Relevant bibliographies by topics / Kinematics and compliance

Contents

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

Academic literature on the topic 'Kinematics and compliance'

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

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Journal articles on the topic "Kinematics and compliance"

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Dufek, Janet S., John A. Mercer, and Janet R. Griffin. "The Effects of Speed and Surface Compliance on Shock Attenuation Characteristics for Male and Female Runners." Journal of Applied Biomechanics 25, no. 3 (August 2009): 219–28. http://dx.doi.org/10.1123/jab.25.3.219.

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The purpose of the study was to examine the effects of running speed and surface compliance on shock attenuation (SA) characteristics for male and female runners. We were also interested in identifying possible kinematic explanations, specifically, kinematics of the lower extremity at foot-ground contact, for anticipated gender differences in SA. Fourteen volunteer recreational runners (7 male, 7 female) ran at preferred and slow speeds on an adjustable bed treadmill, which simulated soft, medium, and hard surface conditions. Selected kinematic descriptors of lower extremity kinematics as well as leg and head peak impact acceleration values were obtained for 10 left leg contacts per subject-condition. Results identified significant SA values between genders across conditions and more specifically, across surfaces for females, with male runners demonstrating a similar trend. Regression modeling to predict SA by gender for surface conditions elicited unremarkable results, ranging from 30.9 to 59.9% explained variance. It appears that surface compliance does affect SA during running; however, the runner’s ability to dissipate the shock wave may not be expressly explained by our definition of lower extremity kinematics at contact.
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Zhan, Jun, Jiang Li Lu, and Xin Guan. "Test Method of Suspension Kinematics and Compliance." Applied Mechanics and Materials 278-280 (January 2013): 14–17. http://dx.doi.org/10.4028/www.scientific.net/amm.278-280.14.

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For the wide use of the suspension K&C test rig, this paper presents the basic requirements of the vehicle suspension K&C test and provides a reference for unifying the test methods and the test standards. Then, it also gives the specific test specifications and requirements of the vertical wheel jump test, the roll test, the longitudinal force test, and the lateral force test. Finally, the main indicators of the suspension, the steering system and the tire can be obtained.
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Schütte, Jan, and Walter Sextro. "Tire Wear Reduction Based on an Extended Multibody Rear Axle Model." Vehicles 3, no. 2 (May 18, 2021): 233–56. http://dx.doi.org/10.3390/vehicles3020015.

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To analyze the influence of suspension kinematics on tire wear, detailed simulation models are required. In this study, a non-linear, flexible multibody model of a rear axle system is built up in the simulation software MSC Adams/View. The physical model comprises the suspension kinematics, compliance, and dynamics as well as the non-linear behavior of the tire using the FTire model. FTire is chosen because it has a separate tire tread model to compute the contact pressure and friction force distribution in the tire contact patch. To build up the simulation model, a large amount of data is needed. Bushings, spring, and damper characteristics are modeled based on measurements. For the structural components (e.g., control arms), reverse engineering techniques are used. The components are 3D-scanned, reworked, and included as a modal reduced finite element (FE)-model using component mode synthesis by Craig–Bampton. Finally, the suspension model is validated by comparing the simulated kinematic and compliance characteristics to experimental results. To investigate the interaction of suspension kinematics and tire wear, straight line driving events, such as acceleration, driving with constant velocity, and deceleration, are simulated with different setups of wheel suspension kinematics. The influence of the setups on the resulting friction work between tire and road is examined, and an exemplarily calculation of tire wear based on a validated FTire tire model is carried out. The results demonstrate, on the one hand, that the chosen concept of elasto-kinematic axle leads to a relatively good match with experimental results and, on the other hand, that there are significant possibilities to reduce tire wear by adjusting the suspension kinematics.
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Wang, Meng, Elmar Beeh, David Krüger, and Horst E. Friedrich. "Topological optimization of a suspension concept considering the kinematics and compliance performance and the geometric non-linearity." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 232, no. 3 (August 28, 2017): 318–29. http://dx.doi.org/10.1177/0954407017701281.

