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1
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.
Full textAbstract:
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.
3
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 positionEsta 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.
Full textAbstract:
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.Master of Science
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Quadrelli, Bruno Marco. "Dynamic analysis of multi-flexible body systems with spatial beams and finite rotations." Diss., Georgia Institute of Technology, 1996. http://hdl.handle.net/1853/12052.
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Delorme, Sebastien. "Biomechanical analysis of ankle kinematics and ligament strain in snowboarding." Thesis, University of Ottawa (Canada), 2004. http://hdl.handle.net/10393/29096.
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Because snowboarders are known to injure their ankles more often than alpine skiers, it has been postulated that stiffer snowboard boots would provide better protection to the ankle ligaments than current soft boots do.
To test this hypothesis, we have measured the kinematics of the feet and lower legs of five snowboarders riding down a course of 10 gates on a ski hill using an electromagnetic motion tracking system. Results were obtained with each snowboarder wearing soft boots and stiffer step-in boots. The measurements were expressed in anatomically relevant rotations of the ankle joint complex.
Two models were developed to predict ligament strains from rotations of the ankle joint complex: (1) a statistical model using published ligament strain measured on cadaver specimens at various combinations of ankle rotations as an interpolation and extrapolation table to predict strains in two ankle ligaments at the rotations measured during the snowboarding trials; (2) a personalized 2-degrees-of-freedom kinematic model of the ankle joint complex, based on the Denavit-Hartenberg formulation of serial-link manipulators, to predict strains in flue ankle ligaments from the relative position of the shank and foot.
The experimental results showed that the left and right ankles are asymmetrically rotated, mostly in dorsiflexion, eversion and external rotation. Compared to step-in boots and bindings, soft boots and strap bindings allowed more rotation of the ankle joint complex and more strain in the anterior talofibular ligament, according to the statistical model. The kinematic model was not sensitive enough to detect differences in ligament strains between the 2 types of equipment. A functional determination of the axes of rotation of the talocrural and subtalar joints could further improve the predictions of this model.
This is the first known study to document experimentally the kinematics of snowboarding. It generally confirms the expectation that softer boats allow significantly wider ranges of ankle rotation and ligament strain.
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Sun, Lingchen. "A comparative study of the workspace and kinematics analysis for free-floating robots." Ohio : Ohio University, 1995. http://www.ohiolink.edu/etd/view.cgi?ohiou1178906504.
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Gezgin, Erkin Alizade Rasim. "Biokinematic analysis of human arm." [s.l.]: [s.n.], 2006. http://library.iyte.edu.tr/tezler/master/makinamuh/T000547.pdf.
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Thesis (Master)--İzmir Institute of Technology, İzmir, 2006.Keywords: Biokinematic analysis, quaternionlar, structural groups, mechanism theory,robot manipulators. Includes bibliographical references (leaves 78-85).
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Cunanan, Aaron J. "Barbell Trajectory and Kinematics during Two International Weightlifting Championships." Digital Commons @ East Tennessee State University, 2019. https://dc.etsu.edu/etd/3635.
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Several methods have been used in the scientific literature to study the weightlifting pull. Broadly, these methods are used to measure kinematic or kinetic variables exhibited by the lifter, the barbell, or the lifter-barbell system. However, there is an apparent disconnect between weightlifting research and coaching practice that may reduce the perceived benefits of technique analysis among coaches and present some challenges for coaches who seek to incorporate technique analysis into their coaching practice. Differences and trends in the technique of competitive weightlifting performances are apparent from the available literature. However, there are also gaps in the literature due to infrequent analyses that are limited to narrow subgroups of the weightlifting population. Therefore, the purposes of this dissertation were to 1) update to the scientific knowledge of weightlifting technique and performance, 2) improve coaches’ ability to conduct and interpret technique analysis, and 3) enhance transferability of weightlifting in training to improve sport performance.
A review of methods used to evaluate the weightlifting pull provides some practical guidance for coaches on the application and interpretation of weightlifting technique analysis. Video analysis is recommended as the most practicable method for coaches to implement technique analysis themselves. Methods used to study 319 lifts by women and men from two major international competitions demonstrate the feasibility and usefulness of video analysis as an inexpensive, time-efficient, and user-friendly method for coaches to conduct reliable technique analysis. The results of this dissertation suggest that a variety of techniques can be used to achieve international weightlifting success and provide some evidence of changes in weightlifting technique since at least the mid-1980’s. These results also indicate that a stereotypical technique profile among elite international weightlifters does not exist, which further support the notion that strength is a primary determinant of weightlifting ability.
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Chan, Vincent K. "Singularity analysis and redundant actuation of parallel manipulators." Thesis, Georgia Institute of Technology, 2001. http://hdl.handle.net/1853/17766.
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Gan, Dongming. "Type synthesis, kinematics analysis and dynamic modelling of metamorphic parallel mechanisms." Thesis, King's College London (University of London), 2018. https://kclpure.kcl.ac.uk/portal/en/theses/type-synthesis-kinematics-analysis-and-dynamic-modelling-of-metamorphic-parallel-mechanisms(e9745c0e-4641-4d82-904b-9c3c22ab224f).html.
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Metamorphic parallel mechanisms (MPMs) are a class of mechanisms that possess adaptability and reconfigurability to change permanent finite mobility based on topological structure change. Metamorphic parallel mechanisms keep the advantages of traditional parallel mechanisms in terms of high load-carrying capacity, good positioning accuracy and low inertia but with reconfiguration. MPMs are a new class of reconfigurable parallel mechanisms and have not been studied much. Therefore, this thesis is devoted to explore the fundamentals of mechanism theory on MPMs by focusing on two parts: (1) Systematic Methods of Synthesizing and Designing Metamorphic Parallel Mechanisms: A general strategy using reconfigurable joint to construct reconfigurable limbs has been proposed on synthesizing metamorphic parallel mechanisms and a general synthesis procedure has been provided based on screw theory. With two invented reconfigurable joints, many metamorphic parallel mechanisms have been obtained using the proposed method and their reconfiguration has been modelled in terms of geometric constraints. From the design point of view, the design parameters need to serve all phases of a metamorphic parallel mechanism. Thus a unified design performance representation is desired. Based on this, motion/force transmissibility is proposed to unifying the performance representation for optimal design of metamorphic parallel mechanisms considering all working phases and performance in each phase. Optimal design examples are demonstrated on some selected metamorphic parallel mechanisms. (2) Unified Kinematics and Dynamics Modelling of Metamorphic Parallel Mechanisms: Since each of all reconfigured phases of a metamorphic parallel mechanism is equivalent to a traditional parallel mechanism and all phases with different mobility share the same mechanical structure, a unified strategy has been proposed by considering the reconfiguration of the joint and taking the reconfigured phases as special cases of the general configuration. Some selected metamorphic parallel mechanisms have been studied and their unified kinematics, workspace representation, and dynamics modelling are solved. Thus this thesis provides basic synthesis, design, and modelling theory for metamorphic parallel mechanisms considering their reconfiguration and variable mobility.
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Etemadi-Zanganeh, Kourosh. "Kinematics of manipulators with parellelism, modularity and redundancy : analysis and design." Thesis, McGill University, 1995. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=29020.
