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Дисертації з теми "Kinematic"

Автор: Grafiati
Опубліковано: 4 червня 2021
Оновлено: 25 липня 2025

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1

Zaplana, Agut Isiah. "Solving robotic kinematic problems : singularities and inverse kinematics." Doctoral thesis, Universitat Politècnica de Catalunya, 2018. http://hdl.handle.net/10803/667496.

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Анотація:
Kinematics is a branch of classical mechanics that describes the motion of points, bodies, and systems of bodies without considering the forces that cause such motion. For serial robot manipulators, kinematics consists of describing the open chain geometry as well as the position, velocity and/or acceleration of each one of its components. Rigid serial robot manipulators are designed as a sequence of rigid bodies, called links, connected by motor-actuated pairs, called joints, that provide relative motion between consecutive links. Two kinematic problems of special relevance for serial robots
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2

Šimková, Kristýna. "Návrh SW pro řízení delta robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-400926.

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Анотація:
This thesis deals with software creation for delt robot in TwinCAT 3 program. First part describes the general characteristics of a delta robot. Next part deals with hardware and PLC coding in TwinCAT 3 and the final part discusses the creation of an application.
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3

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

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Анотація:
This diploma thesis was written within Czech-German study programme Production systems (VUT v Brně & TU Chemnitz). This thesis is divided into four main parts. In the first part is brought out the introduction to design of robotic cells. Following part is concentrated on analysis of present state in area of machines with parallel kinematics. The penultimate part, on which is focused the main attention, is dedicated to kinematic analysis of delta-robot. Closing part of this Thesis presents the study of experimental robotized workplace with integrated delta-robot.
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4

Fabricius, Maximilian Hieronymus. "Kinematics across bulge types a longslit kinematic survey and dedicated instrumentation." Diss., lmu, 2012. http://nbn-resolving.de/urn:nbn:de:bvb:19-144409.

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5

Summerfield, Philip John. "Kinematic GPS surveying." Thesis, University of Nottingham, 1990. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.254471.

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6

Cuffaro, Marco. "Plate Kinematic Models." Doctoral thesis, La Sapienza, 2007. http://hdl.handle.net/11573/917380.

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7

Centea, Dan Elbestawi Mohamed A. A. "Design, kinematics and dynamics of a machine tool based on parallel kinematic structure." *McMaster only, 2004.

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8

Whittingham, Ben. "Applications of the kinematic modelling of a parallel kinematic mechanism machine tool." Thesis, University of Nottingham, 2001. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.272714.

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9

Liu, Zheng 1962. "Kinematic optimization of linkages." Thesis, McGill University, 1993. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=39742.

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Анотація:
Presented in this thesis are novel methodologies for the analysis and optimization of planar, spherical, and spatial linkages associated with the problems of function generation, path generation, and rigid-body guidance. An up-to-date literature survey in the area of mechanism optimization is also provided in the thesis.<br>Both the input-output (I/O) equation and the I/O curve are employed in the input-output analysis of four-bar linkages. Based on these, the properties of a special class of linkage, the constant-branch linkage, as well as its engineering application are discussed. Two scheme
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10

Walsh, David M. A. "Kinematic GPS ambiguity resolution." Thesis, University of Nottingham, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.239858.

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11

Evans, Andrew John. "Long baseline kinematic GPS." Thesis, University of Nottingham, 2001. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.366412.

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12

Raheja, Sameer 1974. "Kinematic modeling with constraints." Thesis, Massachusetts Institute of Technology, 1998. http://hdl.handle.net/1721.1/46111.

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13

Vytnova, Polina. "Kinematic fast dynamo problem." Thesis, University of Warwick, 2014. http://wrap.warwick.ac.uk/66400/.

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Анотація:
In the present work we develop an approach to the classical kinematic fast dynamo problem for flows [32] in the real 3-dimensional space. We suggest a fluid flow that may possibly generate a magnetic field which energy grows exponentially fast with time in the present of slow diffusivity. In order to verify the construction we study a discrete system and prove that an analogous statement holds true for the Poincaré map of the provisional flow and vector fields in the plane. This problem falls into the framework of open dynamical systems with random holes.
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14

Tymianski, Vadim Jacob. "Air bearing kinematic coupling." [Gainesville, Fla.] : University of Florida, 2006. http://purl.fcla.edu/fcla/etd/UFE0014860.

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15

Farrugia, Pierre. "Kinematic analysis of foldable structures." Thesis, University of Surrey, 2008. http://epubs.surrey.ac.uk/773678/.

