Relevant bibliographies by topics / Vestaty with combined kinematic structure

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

Academic literature on the topic 'Vestaty with combined kinematic structure'

Author: Grafiati
Published: 28 May 2022
Last updated: 18 July 2025

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Journal articles on the topic "Vestaty with combined kinematic structure"

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Bensalma, Fatima, Glen Richardson, Youssef Ouakrim, et al. "A Combined Visualization Method for Multivariate Data Analysis. Application to Knee Kinematic and Clinical Parameters Relationships." Applied Sciences 10, no. 5 (2020): 1762. http://dx.doi.org/10.3390/app10051762.

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This paper aims to analyze the correlation structure between the kinematic and clinical parameters of an end-staged knee osteoarthritis population. The kinematic data are a set of characteristics derived from 3D knee kinematic patterns. The clinical parameters include the answers of a clinical questionnaire and the patient’s demographic characteristics. The proposed method performs, first, a regularized canonical correlation analysis (RCCA) to evaluate the multivariate relationship between the clinical and kinematic datasets, and second, a combined visualization method to better understand the relationships between these multivariate data. Results show the efficiency of using different and complementary visual representation tools to highlight hidden relationships and find insights in data.
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Tian, Chunxu, Yuefa Fang, Sheng Guo, and Haibo Qu. "Structure synthesis of reconfigurable parallel mechanisms with closed-loop metamorphic linkages." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 232, no. 7 (2017): 1303–16. http://dx.doi.org/10.1177/0954406217703418.

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This paper proposes a class of closed-loop metamorphic linkages, which has different phases resulting from links annexing or locking of motors. Reconfigurable limbs are obtained by assembling these metamorphic linkages with kinematic chains. The potential metamorphic linkages are presented and the working phase transformation of the metamorphic linkages is analyzed. After adding suitable kinematic joints to the metamorphic linkage, the reconfigurable limbs whose constraint can be switched among different constraint forces and couples are synthesized. The serial limbs that can provide u ( u = 0, 1, 2) constraint forces and v ( v = 0, 1, 2) constraint couples are constructed by using screw theory method. The reconfigurable limbs which possess different configurations are combined with serial kinematic chains. By connecting the end moving platform to the fixed base with three identical kinematic limbs, a family of reconfigurable mechanisms with closed-loop metamorphic linkages is derived. These mechanisms have various output motion modes, such as 3R, 1T2R, 2T1R, and 3T.
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Chiou, Jiunn-Shyang, Wen-Yi Hung, Yi-Ting Lee, and Zong-Han Young. "Combined dynamic structure-pile-soil interaction analysis considering inertial and kinematic effects." Computers and Geotechnics 125 (September 2020): 103671. http://dx.doi.org/10.1016/j.compgeo.2020.103671.

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Kwon, Sun-Yong. "Effect of Inertial and Kinetic Forces of a Soil–Pile–Structure System on the Behavior of a Superstructure Under Earthquake." Applied Sciences 15, no. 9 (2025): 5085. https://doi.org/10.3390/app15095085.

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The seismic behavior of pile-supported structures is influenced by complex interactions between inertial force and kinematic force mainly drawn by soil properties and superstructure characteristics. This study aims to investigate the combined effects of inertial and kinematic interaction on the dynamic response of pile foundations under seismic loading. To achieve this, three-dimensional numerical simulations were conducted using FLAC3D, based on a bridge substructure model. A total of twelve analysis cases were developed by varying input seismic motion levels, soil relative densities, and pile cap masses. The results demonstrate that kinematic force effects become more dominant in dense soils as seismic intensity increases, resulting in greater velocity responses and internal forces in the pile cap. Meanwhile, inertial forces from heavier superstructures interacted with kinematic force effects in a resistive manner, particularly under embedded pile cap conditions. The displacement of pile foundations remained within serviceable limits in all cases, although structural demands would be elevated under certain conditions. These findings confirm the significance of accounting for both inertial and kinematic effects in seismic design and highlight the importance of site-specific soil conditions.
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Zhou, Wan Chun, and Dong Min Liu. "The Creative Design of Injector Clamping Mechanism." Advanced Materials Research 418-420 (December 2011): 2166–69. http://dx.doi.org/10.4028/www.scientific.net/amr.418-420.2166.