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A general class of manipulators with hybrid kinematic chains is introduced. These manipulators are modular and can readily lead to kinematically redundant structures. Moreover, they may contain serial subchains as well as subchains of parallel modules, acting in parallel and connecting a base to a common end-effector.At the onset, a novel formalism is introduced to study modular kinematic structures. This includes some new concepts and definitions. The proposed formalism provides a systematic way to represent a complex hybrid manipulator through a hierarchy of its constituting modules. Next, a formulation is devised to study the instantaneous kinematics of these manipulators. The proposed formulation is general and can be applied to most of the existing parallel and hybrid manipulators. To realize the concept of general hybrid manipulator in practice, a few prototype designs are also introduced. The proposed prototypes are superior to their conventional counterparts in terms of dexterity and the volume of their workspace.
The study is then extended to the theory of hyper-redundant manipulators that comprise, as a subclass, the variable-geometry trusses. A spline-based solution method is proposed for the inverse kinematics of hyper-redundant manipulators. The method is applicable to both extensible and nonextensible cases and includes planar as well as spatial manipulators. Also, a new variable-geometry truss is introduced whose modules themselves are kinematically redundant.
Another practical aspect of redundancy is the use of redundant-sensor data to simplify inherent nonlinear direct kinematics of parallel manipulators. For a six-degree-of-freedom general parallel manipulator, we introduce a formulation of the direct kinematics whereby the positioning and orientation problems are decoupled by introducing two auxiliary parameters in the forms of either two angles or two lengths. This is in accordance with the type of redundant sensors, i.e., rotary or translational, to be used. Moreover, a real-time implementation of extra-sensor data, with a unique direct kinematics solution, is proposed by resorting to an eigenvalue problem. The parallelism in the proposed formulation enables the user to benefit from a parallel-computing environment. Hence, we introduce a parallel-computing algorithm that highly increases the robustness of the computational algorithm.
The concept of kinematic isotropy has been used as a criterion in the design of serial and parallel robotic manipulators. However, all notions adopted to express isotropy in parallel manipulators have been based on the structure of the Jacobian matrices of serial manipulators. Here, we introduce a definition of kinematic isotropy that is well-suited to parallel manipulators. This is done by identifying the special structure of the Jacobian matrices involved in the differential kinematics of such manipulators. This leads to a partitioning of the Jacobian matrices into submatrices with dimensionally homogeneous entries. Moreover, based on the proposed definitions of isotropy and kinematic optimality, a set of conditions is derived that provides a systematic way for the optimum kinematic design of parallel manipulators, with or without structural constraints.
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Ikoki, Bukoko. "Traitement symbolique des systèmes multicorps avec KINDA (Kinematics and Dynamics Analysis)." Thesis, Université Laval, 2008. http://www.theses.ulaval.ca/2008/25575/25575.pdf.
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Lee, Minhyung. "Analysis of Lumbar Spine Kinematics during Trunk Flexion and Extension Motions." Thesis, Virginia Tech, 2006. http://hdl.handle.net/10919/31003.
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The effectiveness of exercise has been increasingly studied as exercise has been popular for the improvement of physical performance and rehabilitation of lumbar spine. A variety of exercises have been used to reduce back pain or spinal degeneration. However, there are no studies to determine effects of exercise on lumbar spine kinematics, including lumbar-pelvic coordination and instantaneous axis of rotation. The current study aimed to examine these lumbar spine kinematical changes due to exercise and therapy. We hypothesized that exercise and therapy will affect the changes of lumbar spine kinematics.
Lumbar-Pelvic motions were recorded from 86 healthy subjects while performing lifting and lowering tasks of 10% and 25% of body weight. The influence of exercise was quantified from coefficients of curve-fitting for pelvic and lumbar angles. There was a significant difference (p<0.05) for the range of lumbar motion (distribution, D) between the control group and the cardiovascular exercise group after 12-week program. However, there was no significance for lumbar-pelvic coordination, C.
A second study was performed to investigate the changes of instantaneous axis of rotation (IAR) at which trunk angle reached 25º. Results indicated that a superior-inferior location of IAR was significantly (p<0.05) modified by the cardiovascular exercise after 12 weeks, but there was no significant effectiveness of the physical therapy exercise.
Finding of lumbar spine kinematics during lifting and lowering a weight which are the most popular manual handling activities may provide great understanding of the exercise effectiveness. Future studies are recommended to assess whether the changes of lumbar spine kinematics lead to the decrease instances of lumbar spine injuries or low back pain.Master of Science
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Zhao, Liyi. "Video analysis of head kinematics in boxing matches using OpenCV library under Macintosh platform : How can the Posit algorithm be used in head kinematic analysis?" Thesis, Uppsala universitet, Institutionen för informationsteknologi, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-182170.
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The division of Neuronic Engineering at KTH focuses the research on the head and neck biomechanics. Finite Element (FE) models of the human neck and head have been developed to study the neck and head kinematics as well as injurious loadings of various kinds. The overall objective is to improve the injury prediction through accident reconstruction. This project aims at providing an image analysis tool which helps analyzers building models of the head motion, making good estimation of head movements, rotation speed and velocity during head collision. The applicability of this tool is a predefined set of boxing match videos. The methodology however, can be extended for the analysis of different kinds of moving head objects. The user of the analysis tool should have basic ideas of how the different functionalities of the tool work and how to handle it properly. This project is a computer programming work which involves the study of the background, the study of methodology and a programming phase which gives result of the study.
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Larsson, Fredrik. "Visual Servoing Based on Learned Inverse Kinematics." Thesis, Linköping University, Department of Electrical Engineering, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-8710.
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Initially an analytical closed-form inverse kinematics solution for a 5 DOF robotic arm was developed and implemented. This analytical solution proved not to meet the accuracy required for the shape sorting puzzle setup used in the COSPAL (COgnitiveSystems using Perception-Action Learning) project [2]. The correctness of the analytic model could be confirmed through a simulated ideal robot and the source of the problem was deemed to be nonlinearities introduced by weak servos unable to compensate for the effect of gravity. Instead of developing a new analytical model that took the effect of gravity into account, which would be erroneous when the characteristics of the robotic arm changed, e.g. when picking up a heavy object, a learning approach was selected.
As learning method Locally Weighted Projection Regression (LWPR) [27] is used. It is an incremental supervised learning method and it is considered a state-ofthe-art method for function approximation in high dimensional spaces. LWPR is further combined with visual servoing. This allows for an improvement in accuracy by the use of visual feedback and the problems introduced by the weak servos can be solved. By combining the trained LWPR model with visual servoing, a high level of accuracy is reached, which is sufficient for the shape sorting puzzle setup used in COSPAL.
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Holliday, Wendy. "Intrinsic factors, performance and dynamic kinematics in optimisation of cycling biomechanics." Doctoral thesis, Faculty of Health Sciences, 2019. http://hdl.handle.net/11427/31052.