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Анотація:
The main objective of the present research is to develop a general method for the kinematic analysis of foldable structures. This objective is achieved in terms of a method called 'matrix dependency constraint' (MDC method) which is described in this thesis. The MDC method involves algebraic formulation of the geometry, degrees of freedom at the joints and the support conditions of a foldable structure.
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16

Barraja, Mathieu. "TOLERANCE ALLOCATION FOR KINEMATIC SYSTEMS." UKnowledge, 2004. http://uknowledge.uky.edu/gradschool_theses/315.

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Анотація:
A method for allocating tolerances to exactly constrained assemblies is developed. The procedure is established as an optimization subject to constraints. The objective is to minimize the manufacturing cost of the assembly while respecting an acceptable level of performance. This method is particularly interesting for exactly constrained components that should be mass-produced. This thesis presents the different concepts used to develop the method. It describes exact constraint theory, manufacturing variations, optimization concepts, and the related mathematical tools. Then it explains how to
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17

Schmiechen, Philipp. "Design of precision kinematic systems." Thesis, Massachusetts Institute of Technology, 1992. http://hdl.handle.net/1721.1/12628.

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18

Whittier, William Brooks. "Kinematic Analysis of Tensegrity Structures." Thesis, Virginia Tech, 2002. http://hdl.handle.net/10919/35909.

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Анотація:
Tensegrity structures consist of isolated compression members (rigid bars) suspended by a continuous network of tension members (cables). Tensegrity structures can be used as variable geometry truss (VGT) mechanisms by actuating links to change their length. This paper will present a new method of position finding for tensegrity structures that can be used for actuation as VGT mechanisms. Tensegrity structures are difficult to understand and mathematically model. This difficulty is primarily because tensegrity structures only exist in specific stable tensegrity positions. Previous work
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19

Hobbs, John D. "Kinematic morphology of space systems." Thesis, Open University, 2007. http://oro.open.ac.uk/54487/.

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Анотація:
This thesis considers the robustness to faults of mechanical kinematic systems typical of the type applied to the locomotion sub-systems of planetary exploration vehicles. It is argued that, whereas the electronic, software and control methodologies for such kinematic systems have received extensive attention, the development of the theory supporting the corresponding mechanical architectures has not received the same level of attention. An introduction to the space systems context of the topic is provided, and used to illustrate the nature of the requirements that evolve for such missions, co
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20

Szatmari, Szabolcs. "Kinematic Calibration of Parallel Kinematic Machines on the Example of the Hexapod of Simple Design." Doctoral thesis, Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2007. http://nbn-resolving.de/urn:nbn:de:swb:14-1194357963765-04082.

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Анотація:
The aim of using parallel kinematic motion systems as an alternative of conventional machine tools for precision machining has raised the demands made on the accuracy of identification of the geometric parameters that are necessary for the kinematic transformation of the motion variables. The accuracy of a parallel manipulator is not only dependent upon an accurate control of its actuators but also upon a good knowledge of its geometrical characteristics. As the platform's controller determines the length of the actuators according to the nominal model, the resulted pose of the platform is ina
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21

Szatmári, Szabolcs. "Kinematic Calibration of Parallel Kinematic Machines on the Example of the Hexapod of Simple Design." Dresden : Inst. für Werkzeugmaschinen und Steuerungstechnik, Lehrstuhl für Werkzeugmaschinen, 2007. http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&doc_number=016374557&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA.

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22

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

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Анотація:
This thesis addresses the kinematic analysis of mechanisms, in particular, the position analysis of kinematic chains, or linkages, that is, mechanisms with rigid bodies (links) interconnected by kinematic pairs (joints). This problem, of completely geometrical nature, consists in finding the feasible assembly modes that a kinematic chain can adopt. An assembly mode is a possible relative transformation between the links of a kinematic chain. When an assignment of positions and orientations is made for all links with respect to a given reference frame, an assembly mode is called a configu
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23

Fabricius, Maximilian Hieronymus [Verfasser], and Ralf [Akademischer Betreuer] Bender. "Kinematics across bulge types : a longslit kinematic survey and dedicated instrumentation / Maximilian Hieronymus Fabricius. Betreuer: Ralf Bender." München : Universitätsbibliothek der Ludwig-Maximilians-Universität, 2012. http://d-nb.info/1023930382/34.

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24

Löfgren, Björn. "Kinematic control of redundant knuckle booms." Licentiate thesis, KTH, Machine Design, 2004. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-1731.

