon 5-Axis Parallel Kinematic Machine (PKM) is a successful design created in Sweden and adopted by many producers of machine tools around the world. A new version of the manipulator is being developed as a component of a mobile self-reconfigurable fixture system within an inter-European project. The basic Exechon architecture consists of a 3-degree-of-freedom (dof) parallel mechanism (PM) connected in series with a two- or three-dof spherical wrist. The PM has two UPR (4-dof) legs, constrained to move in a common rotating plane, and an SPR (5-dof) leg. The paper presents the kinematic analysis of both the PM and the hybrid parallel-serial architecture. We describe the complex three-dimensional motion pattern of the PM platform, derive the kinematic equations and provide explicit solutions for the inverse kinematics.
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Heiran, Fatemeh, Bahman Nouri Rahmat Abadi, Sajjad Taghvaei, and Ramin Vatankhah. "Kinematics and workspace analysis of a novel parallel mechanism with kinematic redundancy." In 2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA). IEEE, 2017. http://dx.doi.org/10.1109/icciautom.2017.8258701.

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Klett, Yves, and Peter Middendorf. "Kinematic Analysis of Congruent Multilayer Tessellations." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-47340.

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Rigidly foldable origami tessellations exhibit interesting kinematic properties. Several tessellation types (most prominently Miura-ori) have shown potential for technical application in aerospace and general lightweight construction. In addition to static (e.g. as core structures for sandwich components) and single-layer kinematic (e.g. deployable) applications, new possibilities arise from the combination of several layers of tessellations with congruent kinematics. This paper presents an analytical description of the kinematics of multi-layered, or stacked, globally plane tessellations which retain rigid foldability by congruent, compatible movement.
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Guan, Xuemei, and Lizhong Xu. "Kinematics analysis of electromagnetism worm drive." In 2011 International Conference on Electronics, Communications and Control. IEEE, 2011. http://dx.doi.org/10.1109/icecc.2011.6066740.

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Yun, Dong-Won, Jin-Ho Kyung, Young-Su Son, and Soo-Hyun Kim. "Analysis on kinematics of robot fish." In 2010 International Conference on Control, Automation and Systems (ICCAS 2010). IEEE, 2010. http://dx.doi.org/10.1109/iccas.2010.5669806.

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Han Yali and Wang Xingsong. "Kinematics analysis of lower extremity exoskeleton." In 2008 Chinese Control and Decision Conference (CCDC). IEEE, 2008. http://dx.doi.org/10.1109/ccdc.2008.4597843.

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Xiao, Ai-ping, Han-xu Sun, Yue-sheng Tan, and Liang-qing Wang. "Kinematics analysis on a spherical robot." In Optics East 2005, edited by David P. Casasent, Ernest L. Hall, and Juha Röning. SPIE, 2005. http://dx.doi.org/10.1117/12.629411.

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Arikawa, Keisuke. "Kinematic Modeling and Internal Motion Analysis of Proteins From a Robot Kinematics Viewpoint." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-47970.

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This paper discusses the kinematic modeling of proteins and the analysis of their internal motion from the viewpoint of robot kinematics. First, a kinematic model of a protein is introduced. This model consists of multiple serial link mechanisms and interaction lines (lines between alpha carbons). The protein model is regarded as a type of a robot manipulator that uses joint angles to control the lengths of the interaction lines, and the Jacobian matrix of the manipulator is derived. On the basis of this Jacobian matrix, the basic equations for calculating the deformation caused by external forces and evaluating the structural compliance of specified parts are derived. Finally, by combining the derived basic equations, we analyze the internal motions of lactoferrin and hemoglobin and compare the results with the reported measured characteristics of their internal motions. Despite the approximations by the model, the results obtained by the proposed method agree with the measured internal motion.
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Choi, Hae-jin, Daniel T. Cox, M. H. Kim, and Sangsoo Ryu. "Laboratory Investigation of Nonlinear Irregular Wave Kinematics." In Fourth International Symposium on Ocean Wave Measurement and Analysis. Reston, VA: American Society of Civil Engineers, 2002. http://dx.doi.org/10.1061/40604(273)170.

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El-Khasawneh, Bashar, and Anas Alazzam. "Kinematics, Dynamics and Vibration Models for 3RPR Parallel Kinematics Manipulator." In ASME 2013 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/imece2013-64525.