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Kinematic measurements conducted during bike set-ups utilise either static or dynamic measures. There is currently limited data on reliability of static and dynamic measures nor consensus on which is the optimal method. The aim of the study was to assess the difference between static and dynamic measures of the ankle, knee, hip, shoulder and elbow. Nineteen subjects performed three separate trials of a 10min duration at a fixed workload (70% of peak power output). Static measures were taken with a standard goniometer (GM), an inclinometer (IM) and dynamic three dimensional motion capture (3DMC) using an eight camera motion capture system. Static and dynamic joint angles were compared over the three trials to assess repeatability of the measurements and differences between static and dynamic values. There was a positive correlation between GM and IM measures for all joints. Only the knee, shoulder and elbow were positively correlated between GM and 3DMC, and IM and 3DMC. Although all three instruments were reliable, 3D motion analysis utilised different landmarks for most joints and produced different means. Changes in knee flexion angle from static to dynamic are attributable to changes in the positioning of the foot. Controlling for this factor, the differences are negated. It was demonstrated that 3DMC is not interchangeable with GM and IM, and it is recommended that 3DMC develop independent reference values for bicycle configuration.
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Psycharakis, Stelios G. "A three-dimensional analysis of intra-cycle kinematics during 200m freestyle swimming." Thesis, University of Edinburgh, 2006. http://hdl.handle.net/1842/25101.
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In freestyle swimming, the amplitude of velocity (V) variation of the centre of mass (CM) during certain phases of the stroke cycle (SC) has been linked to swimming performance. The main purpose of this study was to determine accurately, in three directions, the intracycle variations of the CM V in male freestyle swimmers. Eleven male swimmers of up to international level performed a maximum 200m freestyle swim. Results showed that average CM V decreased as the race progressed. The magnitude of decrease was not associated with swimming V. Noteworthy fluctuations were found in all three directions, with the magnitude not correlated to swimming V. Absolute values for intracycle V fluctuations in all directions generally decreased throughout the test. No differences were found however for the corresponding percentage values (fluctuations calculated as percentage of CM average horizontal V). An exception in both cases was the horizontal V fluctuation, which increased in SC3. This increase seemed to be mostly associated with drop in intracycle minimum – rather than maximum- instantaneous V. Although swimmers achieved high average V mostly by reaching high peak V, the results suggested that for maintaining technique efficiency by minimising intracycle fluctuations, sustaining a decrease in minimum V was equally important to maintaining high peak V. Swimmers were found to roll their shoulders and hips in phase, but shoulder roll was considerably larger than hip roll. Swimmers increased hip roll but maintained the amount of shoulder roll during the test, with faster swimmers tending to roll less than slower swimmers. Neither elbow nor knee angular ROM was found to be associated with V, suggesting that other parameters such as arm orientation/V and joint angular V should be examined. The data revealed lateral asymmetries in all parameters measured, emphasising the importance of bilateral measurement of kinematics. Swimmers were found to produce higher CM V during the right arm underwater phase of the stroke and to roll the shoulders more to the left. No consistency between-swimmers patterns were observed for the other kinematic parameters. It was also shown that swimmers achieved maximum V at the same part of the SC that shoulder/hip roll peaks were observed. Similarly, minimum V coincided with neutral shoulder/hip roll and maximum elbow flexion. These results suggested that future research could focus on kinematic and kinetic measurements that would allow identification of propulsive efficiency for the aforementioned positions of interest.
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Bland, J. "The structure and kinematics of the ionised gas within NGC 5128 (Centaurus A)." Thesis, University of Sussex, 1985. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.372721.
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Hansen, Keir. "A kinematic analysis of acute and longitudinal adaptions to resisted sprinting submitted to Auckland University of Technology for the degree of Master of Health Science, July 2002." Full thesis. Abstract, 2002.
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Zhang, Xinsheng. "Screw algebra based kinematics analysis and its uses in reconfiguration recognition of mechanisms." Thesis, King's College London (University of London), 2018. https://kclpure.kcl.ac.uk/portal/en/theses/screw-algebra-based-kinematics-analysis-and-its-uses-in-reconfiguration-recognition-of-mechanisms(cb12c87e-ff15-45bf-97db-08565ee38a5f).html.
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Reconfigurable mechanisms can change their motion branches or topologies when constraint singularity occurs, and this phenomenon of reconfiguration leads to bifurcation or multi-furcation of mechanisms. Recognising reconfiguration in mechanisms and identifying the corresponding geometrical constraints remain unsolved in the field of mechanism theory and have raised much interest of investigation from 1990s. This dissertation uses the properties of screw algebra and Lie algebra to establish a method of modelling and detecting bifurcation and multi-furcation in reconfigurable mechanisms at singularity configurations. Based on the fundamentals of the screw algebra, this method establishes an algebraic way of modelling the kinematics of mechanisms and the variations of screw systems in which the screws have the same pitch. The screw algebra based method is extended to the scope of Lie group, where this dissertation uses compositional manifolds to explore the feasible finite displacements of reconfigurable mechanisms. The dissertation starts from investigating the screw dependency based on α- and β-planes generating hyperquadrics in the 5-dimensional projective space. Projective geometry and matrix operation are adopted towards the situation where a non-zero pitch is involved in a screw system. Screw systems are related to hyperquadrics in five-dimensional projective space by constructing projective transformations. Following the screw dependency investigation based on screw algebra, this dissertation examines high-order kinematic analysis of mechanisms by implementing a recursive method of Lie bracket computation of screws and such a method provides a compact description for kinematic models of mechanisms with integrating the bilinear form representation of kinematic constraints of a derivative queer-square mechanism. This method allows local analysis of mechanisms at any configurations including singularity configurations. Specifically, the research integrates the coefficient matrix of first-order kinematic analysis and the bilinear form matrix of second-order kinematic analysis which makes it possible to identify geometrical constraints when dealing with complex mechanisms. The dissertation then explores the relationship between screw algebra and Lie group. In such a way, the method of identifying finite displacements in reconfigurable mechanisms is investigated. The research explored the traditional PRP kinematic chain producing the planar motion subgroup SE(2) to a relatively generic kinematic chain in which the prismatic-joint direction is not necessary to be perpendicular to the revolute-joint axis, and revealed the equivalent displacement manifold, leading to the discovery of a pseudo-helical motion with a variable pitch of the particular PRP chain. Throughout the dissertation, the screw algebra based approach of kinematics analysis of mechanisms is proven effective and compact in representing screw-system variations, kinematic constraint modelling of mechanisms at singularity configuration, computational submanifolds analysis of mechanisms, Jabobian matrix construction of reconfigurable mechanisms, and recognition of motion branches using these fundamental theoretical tools. This thesis investigates the properties of screw systems within the context of screw algebra and applies the screw algebra based kinematics to modelling and motion-branch recognising of reconfigurable mechanisms.
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Choi, Jou-Young. "Flexible multibody analysis of thin structures with actuated components." Diss., Georgia Institute of Technology, 2002. http://hdl.handle.net/1853/12532.
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Bracken, Matthew. "Relative Phase Analysis of Lower Extremity Kinematics Among Subjects with Chronic Ankle Instability." Connect to full text in OhioLINK ETD Center, 2009. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=toledo1241209584.
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Thesis (M.S.)--University of Toledo, 2009.Typescript. "Submitted as partial fulfillment of the requirements for The Masters of Science degree in Exercise Science." "A thesis entitled"--at head of title. Bibliography: leaves 66-67.