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<p>A kinematically redundant four degrees of freedommanipulator arm, a knuckle boom, is studied. Three joints arerevolute and one linear. Since only three degrees of freedomare needed for positioning, we have one redundant degree offreedom. Three different kinematic control strategies arestudied. One is based on the maximization of velocity (localoptimisation). This strategy is non-repeatable and cansometimes lead to kinematically unfavourable positions. In thesecond strategy, which is based on the maximization of staticlifting capacity (local optimisation), one of the degrees offreedom (the l
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25

Mashali, Mustafa. "Kinematic Control of Redundant Mobile Manipulators." Scholar Commons, 2015. http://scholarcommons.usf.edu/etd/5989.

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Анотація:
A mobile manipulator is a robotic arm mounted on a robotic mobile platform. In such a system, the degrees of freedom of the mobile platform are combined with that of the manipulator. As a result, the workspace of the manipulator is substantially extended. A mobile manipulator has two trajectories: the end-effector trajectory and the mobile platform trajectory. Typically, the mobile platform trajectory is not defined and is determined through inverse kinematics. But in some applications it is important to follow a specified mobile platform trajectory. The main focus of this work is to determine
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26

Chan, Tsz-pan Henry, and 陳子斌. "Morpho-kinematic modeling of planetary nebulae." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2009. http://hub.hku.hk/bib/B42182293.

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27

Hobbs, Catherine Ann. "On kinematic singularities of low dimension." Thesis, University of Liverpool, 1993. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.359195.

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This thesis is an investigation into the types of singularities that can appear on trajectories of rigid motions, kinematic singularities, motivated by problems in mechanical engineering of designing mechanisms. Here we consider rigid motions of the plane and space with one and two degrees of freedom. In order to study these singularities weprove a multi-germ transversality result and also a result about the restrictions on the codimension of the singularity given by the number of degrees of freedom of the motion. Some of the classifications of the singularities we are interested in have alrea
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28

Grinker, Barry. "Accuracy of shipborne kinematic GPS surveying." Thesis, Monterey, California. Naval Postgraduate School, 1991. http://hdl.handle.net/10945/26341.

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29

Bausch, John Jacob. "Kinematic methods for automated fixture design." Thesis, Massachusetts Institute of Technology, 1990. http://hdl.handle.net/1721.1/13978.

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30

Osborn, Matthew C. 1970. "Kinematic scaling in quasielastic electron scattering." Thesis, Massachusetts Institute of Technology, 1995. http://hdl.handle.net/1721.1/35043.

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31

Barragán, Patrick R. "Interactive Bayesian identification of kinematic mechanisms." Thesis, Massachusetts Institute of Technology, 2015. http://hdl.handle.net/1721.1/100117.

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Анотація:
Thesis: Ph. D., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2015.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (pages 127-128).<br>This thesis addresses the problem of identifying mechanisms based on data gathered from a robot's interaction with them. We present a decision-theoretic formulation of this problem, using Bayesian filtering techniques to maintain a distributional estimate of the mechanism type and parameters. We begin by implementing a discrete Bayesian filter. We demonstrate the approach on a domain with four prim
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32

NARUK, STEPHEN JOHN. "KINEMATIC SIGNIFICANCE OF MYLONITIC FOLIATION (METAMORPHIC)." Diss., The University of Arizona, 1987. http://hdl.handle.net/10150/184087.

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Анотація:
Geometric analyses of three mylonite zones, including two metamorphic-core-complex SC-mylonite zones, show that the mylonitic foliation surfaces (S-surfaces) are consistently discordant to the margins of the shear zones. Finite-strain analyses show that the foliation surfaces in each zone are consistently oriented parallel to the XY-plane of the finite strain ellipsoid. The shear bands within the mylonites (C-surfaces, C'-surfaces, extensional crenulations, and shear-band cleavages) are uniformly oriented subparallel to the margins of the shear zones. The finite lengths and discontinuous natur
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33

Waterson, Hugh Benedict. "Kinematic alignment and total knee arthroplasty." Thesis, University of Edinburgh, 2018. http://hdl.handle.net/1842/31190.

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Анотація:
Osteoarthritis (OA) is one of the leading causes of global disability. Surgical intervention in the form of Total Knee Arthroplasty (TKA) has been established as an excellent treatment modality for people with OA who experience joint symptoms that have a substantial impact on their quality of life and are refractory to non-surgical treatment. In the 1970s the concept of implanting TKAs in mechanical alignment (MA) was developed as a compromise to confer mechanical advantage to the prosthesis, ignoring the patient's natural anatomy, to prevent early failure of the implant. Until now, this compr
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34

Jennen, Hendrik [UNESP]. "Dark energy as a kinematic effect." Universidade Estadual Paulista (UNESP), 2016. http://hdl.handle.net/11449/134324.