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This paper proposes a structure design approach for a suspension concept based on topological optimization. In this approach, the kinematics and compliance requirements and the geometric non-linearity are introduced into the structural optimization in order to generate a new lightweight suspension structure and to simplify the iterative design steps between the mechanical requirements and the kinematics and compliance requirements. In the suspension concept, the electric motors are integrated into the longitudinal arms. This concept needs a new suspension linkage with a lightweight structure. For the cases with suspension compliance, linear implicit optimization is used in the design; for the cases with suspension kinematics, the equivalent static load method for implicit optimization with a geometric non-linearity is employed to seek the optimum. By this approach, a suspension structure is obtained. This structure has a better kinematics and compliance performance with a reduced mass than the reference suspension does.
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Valdivia y Alvarado, Pablo, and Kamal Youcef-Toumi. "Design of Machines With Compliant Bodies for Biomimetic Locomotion in Liquid Environments." Journal of Dynamic Systems, Measurement, and Control 128, no. 1 (September 19, 2005): 3–13. http://dx.doi.org/10.1115/1.2168476.

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The aim of this work is to investigate alternative designs for machines intended for biomimetic locomotion in liquid environments. For this, structural compliance instead of discrete assemblies is used to achieve desired mechanism kinematics. We propose two models that describe the dynamics of special compliant mechanisms that can be used to achieve biomimetic locomotion in liquid environments. In addition, we describe the use of analytical solutions for mechanism design. Prototypes that implement the proposed compliant mechanisms are presented and their performance is measured by comparing their kinematic behavior and ultimate locomotion performance with the ones of real fish. This study shows that simpler, more robust mechanisms, as the ones described in this paper, can display comparable performance to existing designs.
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Hayabuchi, Yasunobu, Akemi Ono, Yukako Homma, and Shoji Kagami. "Assessment of pulmonary arterial compliance evaluated using harmonic oscillator kinematics." Pulmonary Circulation 7, no. 3 (June 16, 2017): 666–73. http://dx.doi.org/10.1177/2045893217714781.

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We hypothesized that KPA, a harmonic oscillator kinematics-derived spring constant parameter of the pulmonary artery pressure (PAP) profile, reflects PA compliance in pediatric patients. In this prospective study of 33 children (age range = 0.5–20 years) with various cardiac diseases, we assessed the novel parameter designated as KPA calculated using the pressure phase plane and the equation KPA = (dP/dt_max)2/([Pmax – Pmin])/2)2, where dP/dt_max is the peak derivative of PAP, and Pmax – Pmin is the difference between the minimum and maximum PAP. PA compliance was also calculated using two conventional methods: systolic PA compliance (sPAC) was expressed as the stroke volume/Pmax – Pmin; and diastolic PA compliance (dPAC) was determined according to a two-element Windkessel model of PA diastolic pressure decay. In addition, data were recorded during abdominal compression to determine the influence of preload on KPA. A significant correlation was observed between KPA and sPAC (r = 0.52, P = 0.0018), but not dPAC. Significant correlations were also seen with the time constant (τ) of diastolic PAP (r = −0.51, P = 0.0026) and the pulmonary vascular resistance index (r = −0.39, P = 0.0242). No significant difference in KPA was seen between before and after abdominal compression. KPA had a higher intraclass correlation coefficient than other compliance and resistance parameters for both intra-observer and inter-observer variability (0.998 and 0.997, respectively). These results suggest that KPA can provide insight into the underlying mechanisms and facilitate the quantification of PA compliance.
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Brahmi, Brahim, Maarouf Saad, Abdelkrim Brahmi, Cristobal Ochoa Luna, and Mohammad Habibur Rahman. "Compliant control for wearable exoskeleton robot based on human inverse kinematics." International Journal of Advanced Robotic Systems 15, no. 6 (November 1, 2018): 172988141881213. http://dx.doi.org/10.1177/1729881418812133.

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Rehabilitation robots are a new technology dedicated to the physiotherapy and assistance motion and has aroused great interest in the scientific community. These kinds of robots have shown a high potential in limiting the patient’s disability, increasing its functional movements and helping him/her in daily living activities. This technology is still an emerging area and suffers from many challenges like compliance control and human–robot collaboration. The main challenge addressed in this research is to ensure that the exoskeleton robot provides an appropriate compliance control that allows it to interact perfectly with humans. This article investigates a new compliant control based on a second-order sliding mode with adaptive-gain incorporating time delay estimation. The control uses human inverse kinematics to complete active rehabilitation protocols for an exoskeleton robot with unknown dynamics and unforeseen disturbances. The stability analysis is formulated and demonstrated based on Lyapunov function. An experimental physiotherapy session with three healthy subjects was set up to test the effectiveness of the proposed control, using virtual reality environment.
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Tian, Yingzhong, Mingxuan Luan, Xu Gao, Wenbin Wang, and Long Li. "Kinematic Analysis of Continuum Robot Consisted of Driven Flexible Rods." Mathematical Problems in Engineering 2016 (2016): 1–7. http://dx.doi.org/10.1155/2016/6984194.