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Surer, Kose Elif <1981>. "Analysis of human body kinematics using a hybrid markerless video acquisition and processing." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2011. http://amsdottorato.unibo.it/3633/.
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A main objective of the human movement analysis is the quantitative description of joint
kinematics and kinetics. This information may have great possibility to address clinical problems
both in orthopaedics and motor rehabilitation. Previous studies have shown that the assessment of
kinematics and kinetics from stereophotogrammetric data necessitates a setup phase, special
equipment and expertise to operate. Besides, this procedure may cause feeling of uneasiness on the
subjects and may hinder with their walking. The general aim of this thesis is the implementation
and evaluation of new 2D markerless techniques, in order to contribute to the development of an
alternative technique to the traditional stereophotogrammetric techniques.
At first, the focus of the study has been the estimation of the ankle-foot complex kinematics
during stance phase of the gait. Two particular cases were considered: subjects barefoot and
subjects wearing ankle socks. The use of socks was investigated in view of the development of the
hybrid method proposed in this work. Different algorithms were analyzed, evaluated and
implemented in order to have a 2D markerless solution to estimate the kinematics for both cases.
The validation of the proposed technique was done with a traditional stereophotogrammetric
system. The implementation of the technique leads towards an easy to configure (and more
comfortable for the subject) alternative to the traditional stereophotogrammetric system.
Then, the abovementioned technique has been improved so that the measurement of knee
flexion/extension could be done with a 2D markerless technique. The main changes on the
implementation were on occlusion handling and background segmentation. With the additional
constraints, the proposed technique was applied to the estimation of knee flexion/extension and
compared with a traditional stereophotogrammetric system. Results showed that the knee
flexion/extension estimation from traditional stereophotogrammetric system and the proposed
markerless system were highly comparable, making the latter a potential alternative for clinical use.
A contribution has also been given in the estimation of lower limb kinematics of the children
with cerebral palsy (CP). For this purpose, a hybrid technique, which uses high-cut underwear and
ankle socks as “segmental markers” in combination with a markerless methodology, was proposed.
The proposed hybrid technique is different than the abovementioned markerless technique in terms
of the algorithm chosen. Results showed that the proposed hybrid technique can become a simple
and low-cost alternative to the traditional stereophotogrammetric systems.
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Berti, Alessandro <1986>. "Kinematics and statics of cable-driven parallel robots by interval-analysis-based methods." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2015. http://amsdottorato.unibo.it/7151/.
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In the past two decades the work of a growing portion of researchers in robotics focused on a particular group of machines, belonging to the family of parallel manipulators: the cable robots. Although these robots share several theoretical elements with the better known parallel robots, they still present completely (or partly) unsolved issues. In particular, the study of their kinematic, already a difficult subject for conventional parallel manipulators, is further complicated by the non-linear nature of cables, which can exert only efforts of pure traction. The work presented in this thesis therefore focuses on the study of the kinematics of these robots and on the development of numerical techniques able to address some of the problems related to it. Most of the work is focused on the development of an interval-analysis based procedure for the solution of the direct geometric problem of a generic cable manipulator. This technique, as well as allowing for a rapid solution of the problem, also guarantees the results obtained against rounding and elimination errors and can take into account any uncertainties in the model of the problem. The developed code has been tested with the help of a small manipulator whose realization is described in this dissertation together with the auxiliary work done during its design and simulation phases.Negli ultimi decenni il lavoro di una parte sempre maggiore di ricercatori che si occupano di robotica si è concentrato su un particolare gruppo di robot appartenenti alla famiglia dei manipolatori paralleli: i robot a cavi. Nonostante i numerosi studi al riguardo, questi robot presentano ancora oggi numerose problematiche del tutto (o in parte) irrisolte. Lo studio della loro cinematica nello specifico, già complesso per i manipolatori paralleli tradizionali, è ulteriormente complicato dalla natura non lineare dei cavi, i quali possono esercitare sforzi di sola trazione. Il lavoro presentato in questa tesi si concentra dunque sullo studio della cinematica dei robot a cavi e sulla messa a punto di tecniche numeriche in grado di affrontare parte delle problematiche ad essa legate. La maggior parte del lavoro è incentrata sullo sviluppo di una procedura per la soluzione del problema geometrico diretto di un generico manipolatore a cavi basata sull'analisi per intervalli. Questa tecnica di analisi numeirica, oltre a consentire una rapida soluzione del problema, permette di garantire i risultati ottenuti in caso di errori di cancellazione e arrotondamento e consente di considerare eventuali incertezze presenti nel modello del problema. Il codice sviluppato è stato testato attraverso un piccolo prototipo di manipolatore a cavi la cui realizzazione, avvenuta durante il percorso di dottrato, è descritta all'interno dell'elaborato unitamente al lavoro collaterale svolto durante la fase di progettazione e simulazione.
Pendant les dernières décennies, le travail d'une partie toujours croissante de chercheurs qui s'occupent de robotique s'est focalisé sur un groupe spécifique de robots qui fait partie de la famille des manipulateurs parallèles: les robots à câbles. Malgré les nombreux études que l'on a consacré à ce sujet, ces robots présentent encore aujourd'hui plusieurs problématiques complètement ou partiellement irrésolues. En particulier l'étude de leur cinématique, qui se révèle déjà complexe pour les manipulateurs parallèles traditionnels, est rendu encore plus compliqué par la nature non linéaire des câbles qui peuvent seulement exercer des efforts de traction. Le travail présenté dans ma thèse concentre donc son attention sur l'étude de la cinématique des robots à câbles et sur la mise au point de techniques numériques capables d'aborder une partie des problématiques liées à cela. La plupart du travail se concentre sur l'élaboration d'un algorithme pour la résolution du problème géométrique direct d'un manipulateur à câbles général qui se fonde sur l'analyse par intervalles. Cette technique d'analyse permet non seulement de résoudre rapidement le problème mais également de garantir les résultats obtenus en cas d'erreur de cancellation et d'arrondi et de prendre en considération les incertitudes éventuellement presentes dans le modèle du problème. Le code développé a été testé grâce à un petit prototype de manipulateur à câbles dont la réalisation, qui a eu lieu pendant le parcours de doctorat, est décrite à l'intérieur du devoir en accord avec la phase de conception du projet et de simulation.
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Wang, Yongji. "Kinematics, motion analysis and path planning for four kinds of wheeled mobile robots." Thesis, University of Edinburgh, 1995. http://hdl.handle.net/1842/13201.
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This dissertation presents a comprehensive and systematic investigation of some fundamental issues relating to creating an autonomous wheeled mobile robot (WMR). The forms of WMRs with various structures developed in the past are first classified into four groups according to the method of steering and powering. The four groups are: a. ordinary car-like robots (including passenger cars, single trucks, single unit buses and articulated trucks); b. dual drive robots (dual drive motors with various casters); c. synchro drive and steering robots; and d. omnidirectional robots. The concepts of inverse and direct kinematics widely used in non-mobile manipulators are, for the first time, introduced to WMRs, and a unified treatment of the kinematics for the four kinds of WMRs is presented. A motion feasibility and smoothness analysis for each of them is carried out, revealing the motion characteristics resulting from each of the different mechanical structures. This provides a better understanding of their motion characteristics and forms the basis for discussing the path planning problem. The concept of deviation angle interval is defined and used to explain the strange phenomenon of a pirouette. The conditions and formula for pure translation, pure rotation, straight line motion and circular motion are developed. In order to verify the correctness and to illustrate the advantages of the developed kinematic model, the simulation results from the present model are compared with the existing standards from other kinematic models. Path planning is essential for creating an autonomous robot. Various methods for dealing with the find-path problem have been developed in the past. Based on the motion analysis of the four kinds of WMRs, a critical review of the presently available algorithms for moving a WMR among known static obstacles from a given start location to a given goal location is presented, and the suitability of the existing algorithms to each of the four kinds of WMRs is examined.