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Abstract. Analysis of a certain topological structure characteristics of clamping mechanism of injection machine, according to general principles, converts it into only containing Deputy General of the connecting rod and rotating chain. Bodies comprehensive theory of numbers after distribution combined with rod classes are general Atlas of kinematic chain. After identifying design constraints, on the redistribute members and turn the pair, you can get all man foot design requirements of viable specific Atlas of kinematic chains. Then every possible specific kinematic chain materialized to the schematic diagram of mechanism. Designers are on this basis through the kinematics and dynamics analysis to determine the best new clamping mechanism of injection machine.
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Smars, Pierre. "Kinematic Stability of Masonry Arches." Advanced Materials Research 133-134 (October 2010): 429–34. http://dx.doi.org/10.4028/www.scientific.net/amr.133-134.429.

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To quantify the safety of masonry arches and vaults using limit-analysis, various types of safety factors have been devised. The most well-known were introduced by Heyman: a “static factor of safety” (or load factor) assessing how vulnerable the structure is to increases in the living loads and a “geometrical factor of safety” assessing how critical the thickness of the structure is for its stability. In non seismic areas, one of the main risks of total or partial collapse of arches and vaults is excessive displacement of the supports (following walls or soil deformation). Limit analysis technique can be used to analyse this risk, quantifying movements permitted before collapse and evolution of the thrust on the supports. This analysis can be combined with pathological investigations and displacement monitoring to study the evolution of the risk and define a “kinematic factor of safety”. A software program was developed (a) to compute domains of stability for particular mechanisms of deformation, (b) to study possibility of transitions between mechanisms during deformation and (c) to interactively study the influence of movements of the supports on thrust and stability. Scaled physical models are used to validate the limit analysis approach, using an experimental rig where horizontal and vertical displacements are controlled by computer. A high-speed camera is used to study transition between mechanisms. Finally it is referred to techniques integrating this kinematic approach into a more general probabilistic approach, taking into account various uncertainties in the structure (shape, thickness, loads, movements).
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Yu, Ming, Wenwen Liu, Jian Zhao, Yanyan Hou, Xuewu Hong, and Hongjie Zhang. "Modeling and Analysis of a Composite Structure-Based Soft Pneumatic Actuators for Soft-Robotic Gripper." Sensors 22, no. 13 (2022): 4851. http://dx.doi.org/10.3390/s22134851.

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Soft pneumatic actuators are extensively used in soft robots, and their bending angles and kinematic rules at different pressures play a crucial role in practical applications. This investigation aims to model the bending angle and motion of a new type of soft pneumatic actuator that adopts a composite structure consisting of two kinds of pneumatic networks. Based on the structural and deformation characteristics of the proposed soft actuator, the constitutive model is established, and then the moment equilibrium and virtual work principle are combined to model the bending angle of two pneumatic modules. The kinematic model of the proposed soft actuator is co-opted from the kinematic modeling of rigid robots. By employing the piecewise constant curvature method and coordinate transformation, the location of any chamber of the soft actuator can be calculated. The effectiveness of the developed analytical models is then tested, and the calculated results show good agreement with the experimental results. Finally, three soft actuators are used to constitute a soft gripper, and the pinching and enveloping grasping performance are examined. All experimental test results demonstrate that the developed bending angle and kinematic models can explain the bending principle of the proposed soft actuators well.
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Beivydas, Edmundas. "VIENO TARPATRAMIO KABAMOSIOS KOMBINUOTOS STYGINĖS PLIENO KONSTRUKCIJOS SKAITINĖ ANALIZĖ / STRUCTURAL ANALYSIS OF ONE-SPAN SUSPENSION COMBINED STRING STEEL BRIDGE." Mokslas - Lietuvos ateitis 10 (December 21, 2018): 1–5. http://dx.doi.org/10.3846/mla.2018.2867.

