Relevant bibliographies by topics / Kinematika a dynamika

Contents

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

Academic literature on the topic 'Kinematika a dynamika'

Author: Grafiati
Published: 4 June 2021
Last updated: 9 February 2022

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Journal articles on the topic "Kinematika a dynamika"

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Bonfanti, P., F. Simien, R. Rampazzo, and Ph Prugniel. "Kinematics of early-type galaxies in compact groups: HCG 67, HCG 74 and HCG 79." International Astronomical Union Colloquium 174 (2000): 50–53. http://dx.doi.org/10.1017/s0252921100054749.

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AbstractWe present measurements of stellar kinematics for seven early-type galaxies in HCG 67, HCG 74 and HCG 79. These data are aimed at studying the relation between the environment and the dynamics, structure and stellar content of early-type galaxies. In the present three groups, the kinematic features we observed cannot be associated unambiguously to physical interactions. Visible morphological peculiarities do not appear correlated with kinematical perturbations.
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Tuleshov, K. Amandyk, A. Kassymbek Ozhikenov, and K. Assylbek Ozhiken. "Investigation of Dynamical Peculiarities of Manipulator on the Basis of close Circuit Mechanism." Advanced Materials Research 705 (June 2013): 386–89. http://dx.doi.org/10.4028/www.scientific.net/amr.705.386.

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Manipulator dynamics is investigated on the basis of closed kinematic chain, in comparison to manipulator on the base of non-closed kinematic chain. Thereby the dynamic peculiarities of their driving actuators are considered. The solution of the task of program motion development was received as a solution of inverse task of kinematics. The modeling issues of investigated manipulators dynamics are resolved and the results were attained. The attained results demonstrate that the application of flat closed mechanisms as the operating device of manipulation robots is promising from the perspective of enhancement of their dynamical peculiarities.
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Geonea, Ionut, Alexandru Margine, and Alin Ungureanu. "Study upon the Dynamic Answer of Plane Manipulators." Advanced Materials Research 463-464 (February 2012): 1304–8. http://dx.doi.org/10.4028/www.scientific.net/amr.463-464.1304.

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The paper illustrates the structure of plane mechanical systems used to manipulators. In the first part are presented some kinematics schemes used to plane manipulators. These mechanisms are used to manipulators, positioning and control systems. In generally these mechanisms have two or three degree of mobility. The purpose of the paper is to study the dynamics of a plane manipulator mechanical system used to manipulate garbage containers. It is presented the kinematics scheme of a plane manipulator, used to this purpose and is presented the mechanism functional description. In the second part is presented the kinematical and dynamical analysis for the plane manipulator mechanism. In the last part of the paper are presented graphical results for the dynamics parameters.
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Fattah, A., and G. Kasaei. "Kinematics and dynamics of a parallel manipulator with a new architecture." Robotica 18, no. 5 (September 2000): 535–43. http://dx.doi.org/10.1017/s026357470000271x.

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In this paper, the kinematics and dynamics of a parallel manipulator with a new architecture supposed to be used as a moving mechanism in a flight simulator project is studied. This manipulator with three independent degrees of freedom consists of a moving platform connected to a based platform by means of three legs. Kinematic solutions for this manipulator at position, velocity and acceleration levels are obtained. Moreover, the dynamical equations of motion of the manipulator are determined using Newton-Euler's equations and applying the natural orthogonal complement (NOC) method. Using kinematics and dynamics and also performing simulation for different manoeuvres of moving platform, the motion and the actuator forces of the legs are obtained.
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Tiongco, Maria A., Enrico Vesperini, and Anna Lisa Varri. "Kinematical evolution of multiple stellar populations in star clusters." Monthly Notices of the Royal Astronomical Society 487, no. 4 (June 25, 2019): 5535–48. http://dx.doi.org/10.1093/mnras/stz1595.