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Parallel link manipulators are the type of mechanisms that have closed kinematics chains. Some of their advantages over open kinematics chains (called also serial kinematics manipulators) are their high stiffness and accuracy. This paper carries out forward and inverse kinematic and dynamic analysis on a certain type of parallel kinematic mechanisms. This is needed to conduct vibration analysis on the same platform. The type of mechanism is planar 3 RPR manipulator. This entails identifying the modes of the manipulator. A simplified vibration theoretical model is derived. This derivation helps in the optimization of parallel kinematics machine design for improved/optimized dynamic performance. The implications of dynamic stiffness modeling should reflect on better noise rejection, less chatter during machining, and increasing the bandwidth of such mechanisms to admit running at higher speeds.
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Reports on the topic "Kinematics analysis"

1

Rashoyan, G. V., K. A. Shaliukhin, and A. K. Aleshin. ANALYSIS OF KINEMATICS OF A PARALLEL STRUCTURE MECHANISM WITH KINEMATICAL DECOUPLING PROPERTIES. Bulletin of Science and Technical Development, 2018. http://dx.doi.org/10.18411/vntr2018-125-4.

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Frimenko, Rebecca, Cassie Whitehead, and Dustin Bruening. Do Men and Women Walk Differently? A Review and Meta-Analysis of Sex Difference in Non-Pathological Gait Kinematics. Fort Belvoir, VA: Defense Technical Information Center, January 2014. http://dx.doi.org/10.21236/ada597428.

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Patel, Reena. Complex network analysis for early detection of failure mechanisms in resilient bio-structures. Engineer Research and Development Center (U.S.), June 2021. http://dx.doi.org/10.21079/11681/41042.

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Bio-structures owe their remarkable mechanical properties to their hierarchical geometrical arrangement as well as heterogeneous material properties. This dissertation presents an integrated, interdisciplinary approach that employs computational mechanics combined with flow network analysis to gain fundamental insights into the failure mechanisms of high performance, light-weight, structured composites by examining the stress flow patterns formed in the nascent stages of loading for the rostrum of the paddlefish. The data required for the flow network analysis was generated from the finite element analysis of the rostrum. The flow network was weighted based on the parameter of interest, which is stress in the current study. The changing kinematics of the structural system was provided as input to the algorithm that computes the minimum-cut of the flow network. The proposed approach was verified using two classical problems three- and four-point bending of a simply-supported concrete beam. The current study also addresses the methodology used to prepare data in an appropriate format for a seamless transition from finite element binary database files to the abstract mathematical domain needed for the network flow analysis. A robust, platform-independent procedure was developed that efficiently handles the large datasets produced by the finite element simulations. Results from computational mechanics using Abaqus and complex network analysis are presented.
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Salerno, R. J. KINEMATIC ANALYSIS OF MODULAR, TRUSS-BASED MANIPULATOR UNITS. Office of Scientific and Technical Information (OSTI), June 1994. http://dx.doi.org/10.2172/1127157.

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Nance, R. D., and J. B. Murphy. Preliminary kinematic analysis of the Bass River Complex, Cobequid Highlands, Nova Scotia. Natural Resources Canada/ESS/Scientific and Technical Publishing Services, 1988. http://dx.doi.org/10.4095/122439.

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Miller, B. V., R. D. Nance, and J. B. Murphy. Preliminary Kinematic Analysis of the Rockland Brook Fault, Cobequid Highlands, Nova Scotia. Natural Resources Canada/ESS/Scientific and Technical Publishing Services, 1989. http://dx.doi.org/10.4095/126548.

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Iurkevich, I. A. USE OF ANALYTICAL GEOMETRY METHODS FOR KINEMATIC ANALYSIS OF PLANE LEVER MECHANISMS. Санкт-Петербургский филиал Научно-исследовательского центра «МашиноСтроение» (СПбФ НИЦ МС), 2018. http://dx.doi.org/10.18411/b10022011t20181204.

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Johnson, V. J., and G. P. Starr. Kinematic and dynamic analyses of the Stanford/JPL robot hand. [MACSYMA]. Office of Scientific and Technical Information (OSTI), November 1987. http://dx.doi.org/10.2172/5658755.

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Görz, Ines, and Peggy HIELSCHER. GIS-based structural analysis on the sphere: an approach for the kinematic interpretation of structural data. Cogeo@oeaw-giscience, September 2011. http://dx.doi.org/10.5242/iamg.2011.0129.

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Foreman, I. J. A Kinematic Analysis of the Beresford Inlet Fault Zone, Lyell Island, Queen Charlotte Islands, British Columbia. Natural Resources Canada/ESS/Scientific and Technical Publishing Services, 1992. http://dx.doi.org/10.4095/133565.

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