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This paper presents the kinematic analysis of a continuum bionic robot with three flexible actuation rods. Since the motion of the end-effector is actuated by the deformation of the rods, the robot structure is with high elasticity and good compliance and the kinematic analysis of the robot requires special treatment. We propose a kinematic model based on the geometry with constant curvature. The analysis consists of two independent mappings: a general mapping for the kinematics of all robots and a specific mapping for this kind of robots. Both of those mappings are developed for the single section and for the multisections. We aim at providing a guide for kinematic analysis of the similar manipulators through this paper.
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Marigold, Daniel S., and Aftab E. Patla. "Adapting Locomotion to Different Surface Compliances: Neuromuscular Responses and Changes in Movement Dynamics." Journal of Neurophysiology 94, no. 3 (September 2005): 1733–50. http://dx.doi.org/10.1152/jn.00019.2005.

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Knowledge of how the nervous system deals with surfaces with different physical properties such as compliance that challenge balance during locomotion is of importance as we are constantly faced with these situations every day. The purpose of this study was to examine the control of center of mass (COM) and lower limb dynamics and recovery response modulation of muscle activity during locomotion across an unexpected compliant surface and in particular, scaling behavior across different levels of compliance. Eight young adults walked along a walkway and stepped on an unexpected compliant surface in the middle of the travel path. There were three different levels of surface compliance, and participants experienced either no compliant surface or one of the three compliant surfaces during each trial that were presented in a blocked or random fashion. Whole body kinematics were collected along with surface electromyography (EMG) of selected bilateral lower limb and trunk muscles. The recovery response to the first compliant-surface trial demonstrated muscle onset latencies between 97 and 175 ms, and activity was modulated while on the compliant surface. Vertical COM trajectory was not preserved after contact with the compliant surface: peak vertical COM, while on the compliant surface was lower than when on stable ground. Perturbed-limb knee flexion after toe-off increased with increased surface compliance, which enabled toe clearance with the ground to be similar to control trials. The results suggest that stepping off of a compliant surface is actively modulated by the CNS and is geared toward maintaining dynamic stability.
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Liu, Xin-Jun, Jay il Jeong, and Jongwon Kim. "A three translational DoFs parallel cube-manipulator." Robotica 21, no. 6 (October 24, 2003): 645–53. http://dx.doi.org/10.1017/s0263574703005198.

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This paper concerns the presentation and analysis of a type of three translational degrees of freedom (DoFs) parallel cube-manipulator. The parallel manipulators are the topology architectures of the DELTA robot and Tsai's manipulator, respectively, which have three translational DoFs. In the design, the three actuators are arranged according to the Cartesian coordinate system, which means that the actuating directions are normal to each other, and the joints connecting to the moving platform are located on three sides of a cube, for such reason we call this type of manipulator the parallel cube-manipulator. The kinematics problems, singularity, workspace, compliance characteristic of the manipulator are investigated in the paper. The analysis results show that the manipulators have the advantages of no singularities in the workspace, relatively more simple forward kinematics, and existence of a compliance center. The parallel cube-manipulator can be applied to the fields of micro-motion manipulators, remote center compliance (RCC) devices, assembly, and so on.
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Dissertations / Theses on the topic "Kinematics and compliance"

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Labbé, Anton, and Benjamin Ström. "Construction of a Selective Compliance Articulated Robot Arm : And evaluation of its accuracy." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296163.