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ABSTRACT We present the results of a suite of N-body simulations aimed at understanding the fundamental aspects of the long-term evolution of the internal kinematics of multiple stellar populations in globular clusters. Our models enable us to study the cooperative effects of internal, relaxation-driven processes and external, tidally induced perturbations on the structural and kinematic properties of multiple-population globular clusters. To analyse the dynamical behaviour of the multiple stellar populations in a variety of spin-orbit coupling conditions, we have considered three reference cases in which the tidally perturbed star cluster rotates along an axis oriented in different directions with respect to the orbital angular momentum vector. We focus specifically on the characterization of the evolution of the degree of differential rotation and anisotropy in the velocity space, and we quantify the process of spatial and kinematic mixing of the two populations. In light of recent and forthcoming explorations of the internal kinematics of this class of stellar systems by means of line-of sight and astrometric measurements, we also investigate the implications of projection effects and spatial distribution of the stars adopted as tracers. The kinematic and structural richness emerging from our models further emphasizes the need and the importance of observational studies aimed at building a complete kinematical picture of the multiple population phenomenon.
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Samurovic, S., A. Vudragovic, M. Jovanovic, and M. M. Cirkovic. "Low dark matter content of the nearby early-type galaxy NGC 821." Serbian Astronomical Journal, no. 188 (2014): 29–36. http://dx.doi.org/10.2298/saj1488029s.

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In this paper we analyze the kinematics and dynamics of the nearby early-type galaxy NGC 821 based on its globular clusters (GCs) and planetary nebulae (PNe). We use PNe and GCs to extract the kinematics of NGC 821 which is then used for the dynamical modelling based on the Jeans equation. We apply the Jeans equation using the Newtonian mass-follows-light approach assuming constant mass-to-light ratio and find that using such an approach we can successfully fit the kinematic data. The inferred constant mass-to-light ratio, 4:2 < M=LB < 12:4 present throughout the whole galaxy, implies the lack of significant amount of dark matter. We also used three different MOND approaches and found that we can fit the kinematic data without the need for additional, dark, component.
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Luo, Xian Hai, and Liang Zhen Li. "Dynamics Automatic Design of Planar Linkage Mechanism Based on Genetic Program." Advanced Materials Research 396-398 (November 2011): 2447–51. http://dx.doi.org/10.4028/www.scientific.net/amr.396-398.2447.

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Regarded planar linkage mechanism kinematic target and execution of kinematic pair constraint reaction restrictions as the quantitative objectives, established the comprehensive dynamic design fitness function with the distance between a kinematics target and execution of a set of practical movement points, and the difference between actual constraint reaction of kinematic pair and its limit. According to multi-branch tree expression and random configuration method to create mechanical initial population, driven by the fitness function, made the mechanical population evolution towards the target requirements by the use of copy, crossover and mutation operators of genetic program. In the evolutionary process, inserted kinematics and dynamics automatic analysis technique, design examples indicated that using a genetic program can search parallel in different mechanical configuration space, dimension space and inertia space, automatically searched to such kinds of mechanisms approximate kinematics target and dynamics requirements, thus fulfilling the dynamics automatic design.
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Laschowski, Brock, Naser Mehrabi, and John McPhee. "Inverse Dynamics Modeling of Paralympic Wheelchair Curling." Journal of Applied Biomechanics 33, no. 4 (August 2017): 294–99. http://dx.doi.org/10.1123/jab.2016-0143.

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Paralympic wheelchair curling is an adapted version of Olympic curling played by individuals with spinal cord injuries, cerebral palsy, multiple sclerosis, and lower extremity amputations. To the best of the authors’ knowledge, there has been no experimental or computational research published regarding the biomechanics of wheelchair curling. Accordingly, the objective of the present research was to quantify the angular joint kinematics and dynamics of a Paralympic wheelchair curler throughout the delivery. The angular joint kinematics of the upper extremity were experimentally measured using an inertial measurement unit system; the translational kinematics of the curling stone were additionally evaluated with optical motion capture. The experimental kinematics were mathematically optimized to satisfy the kinematic constraints of a subject-specific multibody biomechanical model. The optimized kinematics were subsequently used to compute the resultant joint moments via inverse dynamics analysis. The main biomechanical demands throughout the delivery (ie, in terms of both kinematic and dynamic variables) were about the hip and shoulder joints, followed sequentially by the elbow and wrist. The implications of these findings are discussed in relation to wheelchair curling delivery technique, musculoskeletal modeling, and forward dynamic simulations.
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Jordan, Christopher E. "Scale effects in the kinematics and dynamics of swimming leeches." Canadian Journal of Zoology 76, no. 10 (October 1, 1998): 1869–77. http://dx.doi.org/10.1139/z98-131.