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Yfantis, Georgios. "Kinematics of soft soil landslides based on the analysis of microseismic monitoring data." Thesis, University of Strathclyde, 2015. http://oleg.lib.strath.ac.uk:80/R/?func=dbin-jump-full&object_id=25953.
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Landslide failures are a worldwide problem claiming human lives and causing catastrophic damages to infrastructure, with their impact able to reach that of war conflicts. For these reasons this thesis is going to investigate on the use of microseismic monitoring to study the kinematic behaviour of landslides and help towards the design of an optimised early or real time warning system. All findings are based in field experiments, using 1D and 3D short period seismometers, designed to understand the capabilities and limitations of microseismic monitoring in order to enhance the first and minimize the last. The first goal of this thesis is to understand accuracy of microseismic monitoring in locating weak seismic events. The effect of the seismic velocity model is studied against common seismological assumptions, while different aperture sizes of microseismic arrays are put into test for achieving optimum location results. Next, in order to allow the study of the expected landslide seismicity during a future landslide failure, a novel methodology, an up-scaled shear box, is designed to induce landslide like seismic signals. The proposed methodology can recreate soil slip events allowing control over different geotechnical conditions, such as stress levels, thus reproducing different landslide failure scenarios. The up-scaled shear box methodology is then used to test a novel engineered seismic source: glass shard piles placed inside the landslide's mass, triggered from the landslide's displacements. The material characteristics of glass shards don't change in time, e.g. due to saturation, and have a stable seismic signature during displacement. For these reasons glass shard piles can act as the common seismic source, overcoming the time consuming process of identifying landslide complex failure mechanisms. Finally, failure is induced to two landslide vertical faces under controlled conditions. Both landslides have identical characteristics, e.g. size and geology, with the only difference that in one of them a glass shard pile was incorporated. Visual observations, displacement and loading observations of the landslide faces, timed with a GPS clock, allowing for their detection on the seismic recordings and the characterisation of failure events. The collected data are found to correlate well with the experiments conducted with the up-scaled shear box methodology, allowing for their validation.
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Natesan, Arun K. "Kinematic analysis and synthesis of four-bar mechanisms for straight line coupler curves /." Online version of thesis, 1994. http://hdl.handle.net/1850/11785.
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Chowdary, Sekhar V. S. C. "Modular Kinematic Analysis Of Planar Linkages." Thesis, 2006. http://hdl.handle.net/2005/466.
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This thesis has developed an efficient methodology for automatic kinematic analysis of planar linkages using the concept of modular kinematics. Unlike conventional general purpose kinematic analysis packages where each joint in the mechanism is represented using a set of non-linear constraint equations which need to be solved by some iterative numerical procedure, modular kinematics is based on the original observation by Assur that kinematic state of a mechanism involving large number of links can be constructed out of the kinematic states of patterns of sub chains called modules taken in a given sequence called module sequence which in turn emulates the step by step construction procedure of traditional graphical methods. The position, velocity and acceleration analysis of modules are available in closed form. Kinematic analysis of modules later in the sequence is enabled by those of the ones earlier in the sequence, hence, the kinematic analysis of a mechanism is accomplished without any iterative endeavor by doing the kinematics of the modules as given in the module sequence. [102] classified all modules into three fundamental types namely input, dyad and transformation and also introduced the concept of constraint module for analyzing graphically non-constructible mechanisms within the paradigm of modular kinematics where a small step of numerical search was needed in an over all closed form kinematic formulation. Module sequence for a mechanism using the modules is not unique. Choice of a later module in the sequence depends upon the selection of modules earlier in the sequence. This thesis has presented a systematic approach of identifying all such methods for all the inversions of the mechanism and represented in the form of a module hierarchy or a module tree where each path from root to the leaf node represents a valid module sequence for the kinematic chain in hand. The work also extended the set of modules by adding eight new modules to what has already been used in literature to make it complete in the sense that all planar mechanisms involving revolute, prismatic and pin-in-slot (including circular slots) can be handled. The computational effort involved for analyzing these mechanisms thus depend on the number of constraint modules occurring in succession in the module sequence. However, maximum possible number of constraint modules in any mechanism with up to twelve links is only two. The derivative analysis also uses the same module sequence, but they are always devoid of any iterative steps. During the process of generation of a module sequence, at every stage multitude of modules could be identified for their potential placement in the sequence. But for every module sequence the difference between the number of input modules and that of constraint modules is constant and is equal to the kinematic degrees-of-freedom (d.o.f) of the mechanism. The algorithm presented in this thesis minimizes the number of generalized inputs (and hence extraneous constraints) and thus attempting to identify the simplest of the module sequences. In that sense the module sequences represented in the module tree are all optimal module sequences. The present work introduced the concept of multi phase modular kinematics which enables a large variety of mechanisms, conventionally identified as complex mechanisms, to be solved in closed form. This is achieved through the use of novel virtual link and virtual joints. Virtual link is slightly different from a normal rigid link in the sense that the joint locations on this are functions of some independent parameters. Since, the locations of joints are not fixed even in the local coordinate frame of the virtual link, the relative velocities between joints are not zero, they need to be appropriately accounted in kinematic analysis.
The theory presented in the thesis is implemented in a computer program written in C++ on Windows platform and Graphics library (OpenGL) is used to display linkage configurations and simulations. The program takes the data of joints, input pairs, ground link in certain format through a file. Geometric models developed in any of the existing modeling softwares like ProE, Ideas, AutoCad etc. can be imported in VRML format to the links and in case of no geometric models a simple convex 2D geometry is created for each link for the purpose of visualization. Geometric import of links helps not only in understanding the simulations better but also in useful for dynamic analysis, dynamic motion analysis and interference analysis. A complete kinematic analysis (position, velocity and acceleration) is given for a four bar mechanism and illustrated the positional ( configuration) analysis using modular kinematics for several other examples like old-ham, quick-return mechanisms etc. in the current work. Multi-phase modular approach is illustrated using a five bar with floating input pairs, a back actor and a drafter mechanism and the Back actor configuration is shown with the imported link geometries.
It is observed in practice that there are many apparently spatial Mechanisms, which are constructed out of symmetric dispositions of planar mechanisms in space. A pseudo spatial mechanism concept is proposed to solve this class of spatial mechanisms, which can actually be analyzed with the effort of solving only one such component. This concept is illustrated with Shaker and Umbrella mechanisms. Possible extensions of the concept for modeling and analysis of more general class of pseudo-spatial mechanisms are also indicated.