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The concept of a robotic manipulator is widely used throughout many industries. In this project, a manipulator of the type SCARA, selective compliance articulated robot arm, is constructed. The aim was to examine how such a robot could be constructed using 3D-printing and how accurate it would be. Other than 3D-printing, parts in the form of guiding rods, lead screw, bearings, pulleys and timing belts were used. Together with a microcontroller, the robot operates using three stepper motors. In the end it resulted in a SCARA with reasonable accuracy considering the methods used, more specifically the largest average error was 3.6cm in the X direction and 2.3 cm in the Y direction. The largest drawback of the final construction was the negative balance between tightening the belts and friction in the inner joint. Tightening the belts meant larger friction and thereby undesired movement properties. Doing the opposite meant that the belts could start slipping and enabled backlash.
Konceptet av en robotarm används brett inom många industrier. Detta projekt syftar till att konstruera en robot avtypen SCARA, selective compliance articulated robot arm. Målet var att undersöka hur en sådan robot kan 3D-printas och dess precision. Förutom 3D-printade delar användes även guidestänger, kullager, kamremmar och remskivor. Robotens rörelser styrs tillsammans med en mikrokontroller och tre stegmotorer. Med tillvägagångssätten i åtanke resulterade projektet in en SCARA med rimlig precision. Mer specifikt var medelfelet 3.6 cm i X-led och 2.3 cm i Y-led. Den största nackdelen med den slutgiltiga konstruktionenvar den negativa jämvikten mellan att spänna kamremmarna och friktionen i den inre armleden. Att spänna kamremmarna innebar en ökning i friktion och därmed oönskade rörelseegenskaper. Att göra tvärtom innebar att bältena löpte större risk att glida ur och möjliggjorde dödgång.
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Suchý, Jan. "Měření poddajností zavěšení kol." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2014. http://www.nusl.cz/ntk/nusl-231523.

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The thesis is focused on the method of determining the position of the wheel using photogrammetric equipment Tritop. Verification of the method is performed by measuring of the Formula Student Dragon II. Measured data are processed by algorithm for calculating compiled in Matlab software. The final section describes a concept the measurement of the suspension flexibility on the UADI device.
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Wiedmann, Stephen Louis. "Kinematic Analysis of a Threaded Fastener Assembly." Thesis, Virginia Tech, 2000. http://hdl.handle.net/10919/31685.

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The demands for an increase in productivity and reduced assembly costs require engineers to automate solutions that replace manual labor. This work concentrated on a common assembly primitive, threaded fastener insertion, in an effort to determine the nature of contact between a bolt and nut during thread mating. The assembly problem was initially simplified as a two-dimensional analysis to gain an understanding about how contacts between the bolt and nut change during counter-clockwise motion. Tessellated solid models were used during three-dimensional collision analysis in such a way that the approximate location of the contact point was enumerated. The advent of a second contact point presented a more constrained contact state since we are interested in maintaining both contacts; thus the bolt rotated about a vector defined by the initial two contact points until a third contact location was found. By analyzing the depth of intersection of the bolt into the nut as well as the vertical movement of the origin of the bolt reference frame, we determined that there are three types of contacts states present: unstable two-point, quasi-stable two-point, stable three point. Though the unstable case remains to be deciphered, the parametric equations derived in this work can be used without modification to create a full spectrum of maps at any point in the history of a threaded assembly problem. We investigated 81 potential orientations, each of which has its own set of contact points. From this exhaustive examination, we are capable of detailing a contact state history and, from this, have the potential to develop a constraint network.
Master of Science
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Culpepper, Martin L. (Martin Luther). "Design and application of compliant quasi-kinematic couplings." Thesis, Massachusetts Institute of Technology, 2000. http://hdl.handle.net/1721.1/9260.

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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2000.
Includes bibliographical references (p. 113-116).
Better precision at lower costs is a major force in design and manufacturing. However, this is becoming increasingly difficult to achieve as the demands of many location applications are surpassing the practical performance limit (~ five microns) of low-cost couplings. The absence of a means to meet these requirement has motivated the development of the Quasi-Kinematic Coupling (QKC). This thesis covers the theoretical and practical considerations needed to model and design QKCs. In a QKC, one component is equipped with three spherical protrusions while the other contains three corresponding conical grooves. Whereas Kinematic Couplings rely on six points of contact, the six arcs of contact between the mated protrusions and grooves of QKCs result in a weakly over-constrained coupling, thus the name Quasi-Kinematic. QKCs are capable of sub-micron repeatability, permit sealing contact as needed in casting, and can be economically mass produced. The design and application of a QKC is demonstrated via a case study on the location of two engine components. Integration of the QKC has improved coupling precision from 5 to 0.7 microns. In addition, this QKC uses 60% fewer precision features, 60% fewer pieces, costs 40% less per engine, and allows feature placement tolerances which are twice as wide as those of the previous dowel-pin-type coupling.
by Martin L. Culpepper.
S.M.
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Jagirdar, Saurabh. "Kinematics of curved flexible beam." [Tampa, Fla] : University of South Florida, 2006. http://purl.fcla.edu/usf/dc/et/SFE0001853.