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Slender-bodied organisms swimming with whole-body undulations exhibit what appears to be a high degree of kinematic parameter conservation, which is independent of body size. However, organisms of very different sizes swim in fundamentally different physical realms, owing to the relative scaling of viscous and inertial fluid stresses as a function of size and speed. In light of the size-dependent fluid forces, the kinematic constancy suggests three hypotheses: (1) swimming organisms adopt a single "ideal" swimming mode requiring the modification of muscle forces or motor patterns through ontogeny, (2) swimming kinematics are determined predominantly by the passive mechanical interaction of the body and the fluid, resulting in a single swimming mode independent of absolute body size, or (3) while undulatory swimming kinematics may be similar between organisms, there are important size-dependent kinematic differences. In this study, I address this issue by examining the swimming kinematics and dynamics of the medicinal leech Hirudo medicinalis L. as a function of body size. Over a 5-fold increase in body length, the relative amplitude of body undulations during swimming did not change; however, swimming speed, propulsive wave speed, and propulsive wave frequency all decreased, while propulsive wave number increased slightly, strongly supporting hypothesis 2. To determine the source of the observed size-dependent swimming kinematics, I manipulated the dynamic viscosity of the organism's fluid environment to alter the constraints placed on swimming behavior by the physical surroundings. In the elevated-viscosity treatment, all kinematic parameters changed in the opposite direction to that predicted by hypothesis 2, rejecting both the idea that swimming kinematics are simply determined by passive mechanical interactions and that leeches have a target swimming mode under active control.
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Hadian, Hamoon, Yasser Amooshahi, and Abbas Fattah. "Kinematics and Dynamics Modeling of a New 4-DOF Cable-Driven Parallel Manipulator." International Journal of Intelligent Mechatronics and Robotics 1, no. 4 (October 2011): 44–60. http://dx.doi.org/10.4018/ijimr.2011100103.

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This paper addresses the kinematics and dynamics modeling of a 4-DOF cable-driven parallel manipulator with new architecture and a typical Computed Torque Method (CTM) controller is developed for dynamic model in SimMechanics. The novelty of kinematic architecture and the closed loop formulation is presented. The workspace model of mechanism’s dynamic is obtained in an efficient and compact form by means of natural orthogonal complement (NOC) method which leads to the elimination of the nonworking kinematic-constraint wrenches and also to the derivation of the minimum number of equations. To verify the dynamic model and analyze the dynamical properties of novel 4-DOF cable-driven parallel manipulator, a typical CTM control scheme in joint-space is designed for dynamic model in SimMechanics.
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Dissertations / Theses on the topic "Kinematika a dynamika"

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Zháňal, Lubor. "Simulace kinematiky a dynamiky vozidlových mechanismů." Doctoral thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2015. http://www.nusl.cz/ntk/nusl-234269.

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This paper focuses on the kinematic and dynamic numerical simulation of mechanisms by applying a numerical method, and a complex simulation programme built on it, developed by the author. Described are mathematical principles of the numerical method used and also the programming progression of the important parts of the application and its optimization. The final part includes comparative measuring of the accuracy and performance.
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Přeslička, Jaroslav. "Vyvážení tříválcového traktorového motoru." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2014. http://www.nusl.cz/ntk/nusl-231700.

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The thesis deals with analysis of balancing of given cranktrain. At the introductory part is solved kinematics of the crank mechanism. Another part of the text occupies with dynamics of the crank mechanism and eventuality of its balancing with using of point-mass model. This simplified model is utilized for analytic solution of given mechanism. Results of analytic solution are compared with results of MBS solution. At the last part is done analysis of minimal distance between the selected parts of the mechanism. Then simple optimization of balancing is done. At the end is considered balancing of the mechanism and simple improvement is proposed, considered are results of minimal distance analysis too.
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Řehůřek, Lukáš. "Vliv pružnosti rozvodového mechanismu na pohyb ventilu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2016. http://www.nusl.cz/ntk/nusl-254396.

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The aim of this thesis is a comparing single valve train motion (SVT) and complete valve train motion with a flexible camshaft focused on dynamic characteristics. In this thesis is also performed kinematics analysis in the VALKIN software. Dynamic analysis is solved in the MBS software Virtual Engine. Influences to the valve train motion are described in the conclusion
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Křižák, Michal. "Využití počítačové podpory při řešení předstřetového pohybu vozidel." Master's thesis, Vysoké učení technické v Brně. Ústav soudního inženýrství, 2012. http://www.nusl.cz/ntk/nusl-232640.

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Thesis deals with comparison of influence of chosen solution method on pre crash movement of vehicles in one simulation program and on differences between calculations for one method in different programs. Compared solution methods are kinematics and dynamics solutions of pre crash movement, compared programs are Virtual CRASH and PC-Crash.
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Jandora, Radek. "Výpočtové modelování dynamických projevů v kontaktu kola a kolejnice s obecnou geometrií kontaktních povrchů." Doctoral thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2012. http://www.nusl.cz/ntk/nusl-234020.