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The Journal discusses the behavior of a single-span composite string structure, when the string and the supporting rope are absolutely flexible elements. The behavior of such a structure with symmetric and asymmetric loads is analyzed. The influence of the string on the elastic and kinematic displacements is considered. Changing the ratio between the axial stiffness of the strings and auxiliary rope and the initial rotation of the auxiliary rope, the structure of the elastic and kinematic shifts is analyzed, the most rational variants are sought and the recommendations for composing are presented. Santrauka Straipsnyje aptariama vieno tarpatramio kombinuotos styginės konstrukcijos elgsena, kai styga ir pagalbinis lynas absoliučiai lankstūs elementai. Analizuojama tokios konstrukcijos elgsena veikiant simetrinei ir asimetrinei apkrovoms. Nagrinėjama stygos įtaka tampriesiems ir kinematiniams poslinkiams. Keičiant stygos ir pagalbinio lyno ašinių standžių santykį ir pagalbinio lyno pradinį įsvyrį, analizuojami konstrukcijos tamprieji ir kinematiniai poslinkiai, ieškomi racionaliausi variantai ir pateikiamos komponavimo rekomendacijos.
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Khudainazarov, Sherzod, Burkhon Donayev, Talibjan Sabirjanov, and Jahongir Qosimov. "Dynamics of high-rise structures taking into account the viscoelastic properties of the material." E3S Web of Conferences 304 (2021): 02004. http://dx.doi.org/10.1051/e3sconf/202130402004.

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The article deals with forced vibrations of a high-rise axisymmetric structure, represented as a viscoelastic beam of an annular section with a variable slope of the generatrices and variable thickness. The research was conducted to analyze the behavior of a high-rise structure for various kinematic effects. The task is to determine the displacements of the points of a high-rise structure at different time points under different kinematic effects. The methods were developed and a computer program was built; forced vibrations of high-rise axisymmetric structures under various kinematic actions, considering viscoelastic properties of the material, were investigated in linear, nonlinear, and viscoelastic formulations. The study of the dynamic behavior of a high-rise structure, taking into account the nonlinear and dissipative properties (different in nature) of the material, shows that the combined consideration of all these properties brings the resulting pattern closer to the one observed in reality. That is, the amplitude of the structure’s oscillations does not grow infinitely, but gradually decreases over time, and the maximum possible consideration of nonlinear and dissipative properties leads to the fastest damping of oscillations.
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BUENO, J. R., and D. D. LORIGGIO. "Analysis of second order effects: case study." Revista IBRACON de Estruturas e Materiais 9, no. 4 (2016): 494–501. http://dx.doi.org/10.1590/s1983-41952016000400002.

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Abstract This paper presents a nonlinear static analysis of a reinforced concrete plane frame. It has as main objective is to realize a global stability verification of a plane frame, by using geometric stiffness matrix. In order to obtain first and second order combined effects, equilibrium and kinematic relations were studied in the deformed geometric configuration. These results were obtained by using geometric stiffness matrix and multiplying horizontal forces by Gamma-Z coefficient. Both procedures disclosed very similar results in the study, indicating that Gamma-Z can be used to study equilibrium and kinematic relations in deformed geometrical configuration of the structure.
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Dissertations / Theses on the topic "Vestaty with combined kinematic structure"

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Кириченко, А. М., та С. М. Заїка. "Точність верстатів з плоскими механізмами паралельної структури". Thesis, Видавництво СумДУ, 2010. http://essuir.sumdu.edu.ua/handle/123456789/11378.

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Book chapters on the topic "Vestaty with combined kinematic structure"

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Jung David L., Dixon Warren E., and Pin François G. "Automated Kinematic Generator for Surgical Robotic Systems." In Studies in Health Technology and Informatics. IOS Press, 2004. https://doi.org/10.3233/978-1-60750-942-4-144.