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Swiss, Dallin R. "Springback Force Considerations in Compliant Haptic Interfaces." BYU ScholarsArchive, 2015. https://scholarsarchive.byu.edu/etd/5835.

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This thesis investigates the potential benefits and challenges of using compliant mechanisms in the design of haptic interfaces. The benefits and challenges are presented with an emphasis on their inherent springback behavior and an active compensation approach. Design criteria for compliant mechanism joint candidates are reviewed and several joints are surveyed. Quantitative calculations of axial stiffness and maximum stress for five candidates are presented. Generalized analytical models of springback force and compensation torque are created to simulate the implementation of each joint candidate in a two degree-of-freedom planar pantograph. We use these models in the development and discussion of an analytical approach to predict the motor torques needed to actively compensate for the effects of springback. This approach relies on virtual work analyses of the haptic pantograph to determine the springback forces, compensation torques, haptic workspace, and available haptic force after compensation. A key to estimating the available haptic force is knowing that the force capability is different depending on the local springback force. If a component of the desired haptic force aligns with the springback force, then the two can work together, thus increasing the maximum magnitude of available haptic force beyond the nominal amount. Analytical and experimental results are presented. A detailed method of implementation is given along with a hardware demonstration of active compensation.
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Alfattani, Rami. "Design of Shape-Morphing Structures Consisting of Bistable Compliant Mechanisms." Scholar Commons, 2019. https://scholarcommons.usf.edu/etd/7725.

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This dissertation presents a design concept for shape-morphing structures that have two stable configurations. The design concept defines the methodology of transforming a planar structural shape into spatial structural shape using bistable compliant mechanisms. Bistable complaint mechanisms are used to achieve structural stable configurations. The dissertation incorporating geometrical relationships for the mechanisms that form the primary structure described in step-by-step process. This dissertation implements the design layouts for designer to creating shape-morphing structures including origami. The novel contribution of the work is classified in three models. The first model presents a methodology to induce bistability behavior into an origami reverse fold and partially spherical compliant mechanism. The second model presents the design and development of a bistable triangle-shaped compliant mechanism with motion limits and dwell behavior at the two stable configurations. This mechanism can be arrayed to create shape-morphing structures. The third model presents a design and development for a collapsible bistable compliant mechanism used for a shape morphing lamina-emergent frustum. Finally, physical prototypes of all models are presented as proof of concept.
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Quinn, Cheney. "Vliv viskoelasticity a provozních podmínek na tření poddajných kontaktů." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-444274.

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Poddajné kontakty obsahující polymerní nebo pryžové členy lze nalézt v technických i biologických aplikacích. I přes vývoj v této oblasti existují efekty, které ovlivňují tribologické aspekty těchto kontaktů, a je třeba je dále zkoumat. Tato práce se zabývá vlivy kinematických podmínek, konfigurace, viskoelasticity a viskozity maziva na tření v mazaných poddajných kontaktech. Výsledky byly použity k vývoji numerického modelu pro predikci kapalinového tření v poddajných kontaktech. K objasnění chování poddajných kontaktů bylo použito zařízení Mini Traction Machine (MTM) v konfiguraci ball-on-disc, což umožnilo zkoumání zmíněných vlivů. Z poznatků z technické oblasti bylo zjištěno, že viskoelasticita se projevuje ve všech konfiguracích, tedy soft-on-hard, hard-on-soft a soft-on-soft, a její efekt je nejvýznamnější v konfiguracích s poddajným diskem. Data dále ukazují, že poměr skluzu a valení má vliv na valivé tření což je v rozporu se současnou literaturou. Výsledky z biologické oblasti naznačují, že za určitých podmínek lze nahradit nativní kapalinu jednoduchým mazivem. Tyto poznatky mohou posloužit jako odrazový můstek pro další studie zabývající se poddajnými kontakty.
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Zimmerman, Trent Karl. "A Definition and Demonstration of Developable Mechanisms." BYU ScholarsArchive, 2018. https://scholarsarchive.byu.edu/etd/7343.