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During life of railway vehicles, shape irregularities develop on wheels and rails because of wear. The shape irregularities then affect forces in wheel-rail contact and cause further damage of contact surfaces, vibrations and noise and increase risk of derailment. A numerical simulation of railway vehicle motion with more details on contact surfaces geometry was created to investigate dynamic contact loads in wheel-rail contact. A variety of methods can be used to evaluate forces in rolling contact, the method chosen for this study was algorithm CONTACT based on boundary element method. Four studies are presented in this papers: contact loads from a wheel with a flat and with a wavy tread pattern, loads on wavy rail and load in a curve. The first three studies investigated effects of existing wear patterns, the last one looked for cause of common wear pattern developing on rails. Results of the studies with worn components used showed that the worst kind of shape irregularities is a flat present on wheel. This type of shape cause loss of contact and following impacts. The study of ride in curve showed that cause of high wear in curves, especially those with small radii, is caused by vibration of wheelset. This vibration is then caused by different length of inner and outer rail and wheels travelling along a different path.
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Šuranský, Michal. "Modelování, identifikace a řízení robotického manipulátoru." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2013. http://www.nusl.cz/ntk/nusl-230936.

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Main aim of this master’s thesis is to identify, model and control robotic manipulator with three degrees of freedom. The thesis is a part of major project [17], the aim of which is to create an educational platform. In the thesis the simple PID control and the PID with feedforward compensation control is tested on the model of simple pendulum. In the next part models of DC motors, which are used for construction of the manipulator, are developed and the inverse dynamics model of manipulator is developed. This model is used for feedforward control of the manipulator. In the final part the application was developed, which allows the manipulator to be taught some movements, which can be later on, executed. For the simple control of the application the graphical user interface was programmed.
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Jasanský, Michal. "Návrh dynamických modelů pro řízení trakce experimentálního vozidla." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2010. http://www.nusl.cz/ntk/nusl-228949.

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The Master's thesis deals with the simulations kinematics and dynamics of experimental four-wheeled vehicle with all-wheel steering and all-wheel drive. Suggestion of vehicle stability systems ABS/ASR for traction control is included. There are several dynamics models with their comparison. The estimation of important vehicle parameters is implemented. Based on knowledge the simple vehicle stability system ABS/ASR is created.
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Novák, Jiří. "Návrh uložení hydraulického válce zkušebního zařízení kulových kloubů." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2009. http://www.nusl.cz/ntk/nusl-228586.

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The main object of this thesis is the proposal of fitting (setting) hydraulic cylinder into test equipment of ball-joints of company TRW-DAS Dačice a.s. The thesis includes a short review about testing ball-joint of above company and about liquid mechanisms. Also, there are analyzed demands for fitting (setting) hydraulic cylinder into testing equipment. In the main part of this thesis there is described my own constructive proposal with numeric calculations in proper software. In enclosure there are all analytical calculations with productive drawings and an assembly drawing.
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Valčík, Martin. "Hnací mechanismus Stirlingova motoru." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-378136.

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This diploma thesis is focused on the design of the driving mechanism of Stirling engine, where was chosen modification of these engines with rhombic drive. Subsequently is constructed kinematical, dynamical and thermomechanical mathematical model. Finally, is going from these models for execution strength control and drawing documentation.
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Novák, Vít. "Pohonné ústrojí čtyřválcového řadového zážehového leteckého motoru." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-417579.

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The focus of this work is to determine the stress of the crank mechanism of the inverted piston aircraft engine Walter Mikron III C UL from the manufacturer PARMA - TECHNIK, s.r.o. The main method of calculation is the numerical finite elements method using the program ANSYS Workbench, the module Static structural and Transient structural. The approximate indicated cylinder pressure during the duty cycle was determined in the GT-SUITE software. The partial goals are to propose possible modifications in the construction of the crank mechanism and to state the possible power reserves of the engine. The diploma thesis also briefly summarizes the history and development of aircraft piston engines from the company Walter, which developed the engine, and the line of Walter Mikron engines.
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Books on the topic "Kinematika a dynamika"

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Vallejo Maldonado, Pablo Ramon, and Nikolay Chaynov. Kinematics and dynamics of automobile piston engines. ru: INFRA-M Academic Publishing LLC., 2019. http://dx.doi.org/10.12737/989072.