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Unlike traditional assembly line robotic systems that have a fixed kinematic structure associated with a single tool for a structured task, nextgeneration robotic surgical assist systems will be required to use an array of endeffector tools. Once a robot is connected with a tool, the kinematic equations of motion are altered. Given the need to accommodate evolving surgical challenges and to alleviate the restrictions imposed by the confined minimally invasive environment, new surgical tools may resemble small flexible snakes rather than rigid, cable driven instruments. Connecting to these developing articulated tools will significantly alter the overall kinematic structure of a robotic system. In this paper we present a technique for real-time automated generation and evaluation of manipulator kinematic equations that exhibits the combined advantages of existing. methods-speed and flexibility to kinematic change – without their disadvantages.
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Liu, Zhiqi, Yaozong Liu, and Sisi Li. "Research Progress of Stewart Vibration Isolation Platform." In Advances in Transdisciplinary Engineering. IOS Press, 2022. http://dx.doi.org/10.3233/atde220509.

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Many fields, such as optics, aerospace, ultra precision machining, etc., have high requirements for vibration in all directions of the system. Stewart platform is widely used in multi degree of freedom active vibration isolation. This paper summarizes the Stewart vibration isolation platform. Firstly, it introduces the structure of Stewart vibration isolation platform, including various configurations, flexible kinematic pairs, actuators, etc., and summarizes the influence of different structures on vibration isolation and practical applications. Then the modeling of Stewart platform is introduced, and various modeling methods, advantages and disadvantages are summarized from the aspects of kinematics and dynamics. Thirdly, the active vibration isolation control technology is introduced, and the application and development of the main control methods are summarized. Finally, combined with the development of Stewart vibration isolation platform in recent ten years, this paper points out the shortcomings of existing research and the direction of improvement.
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Huang, Qinguo, Yuntao Lu, Zeyu Xie, and Youhai Xin. "Pathogenesis and Treatment Strategies for Chiari Malformation and Type II Basilar Invagination." In Advances in Neurosurgical Procedures - Unveiling New Horizons [Working Title]. IntechOpen, 2024. http://dx.doi.org/10.5772/intechopen.1007025.

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Basilar invagination (BI) and Chiari malformations (CM) are the main malformations of the craniocervical junction (CVJ) in adults. The presence (type I, I-BI) or absence (type II, II-BI) of mechanical instability of the atlantoaxial dislocation (AAD) was used to divide all cases with BI into 2 groups. Cases of CM coexisting with type II-BI (CM + II-BI) are generally considered to be unrelated to mechanical instability and attributed to overcrowding of nerve structures in the small posterior cranial fossa (PCF). Foramen magnum decompression (FMD) is the primary treatment. However, Goel proposed the concept of “central AAD” and defined it as a common feature in all patients with CM or type II-BI; thus, fusion surgery should be performed. The fact that no treatment strategy has found universal acceptance indicates that the pathogenesis of CM and II-BI, and whether CVJ instability exists, is still unclear. CVJ instability, especially the atlanto-occipital instability (AOI), commonly exists in II-BI patients as evaluated according to kinematic computed tomography studies, systematic morphological measurement studies, canonical correlation analysis studies, and retrospective clinical studies, while no such phenomenon was found in normal individuals or those with pure CM. From the perspective of embryonic development, abnormal embryonic development of the axial components of the first 3 occipital sclerotomes and the lateral component of the proatlas coexist in both CM and type II-BI. Morphologically, it is manifested as bone deformity of occipital condyle and superior portion of lateral mass of atlas, and II-BI is a more intense form of deformity. This finding suggests that the hypoplasia of the PCF dominated by short clivus is still the reasonable mechanism of CM. The classic surgical strategy of FMD is in line with this pathophysiological mechanism. In addition to the reduction of PCF volume in CM + II-BI patients, AOI caused by bone structure deformity of atlanto-occipital joint is another important mechanism, so the appropriate surgical strategy should be combined with occipitocervical fusion on the basis of FMD.
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Conference papers on the topic "Vestaty with combined kinematic structure"

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Liu, Peng, Jiayao Ma, Yan Chen, Lin Yuan, Haifeng Zhao, and Ke Wang. "The Kinematic Analysis and Bistable Characteristics of the Winding Origami Structure." In ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/detc2021-67410.