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Анотація:
Submitted by HENDRIK GERARD JOHAN JENNEN null (hjennen@ift.unesp.br) on 2016-02-23T14:54:31Z No. of bitstreams: 1 thesis_oneside.pdf: 1083742 bytes, checksum: eeb3f42f2937a777dba99b7615ef69c8 (MD5)<br>Approved for entry into archive by Ana Paula Grisoto (grisotoana@reitoria.unesp.br) on 2016-02-24T13:39:03Z (GMT) No. of bitstreams: 1 jannen_h_dr_ift.pdf: 1083742 bytes, checksum: eeb3f42f2937a777dba99b7615ef69c8 (MD5)<br>Made available in DSpace on 2016-02-24T13:39:03Z (GMT). No. of bitstreams: 1 jannen_h_dr_ift.pdf: 1083742 bytes, checksum: eeb3f42f2937a777dba99b7615ef69c8 (MD5) Previo
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35

Jennen, Hendrik Gerard Johan. "Dark energy as a kinematic effect/." São Paulo, 2016. http://hdl.handle.net/11449/134324.

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Orientador: José Geraldo Pereira<br>Banca: Ruben Aldrovandi<br>Banca: Rogério Rosenfeld<br>Banca: Oliver Fabio Piatella<br>Banca: José Wadih Maluf<br>Resumo: Observações realizadas nas últimas três décadas confirmaram que o universo se encontra em um estado de expansão acelerada. Essa aceleração é atribuída à presença da chamada energia escura, cuja origem permanece desconhecida. A maneira mais simples de se modelar a energia escura consiste em introduzir uma constante cosmológica positiva nas equações de Einstein, cuja solução no vácuo é então dada pelo espaço de de Sitter. Isso, por sua vez,
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36

Reidy, John Joseph. "A kinematic analysis of redundant manipulators /." The Ohio State University, 1987. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487267546982074.

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37

Sander, Elizabeth J. "Kinematic demands of nucleus arthroplasty technology." View the abstract Download the full-text PDF version, 2008. http://etd.utmem.edu/ABSTRACTS/2008-044-Sander-index.htm.

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Анотація:
Thesis (M.S.)--University of Tennessee Health Science Center, 2008.<br>Title from title page screen (viewed on February 24, 2009). Research advisor: Denis DiAngelo Ph.D. Document formatted into pages (viii, 59 p. : ill.). Vita. Abstract. Includes bibliographical references (p. 42-46).
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38

Chan, Tsz-pan Henry. "Morpho-kinematic modeling of planetary nebulae." Click to view the E-thesis via HKUTO, 2009. http://sunzi.lib.hku.hk/hkuto/record/B42182293.

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39

Vieth, Kai-Uwe. "Kinematic wavefield attributes in seismic imaging /." [Karlsruhe] : Die Universität, 2001. http://www.ubka.uni-karlsruhe.de/vvv/2001/physik/2/2.pdf.

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40

Merdith, Andrew. "Kinematic Plate Models of the Neoproterozoic." Thesis, The University of Sydney, 2017. http://hdl.handle.net/2123/17715.

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Анотація:
Plate tectonic reconstructions traditionally use a combination of palaeomagnetic and geological data to model the changing positions of continents throughout Earth history. Plate reconstructions are particularly useful because they provide a framework for testing a range of hypotheses pertaining to climate, seawater chemistry, evolutionary patterns and the relationship between mantle and surface. During the Mesozoic and Cenozoic these are underpinned by data from the ocean basins that preserve relative plate motions, and data from hotspot chains and tomographic imaging of subducted slabs withi
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41

Hunter, Elise Hansen. "Speech Adaptation to Kinematic Recording Sensors." BYU ScholarsArchive, 2016. https://scholarsarchive.byu.edu/etd/5728.