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The fundamentals of kinematics and dynamics of transport piston internal combustion engines made using different layout schemes are presented. Along with the traditional in-line, V-shaped, including oppositional, arrangement of cylinders, schemes with "staggered" arrangement of cylinders in the block at the displaced connecting rod necks of the crankshaft of the engine are considered. The kinematics of the coaxial crank mechanism is considered in detail. The questions of dynamics with reduction of calculated dependences of forces, moments, a choice of a rational order of work of cylinders in relation to the considered kinematic schemes are in detail stated. Considerable attention is paid to the unevenness of the crankshaft rotation speed and engine balancing. The loads on the main and connecting rod bearings of the crankshaft, the knowledge of which is necessary in determining the bearing capacity of bearing units, are also considered. Meets the requirements of the Federal state educational standards of higher education of the last generation. For students of higher educational institutions studying in the direction of training 23.03.03 "Operation of transport and technological machines and complexes" and related areas.
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Schwinger, Julian Seymour. Quantum Kinematics and Dynamics. Cambridge, Mass: Advanced Book Program, Perseus Pub., 2000.

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Schwinger, Julian Seymour. Quantum kinematics and dynamics. Redwood City, Calif: Addison-Wesley Pub. Co. Advanced Book Program, 1991.

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Huston, Ronald L. Multibody dynamics. London: Butterworths, 1990.

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Peter, Sadler J., ed. Kinematics and dynamics of machinery. 2nd ed. New York, NY: HarperCollinsCollegePublishers, 1993.

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Peter, Sadler J., ed. Kinematics and dynamics of machinery. 3rd ed. Upper Saddle River, N.J: Pearson Education, 2003.

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Huston, Ronald L. Multibody dynamics. Boston: Butterworth-Heinemann, 1990.

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Huston, Ronald L. Multibody dynamics. Boston: Butterworths, 1990.

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Kinematik, Dynamik und Simulation des leichtathletischen Sprints. Frankfurt am Main: P. Lang, 1993.

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Kinematics and dynamics of machinery. New York: M. Dekker, 1996.

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Book chapters on the topic "Kinematika a dynamika"

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Prechtl, Martin. "Kinematik." In Mathematische Dynamik, 1–44. Berlin, Heidelberg: Springer Berlin Heidelberg, 2015. http://dx.doi.org/10.1007/978-3-662-44796-3_1.

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Prechtl, Martin. "Kinematik." In Mathematische Dynamik, 1–44. Berlin, Heidelberg: Springer Berlin Heidelberg, 2016. http://dx.doi.org/10.1007/978-3-662-49431-8_1.

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Prechtl, Martin. "Kinematik." In Mathematische Dynamik, 1–43. Berlin, Heidelberg: Springer Berlin Heidelberg, 2021. http://dx.doi.org/10.1007/978-3-662-62107-3_1.

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Bremer, Hartmut. "Kinematik." In Dynamik und Regelung mechanischer Systeme, 13–37. Wiesbaden: Vieweg+Teubner Verlag, 1988. http://dx.doi.org/10.1007/978-3-663-05674-4_2.

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Wittenburg, Jens. "Dynamics of Mechanisms." In Kinematics, 663–75. Berlin, Heidelberg: Springer Berlin Heidelberg, 2016. http://dx.doi.org/10.1007/978-3-662-48487-6_19.

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Vogt, Patrik, Sebastian Becker, Pascal Klein, Stefan Küchemann, Jochen Kuhn, Oliver Schwarz, and Michael Thees. "Kinematik und Dynamik." In Physik ganz smart, 9–61. Berlin, Heidelberg: Springer Berlin Heidelberg, 2019. http://dx.doi.org/10.1007/978-3-662-59266-3_2.

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Fabien, Brian. "Kinematics." In Analytical System Dynamics, 1–72. Boston, MA: Springer US, 2008. http://dx.doi.org/10.1007/978-0-387-85605-6_2.

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Richard, Hans Albert, and Manuela Sander. "Kinematik des Massenpunktes." In Technische Mechanik. Dynamik, 12–54. Wiesbaden: Springer Fachmedien Wiesbaden, 2014. http://dx.doi.org/10.1007/978-3-658-05028-3_3.

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Dresig, Hans, and Iosif Isaakevič Vul’fson. "Kinematik zwangläufiger Mechanismen." In Dynamik der Mechanismen, 15–54. Vienna: Springer Vienna, 1989. http://dx.doi.org/10.1007/978-3-7091-9035-7_2.