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Abstract In the military and aerospace fields, bistable structures with adjustable or adaptive stiffness have been widely applied. Origami structures can be used to design bistable systems due to their unique geometrical characteristics. In this paper, we investigate a special design of winding origami, which consists of a square hub in the center and compactly folded panels around it. This delicate design provides the structure a bistable property. According to its motion characteristics, the folding process of the winding origami can be divided into two stages: the mechanism motion stage and the structural deformation stage. The D-H matrix method and truss transformation method were combined to analyze the kinematic relations, and the winding origami pattern was found to have one degree of freedom. At the structural deformation stage, the mechanical response and the local panel deformation were carefully studied via both experiments and finite element simulations, and a reasonable agreement was reached. It was observed that four creases exhibited a non-uniform folding pattern during the deformation process; that is, a portion of the crease was totally flattened while the rest remained folded. The origami structure’s unique kinematic and bistable features could possibly help provide some new ideas in designing a bistable system in the future.
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Beivydas, E. "Suspension String Future Structure." In IABSE Symposium, Wroclaw 2020: Synergy of Culture and Civil Engineering – History and Challenges. International Association for Bridge and Structural Engineering (IABSE), 2020. http://dx.doi.org/10.2749/wroclaw.2020.0733.

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<p>In the first part of the article discusses about kinematic displacements problem in cable structures. More attention is paid to one-span suspension structures. The main advantages and disadvantages of such constructions are indicated. The behavior of one-span suspension structures is discussed. Introducing a new form of design for the future – string that is combined with a one-span suspension structure design and presents the advantages of this design against one-span designs. Numerical analysis of the construction is also presented. Symmetric and asymmetric loads are analyzed separately. The main parameters and behavioral characteristics of such a construction are presented.</p>
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Demirtas, Ahmet, and Zahra Shahbazi. "An Optimized Kinematic Mobility Analysis of Protein Molecules." In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-34783.

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Understanding the 3D structure and consequently the motion of protein molecules contributes to simulate their function. Modeling protein molecules as kinematic chains has been used to predict protein molecules flexible and rigid regions as well as their degrees of freedom to predict their mobility. However, high computational cost for relatively large molecules is one of the major challenges in this field. In this paper we have combined our previously developed rigidity analysis (ProtoFold) with pebble game thus improving computational cost of our simulation. Here, we have determined the required time for all steps of ProtoFold and subsequently the most time consuming step. Results have shown that finding rigid loops inside the protein structure using graph theory and Grübler-Kutzbach criterion is the slowest part of the procedure, taking an average of 75% of the time required for the rigidity analysis. Therefore we have replaced this step with pebble game. The modified method has been applied to a random group of protein molecules and its efficiency in significantly improving the simulation speed has been verified.
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Sathiah, Pratap, Andrei N. Lipatnikov, and Jerzy Chomiak. "Effects of Flame Development and Structure on Thermo-Acoustic Oscillations of Premixed Turbulent Flames." In ASME 2004 Heat Transfer/Fluids Engineering Summer Conference. ASMEDC, 2004. http://dx.doi.org/10.1115/ht-fed2004-56561.

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Non-stationary confined premixed turbulent flames stabilized behind a bluff body are studied. A simple kinematic model of such flames was developed by Dowling [9] who reduced the combustion process to the propagation of an infinitely thin flame at a constant speed. The goal of this work is to extend the model by taking into account the structure of premixed turbulent flames and the development of turbulent flame speed and thickness. For these purposes, the so-called Flame Speed Closure model for multi-dimensional simulations of premixed turbulent flames is adapted and combined with the aforementioned Dowling model. Simulations of the heat release rate dynamics for ducted flames due to oncoming flow oscillations have been performed. Typical results show that the oscillations of the integrated heat release rate follow the oncoming flow velocity oscillations with certain time delay. The delays computed using the Dowling and the above approach are different, thus indicating the importance of resolving flame structure when modeling ducted flame oscillations.
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Liu, Shengyuan, Pei Lv, Yuzhen Zhang, et al. "Semi-Dynamic Hypergraph Neural Network for 3D Pose Estimation." In Twenty-Ninth International Joint Conference on Artificial Intelligence and Seventeenth Pacific Rim International Conference on Artificial Intelligence {IJCAI-PRICAI-20}. International Joint Conferences on Artificial Intelligence Organization, 2020. http://dx.doi.org/10.24963/ijcai.2020/109.