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Kuo, Li-Chieh, and 郭立杰. "Quantitative Analysis of the Thumb Kinematics." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/50349911332666622237.
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博士國立成功大學
醫學工程研究所
91
Due to the intricate anatomical structures of the thumb, it is difficult to measure the motion of the thumb joint clinically. Complicated movements of the thumb make the present methods of joint motion assessment difficult in the measurement of thumb motion or thumb impairment. The purpose of this study was to develop an objective, accurate and discriminative method to aid clinical diagnoses of thumb movement impairment associated with disease or injury. It is prerequisite to understand the relationship between surface sensors (markers) and the underlying bony segment before utilizing the motion analysis method to investigate movements of extremities. So in the first part of this study (Chapter 2), we investigated the relationship between the bony and skin landmarks of the thumb during dynamic motion by fluoroscopic examination with living volunteers and three-dimensional spatial tracking measurement with cadaver. The results indicated that the measurement of the motion of the thumb is feasible using surface markers in the video-based motion system or sensors of electromagnetic tracking device. Based on the concept of the three-dimensional space within which the thumb-tip can move, hereafter the workspace of the thumb-tip (WOTT), we developed a quantitative WOTT method for evaluating the range of motion of thumb in the Chapter 3. A computerized video motion analysis system was used to provide quantitative measurement and evaluation of the thumb-tip workspace. By the WOTT method, degree of thumb motion impairment is evaluated as the percentage of actual thumb-tip workspace surface area relative to the ideal average for a given thumb length. Although there are several studies to determine the movements and biomechanical properties of the trapeziometacarpal joint, in vitro. Clinical applications were limited and there is no appropriate method to measure either the range of motion or the maximal workspace of this joint in vivo. Due to the limitation of the WOTT method, we developed a mathematical model to evaluate the maximal workspace of the trapeziometacarpal joint in the Chapter 4.Our final goal of this study is to popularize these objective and scientific methods for clinical uses. Therefore, the clinical applications of these two methods are in progress for assessing the kinematics of the TM joint pre-op/post-op joint arthroplasty at Mayo Medical Center and other thumb impairments at National Cheng Kung University Hospital. We anticipate that the difficulties of measuring the complex kinematics of the thumb will be gradually overcome using our developed objective and quantitative methods.
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Fang, Kuan-Tsung, and 方冠宗. "The Kinematics Analysis of Stretchable Frisbees." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/26033790182582714566.
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碩士崑山科技大學
機械工程研究所
102
The people would like to use the products like as folding bicycle with expansion and storage functions at finite life space in daily life. Therefore, modern people wish the designed products are extendable, portable and storable. Hence, the purpose of this work is to investigate the design method and analyze the kinematic characteristics of Stretchable Frisbees with extendable, portable and storable functions. The research results of Stretchable Frisbees are the mathematical models of kinematic characteristics is derived, a program for simulating the kinematic characteristics is proposed, and the CAD models is established.
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Chen, Pei-Shin, and 陳丕欣. "A Kinematics Analysis of Baseball Batting Swing." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/45140176095318883455.
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碩士輔仁大學
體育學系碩士班
94
A Kinematics Analysis of Baseball Batting Swing By Pei-Shin Chen Advisor Adi Wang Abstract The analysis aimed to identify kinematics differences in batting swings of professional、amateur、and high school league batters、and to establish a fundamental kinematics database of batting swing technique through motion analysis. Fifteen Taiwanese baseball players from three different levels were sampled (five in each level). The average age was 20±8.2 years、height 178.3±3.0 cm、weight 68.3±7.2 kg. Two JVC-DV 9800 high speed cameras working at 240Hz filmed the entire process of swinging a bat performed by fifteen players. Footages retrieved were then submitted to Silicon Coach for motion analysis. The bending augle of the wrist、elbow、knee、and time for each swing、batting speeds and angular velocities from each player were collcted. Product-moment correlation analysis and one-way ANOVA were introduced to analyze these differences in batting swing among three levels of batters as follow: 1. Significant differences (p<.001) existed in time for each swing. 2. Significant differences (p<.001) existed in batting speed measured at the instance of ball-bat contact. 3. Significant differences (p<.001) existed in angular velocity measured at the instance of ball-bat contact. 4. With the exceptions of the right elbow joint and the right wrist joint、Significant differences existed in bending degrees of the wrist、elbow、and knee joint measured at the instance of ball-bat contact among three levels of batters. 5. Significant differences existed (p<.001) in the batters body horizontal shift. 6. Significant differences existed (p<.001) in the batters body vertical shift. 7. Significant differences existed (p<.001) in the moving time of the elbow、wrist、and knee joints. Key words: Baseball、batting swing、batting speed
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Yu-Jie, Lin, and 林郁捷. "The Kinematics analysis of baseball pitching motion." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/96181995987555664767.
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碩士輔仁大學
體育學系碩士班
94
The Kinematics analysis of baseball pitching motion Graduate Institute of Physical Education, Fu Jen Catholic University Researcher：Lin Yu-Jie Advisor：Chen Tai-Cheng Abstract The purpose of this study was to compare the differences of body movement parameters in acceleration phase of three different groups of pitchers, when they pitched ball at their most effort. This study applied two digital cameras to collect the visual data of 2 professional pitchers, 5 university pitchers and 5 senior high school pitchers. And calculate the visual data into parameters by Silicon Coach mechanic analysis system. The parameters was analyzed by descriptive statistics, person product-moment correlation, one –way ANOVA and Scheffe multiple comparison by package statistics software SPSS 10.0. The findings of this study concluded as follow. 〈一〉there is positive correlation in three groups in 「time 」parameter (P﹤.01), and no significant difference between groups, (P>.05). 〈二〉there is positive correlation in three groups in 「speed」parameter (P﹤.01), and no significant difference between groups, (P>.05). 〈三〉there is positive correlation in three groups in 「gravity shift 」parameter (P﹤.01), and there is significant difference between groups, (P<05). It means pitchers in different level make different gravity shift, because of the different height. 〈四〉there is positive correlation in acceleration phase on 「arm shoulder」、「elbow」、「wrist」、「finger tips」and 「the speed in the moment of release」 (P﹤.01) in three groups, and no significant difference between groups, (P>.05). 〈五〉there is positive correlation in acceleration phase on「angle of elbow」in three groups, (P﹤.01), and no significant difference between groups, (P>.05). Key words: baseball pitcher, acceleration phase, Kinematics analysis Total pages：65
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Chao, Fang-ping, and 趙方平. "Kinematics Analysis of the Windmill Softball Pitching." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/84829353490781777586.
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碩士國立體育大學
運動科學研究所
101
In the fast-pitching softball game, windmill pitchers produced different displacement and velocity from the preparation condition to pitch ball and release the ball. Pitchers used to increase body displacement for shortening the pitching distance and increasing the ball velocity. This study examined the ball velocity, stride length, center of mass horizontal velocity, and the kinematics of Upper extremity angular velocity of the windmill softball pitcher. Six high school female subjects were recruited to participate in this study. Pretest and post-test movements were recorded via Vicon T40 motion capture system (300 Hz) through 37 weeks core muscle, lower limbs, and movement correction training. Matlab R2008a and SPSS 18.0 were used to calculate the kinematics and statistics parameters. The outcomes indicated that: center of mass, stride length, horizontal velocity of forearm and hand increased significantly (p<.05). However, angular velocity of upper extremity did not increase significantly. Therefore, increasing center of mass horizontal velocity via training can produce greater ball velocity efficaciously.