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There is an increasing need for compact mechanical systems that can accomplish sophisticated tasks. Technologies like ortho-planar and lamina emergent mechanisms (LEMs) have been developed to satisfy needs like these by stowing in planar sheets from which they emerge to perform their function. They can be compact, lightweight, monolithic, scalable, and can withstand harsh environments. They are limited, however, by their base element---planar surfaces. Applications requiring these advantages often include curved surfaces, like aircraft wings, needles, and automotive bodies. In this research, developable mechanisms are presented as a solution to satisfy the need for mechanisms that can conform to or emerge from curved surfaces. Foundational principles which enable designers to leverage the advantages of developable mechanisms are described herein.Developable mechanisms result from the union of mechanisms and developable surfaces. Developable (flattenable) surfaces act as a fitting medium because of their particular advantages in manufacturability and how well they accompany four-link, revolute joint (4R) mechanisms. The definition, including specific qualifying criteria, for developable mechanisms is given. Certain types of mechanisms and classes of developable surfaces can be combined to satisy that criteria. Developable mechanism sub-classes are defined as planar, cylindrical, conical and tangent developable mechanisms. It is shown that planar and spherical mechanisms can be used to create cylindrical and conical developable mechanisms, respectively. The Bennett and other 7R mechanisms can be used for tangent developable mechanisms. Steps for developable mechanism creation are presented, and several physical prototypes are provided to demonstrate feasibility.The cylindrically curved Lamina Emergent Torsional (LET) joint is offered as an enabling technology for producing compliant developable mechanisms. A mathematical model predicting force-deflection and stress behavior is provided and verified. The relationship between stiffness and strain energy storage for curved sheet materials with incorporated LET joints is explored. Material shape factors are used to derive an effective modulus of elasticity and an effective modulus of resilience, which are compared with original values on an Ashby plot. While there is a decrease in the modulus of resilience, there is a much more significant decrease in the modulus of elasticity. A material performance index is provided as an example for determining suitable materials for a given stiffness-reduction application. It is shown that the cylindrically curved LET joint makes it possible to create highly flexible joints that maintain much of their energy storage capability in curved sheet materials.
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Jones, Caitrin Elizabeth. "The design of a compliant underwater angle sensor to investigate the kinematics of burrowing razor clams." Thesis, Massachusetts Institute of Technology, 2009. http://hdl.handle.net/1721.1/54492.

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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 38).
This paper presents the detailed design process for a compliant underwater angle sensor to be used in analyzing the precise burrowing motions of razor clams in order to aid in the development of intelligent anchoring devices. The angle sensor was developed using a set of specific functional requirements, theoretical kinematic and structural models, and an iterative prototyping process. The resulting sensor is a device that can measure the angle between the two halves of a clam's shell versus time using a thermal-centric strain gauge configuration. The device is saltwater compatible, does not hinder the motions of the clam and only increases the axial drag on the clam by 2.3 to 5.5%. Data can now be collected using this sensor that will be important to creating a strategy for the coordination of the movements of a robotic anchor that would improve upon existing anchoring technologies for marine applications ranging from small boats, to Autonomous Underwater Vehicles (AUVs), to spy equipment.
by Caitrin Elizabeth Jones.
S.B.
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Books on the topic "Kinematics and compliance"

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Compliant Mechanisms. Wiley-Interscience, 2001.

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Howell, Larry L. Compliant Mechanisms. Wiley & Sons, Incorporated, John, 2008.

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Howell, Larry L., Spencer P. Magleby, and Brian M. Olsen. Handbook of Compliant Mechanisms. Wiley & Sons, Incorporated, John, 2013.

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Howell, Larry L., Spencer P. Magleby, and Brian M. Olsen. Handbook of Compliant Mechanisms. Wiley & Sons, Incorporated, John, 2013.

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Howell, Larry L., Spencer P. Magleby, and Brian M. Olsen. Handbook of Compliant Mechanisms. Wiley & Sons, Limited, John, 2013.

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Book chapters on the topic "Kinematics and compliance"

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Adamski, Dirk. "Kinematics and Compliance." In Simulation in Chassis Technology, 125–60. Wiesbaden: Springer Fachmedien Wiesbaden, 2020. http://dx.doi.org/10.1007/978-3-658-30678-6_8.

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Rad, Farid Parvari, Giovanni Berselli, Rocco Vertechy, and Vincenzo Parenti Castelli. "Evaluating the Spatial Compliance of Circularly Curved-Beam Flexures." In Computational Kinematics, 377–86. Dordrecht: Springer Netherlands, 2013. http://dx.doi.org/10.1007/978-94-007-7214-4_42.

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Tsuji, Toshio, Toshiaki Takahashi, and Koji Ito. "Multi-Point Compliance Control for Redundant Manipulators." In Advances in Robot Kinematics, 427–34. Vienna: Springer Vienna, 1991. http://dx.doi.org/10.1007/978-3-7091-4433-6_48.