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This paper proposes a novel Semi-Dynamic Hypergraph Neural Network (SD-HNN) to estimate 3D human pose from a single image. SD-HNN adopts hypergraph to represent the human body to effectively exploit the kinematic constrains among adjacent and non-adjacent joints. Specifically, a pose hypergraph in SD-HNN has two components. One is a static hypergraph constructed according to the conventional tree body structure. The other is the semi-dynamic hypergraph representing the dynamic kinematic constrains among different joints. These two hypergraphs are combined together to be trained in an end-to-end fashion. Unlike traditional Graph Convolutional Networks (GCNs) that are based on a fixed tree structure, the SD-HNN can deal with ambiguity in human pose estimation. Experimental results demonstrate that the proposed method achieves state-of-the-art performance both on the Human3.6M and MPI-INF-3DHP datasets.
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Zhang, Liping, Jian S. Dai, and Ting-Li Yang. "Reconfiguration Techniques and Geometric Constraints of Metamorphic Mechanisms." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-87345.

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This paper proposes a geometric way to generate metamorphic configurations and investigates metamorphic principles based on geometrized displacement group. Metamorphic reconfiguration techniques are revealed as the variations of kinematic joints, kinematic links and geometric orientation constraints particularly by examining the invariant configuration properties of a mechanism. The nature of all these configuration changes belongs to geometric constraint category. Metamorphic configuration units are proposed as the irreducible reconfiguration modules to envelop these reconfiguration techniques. It can self-reconfigure or be combined to generate metamorphosis. Moreover, the geometrized displacement group is lent to achieve a geometric representation for configuration modelling and further reconfiguration operations. Based on seting up kinematic group extended qualitatively according to its group structure, geometrized displacement group modelling is proposed for these identified metamorphic configuration units. The investigated group motion-matrix is an integration of its displacement group properties and kinematic extensions. Then defined geometric constraint relations and the proposed dependence rules lead to metamorphic principles. In this way, metamorphic process is mapped to matrix operations under group extensions and their compositions. Design examples and a metamorphic joint with six configurations are given to illustrate the feasibility of these metamorphic principles.
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Todorović, Vuk, Milan Blagojević, and Nikola Nešić. "Application of screw theory and its implementation in Python for controlling a Niryo One manipulator." In 11th International Scientific Conference on Defensive Technologies - OTEX 2024. Military Technical Institute, Belgrade, 2024. http://dx.doi.org/10.5937/oteh24062t.

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The representation of a robot's configuration can be diverse, each with its advantages and disadvantages. In this paper, we approach the problem using screw theory, which states that all rigid-body motion can be represented with a rotation and translation along a screw axis. Using this as a basis, we'll be tackling the inverse kinematic problem of robots, which lacks standardized ways of being determined, unlike the forward kinematics problem. With that in mind, here we will show a combined approach of the analytic and numerical way of solving the inverse kinematic problem on a Niryo One robotic manipulator. The analytic solution is derived by simplifying the robot's structure and then using those results as initial guesses for the Newton-Raphson numerical method which may produce up to 8 possible solutions. The theoretical foundation is then implemented using the Python programming language after which the solution is sent to the robot via a Niryo One ROS API-pyniryo.
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Riedel, Martin, Tom Mannheim, and Burkhard Corves. "More Flexibility and Versatility in Automated Handling Processes With an Alterable Parallel Manipulator." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-47929.