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Richard, Hans Albert, and Manuela Sander. "Kinematik des Massenpunktes." In Technische Mechanik. Dynamik, 12–54. Wiesbaden: Vieweg+Teubner, 2011. http://dx.doi.org/10.1007/978-3-8348-9930-9_3.

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Conference papers on the topic "Kinematika a dynamika"

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Xiong, Jing, Ting-Li Yang, Xiangdong Yang, Dongchao Yang, and Ken Chen. "Coupling Degree of Mechanism and Its Application." In ASME 2006 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2006. http://dx.doi.org/10.1115/detc2006-99079.

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The kinematic and dynamic analysis of an spatial multi-loop mechanism especially parallel mechanism is significant but always complex. Based on the topological structure of mechanisms, this paper proposes the concept of coupling degree of mechanism systematically, and applies it to the criterion of basic kinematic chains(BKCs) and other problems. The relation between topology, kinematics and dynamics of parallel mechanisms is established, and then it is achieved to quantitatively describe the analysis complexity of a parallel mechanism and to obtain its simplest solving path, according to its topological structure. The preliminary method for unified modeling of the topology, kinematics and dynamics of parallel mechanisms is proposed, using BKC as the basic analysis unit. Some suggestions for optimization and selective preference of parallel mechanisms are also presented.
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Yang, Ting-Li, Fang-Hua Yao, and Ming Zhang. "A Comparative Study on Some Modular Approaches for Analysis and Synthesis of Planar Linkages: Part II — Modular Dynamic Analysis, Modular Structural Synthesis and Modular Kinematic Synthesis." In ASME 1998 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1998. http://dx.doi.org/10.1115/detc98/mech-6058.

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Abstract This paper presents a systematical comparative study of various modular methods based on the different module types: basic kinematic chains (BKCs), single opened chains (SOCs), loops (or a tree and co-tree), links-joints, etc. for analysis and synthesis of structure, kinematics and dynamics of planar linkages. The basic idea is that any linkage can be divided into (or built up by) some modular components in sequence, and based on the component constraints and network entirty constraints of the linkage, the unified modular approaches have been used for analysis and synthesis. In systematical comparative study, the main issues of a modular method have been discussed, such as: the topological characteristics revealed via different module types; the dimension of a set of kinematic equations; the automated generation and solution of kinematic equations; the dimension and automated generation of dynamical equations, and computation complexity for generating and solving dynamical equation; the automated generation of structural analysis and type synthesis; the generation of kinematic synthesis equations etc.. This paper gives a summary of the use of modular techniques for analyzing and synthesizing planar linkages in the recently thirty years. This comparative study includes two parts: Part I-modular structural analysis and modular kinematic analysis; Part II-modular dynamic analysis, modular structural synthesis and modular kinematic synthesis. This paper is the second part.
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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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El-Khasawneh, Bashar, and Anas Alazzam. "Kinematics, Dynamics and Vibration Models for 3RPR Parallel Kinematics Manipulator." In ASME 2013 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/imece2013-64525.

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Parallel link manipulators are the type of mechanisms that have closed kinematics chains. Some of their advantages over open kinematics chains (called also serial kinematics manipulators) are their high stiffness and accuracy. This paper carries out forward and inverse kinematic and dynamic analysis on a certain type of parallel kinematic mechanisms. This is needed to conduct vibration analysis on the same platform. The type of mechanism is planar 3 RPR manipulator. This entails identifying the modes of the manipulator. A simplified vibration theoretical model is derived. This derivation helps in the optimization of parallel kinematics machine design for improved/optimized dynamic performance. The implications of dynamic stiffness modeling should reflect on better noise rejection, less chatter during machining, and increasing the bandwidth of such mechanisms to admit running at higher speeds.
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Meghdari, A., S. H. Mahboobi, and A. L. Gaskarimahalle. "Dynamics Modeling of “CEDRA” Rescue Robot on Uneven Terrains." In ASME 2004 International Mechanical Engineering Congress and Exposition. ASMEDC, 2004. http://dx.doi.org/10.1115/imece2004-59239.