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Klimchik, Alexandr, Anatol Pashkevich, Damien Chablat, and Geir Hovland. "Compensation of Compliance Errors in Parallel Manipulators Composed of Non-perfect Kinematic Chains." In Latest Advances in Robot Kinematics, 51–58. Dordrecht: Springer Netherlands, 2012. http://dx.doi.org/10.1007/978-94-007-4620-6_7.

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Howell, Larry L. "Compliant Mechanisms." In 21st Century Kinematics, 189–216. London: Springer London, 2013. http://dx.doi.org/10.1007/978-1-4471-4510-3_7.

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Theska, René, Lena Zentner, Thomas Fröhlich, Christian Weber, Eberhard Manske, Sebastian Linß, Philipp Gräser, Felix Harfensteller, Maximilian Darnieder, and Michael Kühnel. "Compliant Mechanisms for Ultra-Precise Applications." In Interdisciplinary Applications of Kinematics, 249–56. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-16423-2_23.

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Marsh, D., R. Hines, and J. Duffy. "Stability Analysis of Compliant Mechanisms." In Recent Advances in Robot Kinematics, 129–38. Dordrecht: Springer Netherlands, 1996. http://dx.doi.org/10.1007/978-94-009-1718-7_13.

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Parvari Rad, Farid, Rocco Vertechy, Giovanni Berselli, and Vincenzo Parenti-Castelli. "Compliant Serial 3R Chain with Spherical Flexures." In Advances in Robot Kinematics 2016, 11–21. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-56802-7_2.

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Schreiber, G., A. Albu-Schäffer, M. Fischer, F. Schoeppe, and G. Hirzinger. "Achievable Cartesian Stiffness with Passively Compliant, Uncoupled Joints." In On Advances in Robot Kinematics, 409–18. Dordrecht: Springer Netherlands, 2004. http://dx.doi.org/10.1007/978-1-4020-2249-4_44.

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Jung, H. K., C. D. Crane, and R. G. Roberts. "Stiffness mapping of planar compliant parallel mechanisms in a serial arrangement." In Advances in Robot Kinematics, 85–94. Dordrecht: Springer Netherlands, 2006. http://dx.doi.org/10.1007/978-1-4020-4941-5_10.

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Conference papers on the topic "Kinematics and compliance"

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Sundström, Peter, Maria Henningsson, Xabier Carrera Akutain, Yutaka Hirano, Alejandro Ocariz, Hiroo Iida, Naoki Aikawa, and Johan Andreasson. "Virtual Vehicle Kinematics and Compliance Test Rig." In Deployment of high-fidelity vehicle models for accurate real-time simulation. Linköping University Electronic Press, 2016. http://dx.doi.org/10.3384/ecp1612429.

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Holdmann, Peter, and Frank Berger. "Kinematics and Compliance of Sports Utility Vehicles." In SAE 2001 World Congress. 400 Commonwealth Drive, Warrendale, PA, United States: SAE International, 2001. http://dx.doi.org/10.4271/2001-01-0491.

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Holdmann, Peter, Philip Köhn, Bertram Möller, and Ralph Willems. "Suspension Kinematics and Compliance - Measuring and Simulation." In International Congress & Exposition. 400 Commonwealth Drive, Warrendale, PA, United States: SAE International, 1998. http://dx.doi.org/10.4271/980897.

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Shih, L., and A. A. Frank. "Dynamic Modelling and Analysis of General Linked Mechanisms With Compliance." In ASME 1987 Design Technology Conferences. American Society of Mechanical Engineers, 1987. http://dx.doi.org/10.1115/detc1987-0096.

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Abstract This paper presents a simple and systematic method of analysis for the kinematics and dynamics of spatial multi-loop mechanisms with closed and open kinematic chains. The Newton-Euler formulation is used to derive the dynamic equations of motion of each link. This formulation completely eliminates kinematic redundancies and singularities. Compliant joint models are introduced to cover real life effects such as joint clearances, lubrication of joints, joint to link compliances, etc. Direct computation of joint reaction forces results. An example of the application of the method to the dynamic and kinematic analysis of a 3 dimensional spatial slider-crank mechanism with a flywheel is presented.
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Wang, Michael Yu. "A Kinetoelastic Approach to Continuum Compliant Mechanism Optimization." In ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/detc2008-49426.