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This paper deals with the question of how flexibility and versatility in automated handling and assembly systems can be increased and of how they can be become more efficient and economic in operation. A solution can be given by a novel robot system called PARAGRIP (Parallel Gripping), featuring a reconfigurable architecture with a modular and alterable layout. This new handling system is able to manipulate objects in the six-dimensional Cartesian space by several robotic arms, which form a closed loop kinematic structure including the handling object as a mobile platform. As the mounting and grasp points of the arms as well as many other parameters can easily be changed, the manipulator can be reconfigured economic to match the user’s preferences and needs. Regrasping the object dynamically with additional arms makes kinematic adjustment possible, even during motion. In this paper the question is raised which different types of reconfiguration are essential and how they can be combined optimally. Several practical examples underline the enhanced performance of the alterable handling system.
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Ge, Q. J., and B. Ravani. "Motion Interpolation and Mechanism Synthesis." In ASME 1993 Design Technical Conferences. American Society of Mechanical Engineers, 1993. http://dx.doi.org/10.1115/detc1993-0376.

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Abstract This paper studies planar motion approximation problems from a computational geometric perspective and develop a computational geometric structure that can be used for mechanical motion synthesis. This allows for development of computational algorithms and software systems to support the mechanical design activity. The approach uses an orientable kinematic mapping to transform the mechanical design problem into a curve design problem in the space of the mapping. The curve design problem for synthesis of an analytic motion is carried out by Hermite interpolation. In case of a mechanical linkage, however, the Hermite interpolation is combined with a first-order curve fitting procedure for synthesizing the motion.
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Larochelle, Pierre M. "Approximate Motion Synthesis of Open and Closed Chains via Parametric Constraint Manifold Fitting: Preliminary Results." In ASME 2003 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2003. http://dx.doi.org/10.1115/detc2003/dac-48814.

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In this paper we present a novel dyad dimensional synthesis technique for approximate motion synthesis. The methodology utilizes an analytic representation of the dyad’s constraint manifold that is parameterized by its dimensional synthesis variables. Nonlinear optimization techniques are then employed to minimize the distance from the dyad’s constraint manifold to a finite number of desired locations of the workpiece. The result is an approximate motion dimensional synthesis technique that is applicable to planar, spherical, and spatial dyads. Here, we specifically address the planar RR, spherical RR and spatial CC dyads since these are often found in the kinematic structure of robotic systems and mechanisms. These dyads may be combined serially to form a complex open chain (e.g. a robot) or when connected back to the fixed link they may be joined so as to form one or more closed chains (e.g. a linkage, a parallel mechanism, or a platform). Finally, we present some initial numerical design case studies that demonstrate the utility of the synthesis technique.
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Reports on the topic "Vestaty with combined kinematic structure"

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EXPERIMENTAL STUDY OF SCISSOR FRAME STRUCTURES WITH FEM VALIDATION OF LOAD IMPACT ON MANUAL LOCKING MECHANISM. The Hong Kong Institute of Steel Construction, 2024. http://dx.doi.org/10.18057/ijasc.2024.20.2.8.

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Scissor frame structures (SFS) have attracted significant attention due to their flexibility of deployment and stiffens once fully deployed. These features benefit prefabrication and transportation over traditional frame structures, with potential for modular structure implementation. However, current research often neglects structural analysis, focusing on geometrical and kinematic designs. This oversight, combined with critical load conditions at the locking mechanism linkage, risk underdesigning the SFS and leading to potential structural failure. This study conducted load testing on four SFS specimens with varying cross-sections and heights. Results were discussed based on the measured strain, displacement, and validation with FEM modelling. Analysis shows that despite the flexibility inherent in their pivotal points and multi-plane connections, the SFS exhibits linear behavior under external loads within the elastic range, with symmetrical results akin to single-plane action. Furthermore, three SFS FEM models, developed using SCIA Engineer software, were validated and revealed that loading on the locking mechanism linkage severely impacts structural efficiency. The capacities of the SFS specimens, calculated based on measured critical stress and stiffness, highlight the diverse effects of scissor depth and cross-section on SFS structural behaviour. This paper provides essential experimental data for SFS, assisting engineers in precise structural analysis and assessment.
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