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In this paper an effective approach for kinematic and dynamic modeling of high mobility wheeled mobile robots (WMR) has been presented. As an example of these robots, the method has been applied on CEDRA rescue robot which is a complex, multibody mechanism. The model is derived for 6-DOF motions enabling movement in x, y, z directions, as well as pitch, roll and yaw rotations. Forward kinematics equations are derived using Denavit-Hartenberg method and the wheels Jacobian matrices. Moreover the inverse kinematics of the robot is obtained and solved for the wheel velocities and steering commands in terms of desired velocity, heading and measured link angles. Finally dynamical analysis of the rover has been thoroughly studied. Due to the complexity of this multi-body system especially on rough terrain, Kane’s method of dynamics has been used to model this problem. The approach has been developed in such a way that it can easily be extended to other mechanisms and rovers.
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Vidoni, Renato, Paolo Boscariol, Alessandro Gasparetto, and Marco Giovagnoni. "Kinematic and Dynamic Analysis of Flexible-Link Parallel Robots by Means of an ERLS Approach." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-70939.

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The use of parallel kinematic structures allows to design light manipulators with higher dynamic performance with respect to serial robots. In this work, the issue of accurately modelling the dynamics of lightweight flexible-link parallel robots has been investigated. The Equivalent Rigid-Link System (ERLS) formulation, useful for describing the dynamic evolution of 3D serial robots with flexible-links, has been extended to Parallel-Kinematic-Machines (PKM) both from the theoretical and from the software implementation points of view. Standard robotics concepts of 3D kinematics are exploited to formulate and solve the ERLS kinematics, thus allowing to easily work with this formulation. A simulator, capable of predicting the deformations due to the elasticity of the links, has been developed and some industrial case-studies have been implemented to validate it. The formulation and the developed simulator will give the opportunity to extensively study the deformations of parallel manipulators, allow to predict the vibrations of the system, and, then, compensate them.
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Datoussaïd, Sélim, Olivier Verlinden, and Calogéro Conti. "Optimal Design of Multibody Systems by Using Genetic Algorithms." In ASME 1999 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1999. http://dx.doi.org/10.1115/detc99/dac-8682.

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Abstract The design step of multibody systems requires in some specific cases an optimization process, in order to determine the set of parameters which lead to optimal kinematic or dynamic performances. The aim of this paper is to propose an optimal design method adapted to general multibody systems and submitted to kinematic and/or dynamic time-dependent criteria. The optimization process is based on stochastic techniques referred to genetic algorithms, which are inspired from natural evolution and can often overtop classical optimization methods when applied to practical problems. Illustrative examples are given in the context of the optimization of the kinematics of a motorcar suspension and the lateral dynamics of an urban railway vehicle.
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Zamanian, Amir Hosein, and Edmond Richer. "Inverse Kinematic Analysis of Muscular Hydrostat Inspired Soft Robot With Chain-Like Optimization With an Embedded Controller." In ASME 2020 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/dscc2020-3247.

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Abstract In this study, we present a fast computing algorithm for the inverse kinematic analysis of a dexterous robot inspired by muscular hydrostats. First, the forward kinematics based on piecewise constant curvature (PCC) theory was established. Second, an inverse kinematic algorithm based on a chain-like connection comprising rigid link elements with revolute joints is proposed. The inverse kinematic algorithm starts with a solution derived from the Euler-Bernoulli beam equation and then performs an iterative constrained optimization with an embedded integral controller. The algorithm can reach the desired positions and orientations of the end effector with theoretically “zero” error. The simulation results showed that the algorithm can reach all positions and orientations in the continuous workspace with a small number of iterations.
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Yang, Ting-Li, Fang-Hua Yao, and Ming Zhang. "A Comparative Study on Some Modular Approaches for Analysis and Synthesis of Planar Linkages: Part I — Modular Structural Analysis and Modular Kinemaic Analysis." In ASME 1998 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1998. http://dx.doi.org/10.1115/detc98/mech-5920.

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Abstract This paper presents a systematical comparative study of various modular methods based on the different module types: basic kinematic chains (BKCs), single opened chains (SOCs), loops (or a tree and co-tree), links-joints, etc. for analysis and synthesis of structure, kinematics and dynamics of planar linkages. The basic idea is that any linkage can be divided into (or built up by) some modular components in sequence, and based on the component constraints and network entirty constraints of the linkage, the unified modular approaches have been used for analysis and synthesis. In the systematical comparative study, the main issues of a modular method have been discussed, such as: the topological characteristics revealed via different module types; the dimension of a set of kinematic equations; the automated generation and solution of kinematic equations; the dimension and automated generation of dynamical equations, and computation complexity for generating and solving dynamical equation; the automated generation of structural analysis and type synthesis; the generation of kinematic synthesis equations etc.. This paper gives a summary of the use of modular techniques for analyzing and synthesizing planar linkages in the recently thirty years. This comparative study includes two parts: part I — modular structural analysis and modular kinematic analysis; part II — modular dynamics analysis, modular structural synthesis and modular kinematic synthesis. This paper is the first part.
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Cho, H. J., H. S. Ryu, D. S. Bae, J. H. Choi, and B. Ross. "A Recursive Implementation Method With Implicit Integrator for Multibody Dynamics." In ASME 2001 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2001. http://dx.doi.org/10.1115/detc2001/vib-21319.