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This paper presents a new approach to designing continuum compliant mechanisms—the kinetoelastic approach. We present a new formulation of the design problem, incorporating not only the kinematic function requirements of the mechanism but, more importantly, the compliance characteristics of the mechanism’s structure. In our kinetoelastic model, the kinematics of the compliant mechanism is defined on rigid-bodies of input/output ports and is related to a set of kinetoelastic factors of mechanism’s structure in a state equation of the mechanism defined by the elasticity theory. Central to defining the compliance characteristics of the mechanism is the mechanism eigensystem with principal eigen-stiffness or eigen-compliance. In this new perspective, we further apply the kinetoelastic model to the problem of designing compliant translational joints with a structure topology optimization technique. This application demonstrates the capability of the kinetoelastic approach in producing compliant designs with desirable compliance properties, such as in the leaf-spring type sliding joint as opposed to the notch-type joint. The paper represents an initial development towards a complete methodology for continuum compliant mechanism design.
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Guo Konghui, Li Ning, Zhao Yu, Guo Chuan, and Fu Minzheng. "The development of a vehicle suspension Kinematics and Compliance facility." In 2011 International Conference on Electric Information and Control Engineering (ICEICE). IEEE, 2011. http://dx.doi.org/10.1109/iceice.2011.5777865.

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Qi, Peng, Hongbin Liu, Lakmal Seneviratne, and Kaspar Althoefer. "Design, Kinematics and Prototype of a Flexible Robot Arm With Planar Springs." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-46503.

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Flexible robot arms have been developed for various medical and industrial applications because of their compliant structures enabling safe environmental interactions. This paper introduces a novel flexible robot arm comprising a number of elastically deformable planar spring elements arranged in series. The effects of flexure design variations on their layer compliance properties are investigated. Numerical studies of the different layer configurations are presented and finite Element Analysis (FEA) simulation is conducted. Based on the suspended platform’s motion of each planar spring, this paper then provides a new method for kinematic modeling of the proposed robot arm. The approach is based on the concept of simultaneous rotation and the use of Rodrigues’ rotation formula and is applicable to a wide class of continuum-style robot arms. At last, the flexible robot arms respectively integrated with two different types of compliance layers are prototyped. Preliminary test results are reported.
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Best, Tony, Steve J. Neads, John P. Whitehead, and Ian R. Willows. "Design and Operation of a New Vehicle Suspension Kinematics and Compliance Facility." In SAE International Congress and Exposition. 400 Commonwealth Drive, Warrendale, PA, United States: SAE International, 1997. http://dx.doi.org/10.4271/970096.

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

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This paper discusses the kinematic modeling of proteins and the analysis of their internal motion from the viewpoint of robot kinematics. First, a kinematic model of a protein is introduced. This model consists of multiple serial link mechanisms and interaction lines (lines between alpha carbons). The protein model is regarded as a type of a robot manipulator that uses joint angles to control the lengths of the interaction lines, and the Jacobian matrix of the manipulator is derived. On the basis of this Jacobian matrix, the basic equations for calculating the deformation caused by external forces and evaluating the structural compliance of specified parts are derived. Finally, by combining the derived basic equations, we analyze the internal motions of lactoferrin and hemoglobin and compare the results with the reported measured characteristics of their internal motions. Despite the approximations by the model, the results obtained by the proposed method agree with the measured internal motion.
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van de Sande, Werner W. P. J., and Just L. Herder. "Analysis of Parasitic Motion in Compliant Mechanisms Using Eigenwrenches and Eigentwists." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-86262.

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Parasitic motion is undesired in precision mechanisms, it causes unwanted kinematics. These erroneous motions are especially apparent in compliant mechanisms. Usually an analysis of parasitic motion is only valid for one type of mechanism. Kinematic information is imbedded in the compliance matrix of any mechanism; an eigenscrew decomposition expresses this kinematic information as screws. It uses screw theory to identify the lines along which a force yields a parallel translation and a rotation yields a parallel moment. These lines are called eigenwrenches and eigentwists. Any other load on the compliant mechanism will lead to parasitic motion. This article introduces two parasitic motion metrics using eigenscrew decomposition: the parasitic resultant from an applied screw and the deviation of an actual degree of freedom from a desired degree of freedom. These metrics are applicable to all compliant mechanism and allow comparison between two compliant mechanisms. These metrics are applied to some common compliant mechanisms as an example.
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