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Анотація:
This thesis examined the time course of speech adaptation prior to data collection when using an electromagnetic articulograph to measure speech articulator movements. The stimulus sentence and electromagnetic sensor placement were designed to be sensitive to changes in the fricatives /s/ and /ʃ/. Twenty native English speakers read aloud stimulus sentences before the attachment of six electromagnetic sensors, immediately after attachment, and again at 5, 10, 15 and 20 minutes after attachment. Participants read aloud continuously between recordings to encourage adaptation to the presence of t
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42

Bruni, Danilo <1978&gt. "Intraoperative kinematic evaluation with navigation system and postoperative kinematic evaluation with dynamic RSA of total knee arthroplasty." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2014. http://amsdottorato.unibo.it/6450/1/bruni_danilo_tesi.pdf.

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Анотація:
Restoring a correct implant kinematics and providing a good ligament balance and patellar tracking is mandatory to improve clinical and functional outcome after a Total Knee Replacement. Surgical navigation systems are a reliable and accurate tool to help the surgeon in achieving these goals. The aim of the present study was to use navigation system with an intra-operative surgical protocol to evaluate and determine an optimal implant kinematics during a Total Knee Replacement.
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43

Bruni, Danilo <1978&gt. "Intraoperative kinematic evaluation with navigation system and postoperative kinematic evaluation with dynamic RSA of total knee arthroplasty." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2014. http://amsdottorato.unibo.it/6450/.

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Анотація:
Restoring a correct implant kinematics and providing a good ligament balance and patellar tracking is mandatory to improve clinical and functional outcome after a Total Knee Replacement. Surgical navigation systems are a reliable and accurate tool to help the surgeon in achieving these goals. The aim of the present study was to use navigation system with an intra-operative surgical protocol to evaluate and determine an optimal implant kinematics during a Total Knee Replacement.
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44

Veselka, Michal. "Měření a analýza kinematiky zadního víceprvkového zavěšení." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2013. http://www.nusl.cz/ntk/nusl-230580.

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Анотація:
This diploma thesis deals with the measurement of kinematic points of rear multilink suspension using 3D optical scanners TRITOP and ATOS and developing a measurement methodology of similar types of suspension with these scanners. Subsequently, kinematic features of this suspension are analyzed using the multibody system MSC.ADAMS / Car.
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45

Налимова, П. Н., та А. В. Скорик. "Вариант представления основных понятий кинематики в блоковой форме". Thesis, Сумский государственный университет, 2015. http://essuir.sumdu.edu.ua/handle/123456789/39908.

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46

Borgia, Fabio. "Kinematic optimization of an overboarding chute mechanism." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2017.

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Анотація:
I had the opportunity to develop my thesis during the Internship Program at F.lli Righini, a world leader in designing and manufacturing offshore equipment. I was tasked with improving the mechanical efficiency of an umbilical lay system. Instead of laying the cable on the sea floor, the Client wished to have it partially floating. A new system had to be devised whereby a number of buoyancy modules had to be installed on the cable itself, an operation complicated by the fact that it could not be performed by a traditional fixed chute. To solve this challenge, Righini suggested an innovative
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47

Menghini, Massimiliano. "UIO based quadrotor FDI using kinematic model." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019. http://amslaurea.unibo.it/18064/.

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Анотація:
This thesis addresses the fault diagnosis problem of sensors of a quadcopter system based on GNSS/IMU. The model considered is a rigid body with 6DoF. Considering its linearized kinematic model, the proposed FDI scheme is based on a generalized bank of observers (GBO) designed with the UIO theory. The fault scenario is composed by multiple but not concurrent faults. The designed scheme is tested using detectability and isolability analysis, identifying the weaknesses of the FDI scheme and investigating appropriate solutions for the fault diagnosis purposes. Afterwards, the scheme was reco
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48

Cocard, Marc Marcel. "High precision GPS processing in kinematic mode /." Zürich, 1994. http://e-collection.ethbib.ethz.ch/show?type=diss&nr=10874.

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49

Ustun, Deniz. "Kinematic And Force Analyses Of Overconstrained Mechanisms." Master's thesis, METU, 2011. http://etd.lib.metu.edu.tr/upload/12613880/index.pdf.

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This thesis comprises a study on the kinematic and force analyses of the overconstrained mechanisms. The scope of the overconstrained mechanisms is too wide and difficult to handle. Therefore, the study is restricted to the planar overconstrained mechanisms. Although the study involves only the planar overconstrained mechanisms, the investigated methods and approaches could be extended to the spatial overconstrained mechanisms as well. In this thesis, kinematic analysis is performed in order to investigate how an overconstrained mechanism can be constructed. Four methods are used. These are th
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50

Urakubo, Takateru. "Control of Dynamical Systems with Kinematic Constraints." 京都大学 (Kyoto University), 2001. http://hdl.handle.net/2433/150262.

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