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Luo, Gui-Fen, and 羅桂芬. "Analysis of the Kinematics of the Ankle Joint." Thesis, 1998. http://ndltd.ncl.edu.tw/handle/92844122405469454188.
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Hsieh, Chen Ying, and 謝承殷. "A Kinematics Analysis of the Golf Curveball Swing." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/54962732458641370710.
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碩士臺北巿立體育學院
運動科學研究所
93
A Kinematics Analysis of the Golf Curveball Swing Graduate student：Hsieh, Chen-Ying Advisor：Su, Chen-Kai Abstract This research studied the trajectory of a curved golf ball when swung, and computer simulation showed different swings of lines, draws, fades. The relationship between the hitting angle of a golf club face on a curved ball, angular velocity of a flying ball, the energy loss, and that the trajectory of the golf ball can be studied. The visual information of this process will be recorded by Kodak high-speed camera. The raw data analyzed by Silicon Coach Software and Microsoft Excel. We have discovered that the wider a hitting angle of a swinging club toward a golf ball is, the faster the golf ball angle can be. Also the bouncing angle of the golf ball becomes wider. The angular velocity of a rotated ball and the hitting angle of a golf club face have a positive relationship. When the hitting angle of a golf club face gets bigger, the trajectory of the ball has a bigger curvature. From the computer simulation we have discovered the relationship between the trajectory, the flying distance, the golf club hitting angle, the flying velocity of a ball, the angular velocity, and the leaning distance. The energy loss on the golf ball rotation shortens the flying distance. The leaning of the rotating axle of the ball makes a left-turned or right-turned curved trajectory. In addition, the Magnus effect may affect the lift and drag coefficients. When the angular velocity of a ball becomes faster the air will form the vertex in the back of the ball. The lift force makes the ball has more flying distance. If the lift force is on the side, it makes bigger curvature change on the trajectory. The relationship of the angular velocity and side displacement is close to a half power formula. Finally, the hitting angle and side displacement presents a linear relationship. Due to a counteraction of the former mentioned effects it makes the result between the hitting angle of the golf club face and the realistic side displacement presents a linear relationship. Key words：golf club angle, angular velocity, energy loss, trajectory
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Liao, Jia-Wei, and 廖家緯. "Kinematics Analysis on Different Tread Patterns of Bike." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/yc25z8.
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碩士臺北市立大學
運動器材科技研究所
104
Purpose：The purpose of the research was to identify the differences in different tread patterns of hip joint、knee、ankle and leaned forward angle. Methods：The research participants are 10 triathlon men, 24.0±1.3 years old, 73.4±4.2 centimeter, and 66.4±5.3 kilogram body-weight. With 220 watt power and 90RPM riding speed, all participants had been ride road bike in three modes, include pull, push down and normal treads by Motion analysis and Novel pedar-X system which sampling ratios were 500fps and 100Hz, respectively. To analyze the data with one-way ANOVA , defined by LSD (Least significant difference). All statistical significance level α were 0.05. Results：The strength of one-cycle tread in right foot pressure is much smaller than push down tread is significance with p<.001. In the biggest angle, average angle which are significance with p=.001 and activity range which is also significance with p=.005. In ankle activity range, the strength is much smaller than push down tread which is significance with p=.033 . Conclusions：The joint angles are different in pull tread and push down tread mode. The subjects can be assessed by plantar pressure to know they are riding in push down, pull or normal treads. For the future research, should focus on the influence of the variation in different tread patterns.
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Lin, Tse-Min, and 林則旻. "The Kinematics Analysis of Float Serve in Volleyball." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/51201826465739712529.
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Lo, Kuei-Fen, and 羅桂芬. "Analysis of the Kinematics of the Ankle Joint." Thesis, 1998. http://ndltd.ncl.edu.tw/handle/02745243173052637618.
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碩士國立臺灣大學
應用力學研究所
86
The angle joint is a complicated physical system , which includestwo three-d imensional surfaces , motion with six degrees of freedom and with soft tissue around the bones ; in other words , its constraints and distribution of contac t points are complicated . So it is hard to investigate the kinematics and dyn amics of the ankle joint . We analyze this kind of physical problems by making use of experiments and relative theories. A technique is proposed to observe the position of the ankle joint . The surface geometries of the ankle joint are measuresd by using a three_dimesional electronic digital scanning system ; the surfaes of the ankle joint and the corresponding principal curvatures are reconstructed by the mathematical model proposed by Ferguson . We discoverd that the way from dorsiflexion to plantar flexion of the ankle joint is similar to the trend of lines of minimum principal curvature at the middle surface of talus and tibia . The distribution of contact points surveyed using Fuji pressure sensitive films were used in the analysis of congruence. The method developed can be applied to the computer simulation and the mechanical analysis for rang of motion of joints and the related fields.
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Ko, Yu-Chen, and 柯玉貞. "The Kinematics Analysis of Taekwondo Spin-whip kick." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/38083021889479725025.
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碩士國立臺灣師範大學
體育研究所
89
Abstract Taekwondo is the official event of the Olympic game. In order to attract the spectator the rule was modified to emphasize gaining point by application of the jumping, turning and attack the opponent face and upper body. The Spin-whip kick is described as the turn and attack the opponent face in order to gain point. The purpose of this study was to analyze the kinematics of Spin-whip kick, and to identify important parameters of Spin-whip kick, in order to provide useful information for the athletes and coaches. Two peak high speed cameras were gen-locked to videotape the kicking motion. Eight excellence level taekwondo athletes served as subjects, and their training experience and taekwondo Dan were 11.7±2.7years, 3.4±0.7Dan. The summary of results were listed as following: 1. For the Spin-Whip kick motion time, reacting time took 38%, attack time (25%), recover time (37%)respectively. 2. The shoulder was abducted and elbow extended during the kicking foot toe off the ground to help for turning the body, the shoulder was adducted after the foot left ground to reduce the moment of inertia during the body turn, and the elbow extended at the attack target to defense and balance the body. 3. All subjects have two peak knee angles of kicking leg between toes off and contact the target, extension of the knee after toe off and flexion of the knee before second extension for the target. 4. The ankle was under dorsiflexion and plartarflexion when contacted the target. The greater peak ankle angle occured at contact have better attacking effectiveness 5. All peak joints linear velocities were occured before contact the target with hip(3.3±0.46m/s),knee(6.1±0.6m/s)and ankle(8.98±0.85m/s), respectively. 6. In this study, not all the subjects followed the principle of kinetic chain , however the subject with kinetic chain of kicking have a fast kicking velocities.
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Chou, Pi-Chieh, and 周必杰. "Kinematics Analysis of Different Stroke Frequency in Canadian Canoe." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/83582203399900090064.