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Abstract A recursive implementation method for the equations of motion and kinematics is presented. Computational structure of the kinematic and dynamic equations is exploited to systematically implement a dynamic analysis program RecurDyn. A differential algebraic equation solution method with implicit numerical integrators is discussed. Virtual body concept is introduced for the flexible body dynamics. The accuracy of the flexible body solutions is estimated by an error measure and is improved by the dynamic correction mode method. Several examples are solved to demonstrate the efficiency of the proposed methods.
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Reports on the topic "Kinematika a dynamika"

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Perdigão, Rui A. P., and Julia Hall. Spatiotemporal Causality and Predictability Beyond Recurrence Collapse in Complex Coevolutionary Systems. Meteoceanics, November 2020. http://dx.doi.org/10.46337/201111.

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Causality and Predictability of Complex Systems pose fundamental challenges even under well-defined structural stochastic-dynamic conditions where the laws of motion and system symmetries are known. However, the edifice of complexity can be profoundly transformed by structural-functional coevolution and non-recurrent elusive mechanisms changing the very same invariants of motion that had been taken for granted. This leads to recurrence collapse and memory loss, precluding the ability of traditional stochastic-dynamic and information-theoretic metrics to provide reliable information about the non-recurrent emergence of fundamental new properties absent from the a priori kinematic geometric and statistical features. Unveiling causal mechanisms and eliciting system dynamic predictability under such challenging conditions is not only a fundamental problem in mathematical and statistical physics, but also one of critical importance to dynamic modelling, risk assessment and decision support e.g. regarding non-recurrent critical transitions and extreme events. In order to address these challenges, generalized metrics in non-ergodic information physics are hereby introduced for unveiling elusive dynamics, causality and predictability of complex dynamical systems undergoing far-from-equilibrium structural-functional coevolution. With these methodological developments at hand, hidden dynamic information is hereby brought out and explicitly quantified even beyond post-critical regime collapse, long after statistical information is lost. The added causal insights and operational predictive value are further highlighted by evaluating the new information metrics among statistically independent variables, where traditional techniques therefore find no information links. Notwithstanding the factorability of the distributions associated to the aforementioned independent variables, synergistic and redundant information are found to emerge from microphysical, event-scale codependencies in far-from-equilibrium nonlinear statistical mechanics. The findings are illustrated to shed light onto fundamental causal mechanisms and unveil elusive dynamic predictability of non-recurrent critical transitions and extreme events across multiscale hydro-climatic problems.
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Aardema, James. Robotic Refueler Arm Kinematics, Dynamics and Global Position Control. Fort Belvoir, VA: Defense Technical Information Center, February 1989. http://dx.doi.org/10.21236/ada396690.

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Keyser, Daniel. Diagnosis of the Kinematics and Dynamics of Rapidly Developing Maritime Cyclones. Fort Belvoir, VA: Defense Technical Information Center, March 1992. http://dx.doi.org/10.21236/ada267008.

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Lewis, Jonathan C., and Christopher J. Pluhar. Kinematic and Dynamic Studies of the Coso Geothermal and Surrounding Areas. Fort Belvoir, VA: Defense Technical Information Center, September 2003. http://dx.doi.org/10.21236/ada417358.

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

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Helinski, Arthur L. Dynamic and Kinematic Study of a Stewart Platform Using Newton-Euler Techniques. Fort Belvoir, VA: Defense Technical Information Center, January 1990. http://dx.doi.org/10.21236/ada219637.

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Kushnir, V. I., and A. T. Macrander. A criterion for the dynamical to kinematical transition of x-ray diffraction on a bent crystal. Office of Scientific and Technical Information (OSTI), September 1993. http://dx.doi.org/10.2172/10188471.

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Melville, W. K., and Eric Terrill. Airborne Measurements of Whitecap Kinematics and Dynamics in the High-Wind Regime: Source Functions for Marine Aerosols, Surface Currents and Turbulence. Fort Belvoir, VA: Defense Technical Information Center, September 2003. http://dx.doi.org/10.21236/ada630299.

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