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碩士國立體育大學
教練研究所
98
The purpose of this study was to investigate the paddle movement with different paddle frequency in Taiwan elite Canadian canoe players. Eight Canadian canoe single and double canoe players had won the top six in 2007 Taiwan National Athletic Games join this experiment. Everyone execute four different paddle frequency(N-spm、50spm、60spm、70spm), every frequency execute three times and 20 seconds per stroke. The Motion Analysis System with 8 high-speed cameras at 100 Hz (Motion Analysis Corporation, Santa Rosa, USA) measure the average displacement, angular displacement, velocity, angular velocity, acceleration, angular acceleration in shoulder, elbow, wrist, hip, knee, ankle joint, trunk and the different of the stroke displacement in different paddle frequency in each phases. The repeated one-way ANOVA is used to calculate the data through SPSS 12.0. The result was showed the moment of paddle touch the water, the angle of the upper and lower limb has no significant difference, the velocity and angular velocity have the tendency was increased when increase the paddle frequency. In the moment of the paddle vertical to the ground, the angle of the upper and lower limb has no significant difference; the velocity was significant difference in the wrist of the paddle push and pull, the elbow of the paddle pull, and the shoulder of the paddle push. The angular velocity have the tendency was increased when the paddle frequency increased, besides the elbow and the shoulder of the paddle push. The moment of the paddle out of the water, only the elbow of the paddle pull was significant difference. The velocity was significant difference in the wrist of the paddle push, the elbow of the paddle push, the balance knee and ankle. The angular velocity in the elbow of the paddle pull, the balance knee and the kneel knee have the tendency was increased when the paddle frequency increased. The phase of the paddle pull the water, only the displacement has significant difference in the balance ankle, and the paddle have the tendency was decreased when the paddle frequency increased. The angular displacement has no significant difference, but the balance ankle have the tendency was increased when the paddle frequency increased. The acceleration, angular velocity and angular acceleration have the tendency was increased when the paddle frequency increased. The angle of the forward bend trunk and the angle of the flexion hip have the tendency was decreased when the paddle frequency increased. The phase of the paddle push the water, the displacement of the wrist of paddle push and pull, the shoulder of the paddle push and pull, and the elbow of the paddle pull have the tendency was decreased when the paddle frequency increased, but the balance ankle was opposite. The angular displacement of the kneel knee and the balance ankle have the tendency was decreased when the paddle frequency increased. The velocity and the acceleration of the upper and lower limb have the tendency was increased when the paddle frequency increased, besides the acceleration of the ankle. The angular velocity has faster stretching movement when the paddle frequency increased. The angular velocity in the shoulder pull stretching and the flexion angle of the hip of the paddle pull was less with the paddle frequency increased. The phase of the paddle return, the displacement of the elbow of the paddle pulls, the shoulder of the paddle push and pull have the tendency was decreased when the paddle frequency increased, but the balance ankle and the kneel knee was opposite. The angular displacement of the balance knee and ankle, the kneel knee have the tendency was decreased when the paddle frequency increased. The velocity of the upper and lower limb have the tendency was increased when the paddle frequency increased, besides the kneel knee, the acceleration have the same condition with the velocity. The angular velocity only has significant difference in the elbow of the paddle push and the shoulder of the paddle pull, the tendency was increased when the paddle frequency increased. The angular velocity in the elbow of the paddle push and pull, and the shoulder of the paddle pull have the tendency was increased when the paddle frequency increased. The tempo of the paddle, the phase of the push and pull water is the key element let the canoe can move forward. The elite Canada style canoe players in our country cannot have good performance in the beginning at the phase of the paddle pull. It could be affect the efficiency of the paddle. The phase of the paddle push, it was no significant difference between this study and previous research in our country Canada style canoe players. This study hope can depend on the motion analysis to realize the paddle stroke characteristic with four different paddle frequencies in each phase to show some scientific and quantification data provide to coaches and players to consult this research.
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Huang, Lin-Yuan, and 黃琳元. "Kinematics Analysis and Gait Planning of a Biped Robot." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/34203581672880515474.
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碩士建國科技大學
機械工程系暨製造科技研究所
98
The purpose of this research is to investigate the kinematics behavior of a biped robot and program motion trajectory of each foot joints through discussion of various walking types and walking gait cycles. The linkage frame system is first established to construct its mechanical structure. Then, base on Denavit-Hartenberg transformation, the relationship transferred from joint rotation angles to the position and orientation of the hip joint is obtained by forward kinematics. On the other hand, once the position and orientation of the hip in 3-dimensional space is obtained, a nonlinear algebraic solution of each joint rotation angle will be developed by inverse kinematics. Static walking and dynamic walking types are thereafter compared and analyzed to program suitable walking gait cycle. Trajectory planning method is required to achieve smooth walking through a cycloid spline interpolation. Finally, the Bioloid biped robot is programmed to walk smoothly and generate each joint movement trajectory compared with cycloid spline and human walking.
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陳冠任. "The Kinematics Analysis of the Happy Baseball Player Attacks." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/60271305422266714094.
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碩士臺北市立教育大學
體育學系體育教學碩士學位班
95
The purpose of the research is to understand the factors that influence the attacks of elementary school Happy Baseball players. First, we discuss the influences for players of different height and height of attacks. Second, setting a fixed height, we discuss how angles and speed influence the attacks. Furthermore, we find the factors that influence the attacks to help the players to develop correct skills to attack the balls and promote their capability. The research adapts experimental method, using 10 Happy Baseball players from Taipei Municipal Hu-Lu Elementary School. The results are analyzed in descriptive statistics, t-test, one-way ANOVA and Pearson Product Moment Correlation. The results are as followed: I. There is no significant difference in ball flying distances between different heights of attacks. II. Conclusions from kinematics parameter: 1. There are significant differences between players of different age groups in the wrist angles from the back hand, elbow angles from the front and back hands, ankle angles of the rear foot, velocity of the bat, velocity of the front elbow, velocity of ankles, linear acceleration of the bat and linear acceleration for body center of gravity at the moment of hitting the balls. 2. There are no significant differences for players of different age groups in the ankle angles of the front foot, velocity of the elbow from the back hand, velocity of the bat lines, velocity of the back elbow and the linear velocity of the body center of gravity at the moment of hitting the balls. III. The kinesthetic factors that influence the attacks are the angles of wrist from the back hand, angles of elbows from both hands, ankle angles from the rear foot, linear velocity of the bats, velocity of the front elbow, velocity of the ankles, linear acceleration of the bats, and linear velocity for body center of gravity.
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Lin, Ching-Hsiang, and 林景祥. "Experimental Demonstration for Kinematics Analysis of the Wheelchair Robot." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/81909633331907023911.
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碩士大葉大學
機電自動化研究所碩士班
93
Owing to the fast improvement on medical treatment, the human’s average lifespan is being increasing drastically. Death rate is reduced gradually too. The whole society has tended to become to an advanced aged one, and has caused a lot of problems like disability, chronic ailment, and medical treatment of the aged. For now, wheelchairs for the disable usually navigate on even terrain. However, they have quite limitations of activities in some terrain, and cause many inconvenience. A new mechanism developed in our laboratory is a potential for wheelchairs, the mobile wheelchair robot can surmount obstacles such as stairway. Therefore, the research is focused on the experimental demonstration of the wheelchair on the stair area, the slop area, even on the spiral stair.