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Journal articles on the topic 'Kinematic'
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1
Zhao, Rui Feng, Zhen Zhang, and Jiu Qiang Cui. "The Kinematics Modeling and Simulation of a Mechanical Arm in Nuclear Industry with Postpositional Drive." Applied Mechanics and Materials 496-500 (January 2014): 754–59. http://dx.doi.org/10.4028/www.scientific.net/amm.496-500.754.
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For the particularity of the environment in nuclear industry, this paper puts forward a modularized mechanical arm with postpositional drive. On the basis of structural characteristics and kinematic constraints, the kinematics of robotic arm is analyzed. The D-H method is used for describing the workspace, based on considering the kinematic constraints, the forward kinematics model is achieved. Using an improved search method, the inverse kinematics solution is obtained. Through the simulation on data processing software, the validity of positive kinematics model and inverse kinematic solutions are verified. Finally, the trajectory planning is completed on the three-dimensional modeling platform.
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Cho, Dong Kwon, Byoung Wook Choi, and Myung Jin Chung. "Optimal conditions for inverse kinematics of a robot manipulator with redundancy." Robotica 13, no. 1 (January 1995): 95–101. http://dx.doi.org/10.1017/s0263574700017525.
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SummaryThe algorithms of inverse kinematics based on optimality constraints have some problems because those are based only on necessary conditions for optimality. One of the problems is a switching problem, i.e., an undesirable configuration change from a maximum value of a performance measure to a minimum value may occur and cause an inverse kinematic solution to be unstable. In this paper, we derive sufficient conditions for the optimal solution of the kinematic control of a redundant manipulator. In particular, we obtain the explicit forms of the switching condition for the optimality constraintsbased methods. We also show that the configuration at which switching occurs is equivalent to an algorithmic singularity in the extended Jacobian method. Through a numerical example of a cyclic task, we show the problems of the optimality constraints-based methods. To obtain good configurations without switching and kinematical singularities, we propose a simple algorithm of inverse kinematics.
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Xu, Yi Chun, Bin Li, and Xin Hua Zhao. "Influence upon Kinematics Performance of a Family of 3-PRS Parallel Mechanisms Affected by Kinematic Chain Layout." Applied Mechanics and Materials 321-324 (June 2013): 37–41. http://dx.doi.org/10.4028/www.scientific.net/amm.321-324.37.
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The influence upon kinematics performance of a family of 3-PRS parallel mechanisms affected by kinematic chain layout has been studied in this paper. Firstly, the locality arrangement parameters of single PRS kinematic chain are identified. According to these parameters values and their combinations, different arrangement of PRS kinematic chain are proposed, and variant configurations of 3-PRS parallel mechanisms are enumerated. Then, the inverse kinematic problems are solved, and the influential actions of kinematic chain layout on kinematic performance of these mechanisms are carried out. Simulation results illustrate that kinematic chain layout has direct influence upon kinematic performance of the 3-PRS parallel mechanisms.
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James, P. A., and B. Roth. "A Unified Theory for Kinematic Synthesis." Journal of Mechanical Design 116, no. 1 (March 1, 1994): 144–54. http://dx.doi.org/10.1115/1.2919338.
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In this paper we derive an analytic method for obtaining infinitesimal kinematic synthesis results as a limiting process from finitely-separated position kinematics. Expanding on previous work, we extend the unified theory to include spatial kinematic synthesis and we present a new numerical method. The new methods serve to unity finite, infinitesimal, and hybrid kinematic synthesis into one theory for kinematic synthesis.
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Tolstosheev, A. K., and V. A. Tatarintsev. "Designing Statically Determinable Mechanisms of Technological Mechatronic Machines with Parallel Kinematics." Mekhatronika, Avtomatizatsiya, Upravlenie 20, no. 7 (July 4, 2019): 428–36. http://dx.doi.org/10.17587/mau.20.428-436.
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The work is devoted to improving the reliability and manufacturability of mechatronic machine designs with parallel kinematics by replacing statically indeterminable manipulators with statically determinable mechanisms. A technique is proposed in which the design of statically determinable manipulators of technological mechatronic machines with parallel kinematics is performed by modifying the structure of prototypes and includes three steps: identifying and analyzing redundant links, eliminating redundant links, checking the correctness of eliminating redundant links. To determine the number of degrees of freedom of the mechanism, identify redundant links, and verify the solution, the authors use the proposed methodology for structural analysis of parallel structure mechanisms. In structural analysis, a manipulator is represented by a hierarchical structure and is considered as a parallel connection of elementary mechanisms with an open kinematic chain; as a kinematic chain consisting of leading and driven parts; as a set of links and kinematic pairs; as a kinematic connection of the output link and the rack. The article implements the following techniques for eliminating redundant links: mobility increase in kinematic pairs; introduction of unloading links and passive kinematic pairs to the kinematic chain; exclusion of extra links and pairs from the kinematic chain; increase in mobility in some kinematic pairs simultaneously with the exclusion of other kinematic pairs that have become superfluous. The authors developed several variants of structural schemes of self-aligning manipulators based on the Orthoglide mechanism, which retain the basic functional proper ties of the prototype. To increase the number of self-aligning mechanism diagrams, the redistribution of mobilities and links within the connecting kinematic chain and between connecting kinematic chains is used. The proposed methodics allow to determine the number of degrees of freedom of the mechanism, the number and type of redundant links, eliminate redundant links and, on an alternative basis, build structural diagrams of statically determinable mechanisms of technological mechatronic machines with parallel kinematics.
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Purwana, Unang, Dadi Rusdiana, and Winny Liliawati. "PENGUJIAN KEMAMPUAN MENGINTERPRETASIKAN GRAFIK KINEMATIKA CALON GURU FISIKA: THE POLYTOMOUS RASCH ANALYSIS." ORBITA: Jurnal Kajian, Inovasi dan Aplikasi Pendidikan Fisika 6, no. 2 (November 8, 2020): 259. http://dx.doi.org/10.31764/orbita.v6i2.3264.
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ABSTRAKKemampuan interpretasi grafik merupakan kemampuan yang sangat penting dan kunci utama dalam memahami materi kinematika dan materi fisika lanjutan. Namun kemampuan interpretasi grafik materi kinematika mahasiswa calon guru masih rendah. Tujuan penelitian ini menguji kemampuan membaca dan menginterpretasikan grafik kinematika calon guru dengan analisis polytomous rasch model. Instrumen terdiri dari empat soal uraian menyajikan grafik kinematika. Tes diberikan ke 20 mahasiswa calon guru, terdiri dari 14 perempuan dan 6 laki-laki. Metode yang digunakan survei deskriptif kuantitatif dengan analisis menggunakan rasch model dengan data politomi. Hasil yang diperoleh nilai reliabilitas 0,58 kategori lemah, tingkat kesukaran untuk 3 soal dalam kategori sukar dan satu soal kategori mudah, daya pembeda berkategori sangat baik untuk seluruh soal. Kemampuan membaca dan menginterpretasikan grafik kinematika secara keseluruhan cukup baik. Kesimpulannya instrumen dan analisis yang digunakan dapat menguji kemampuan menginterpretasikan grafik kinematika calon guru. Kata kunci: interpretasi; grafik, kinematika; polytomous rasch. ABSTRACTThe ability to interpret graphs is a very important ability and the main key in understanding kinematics and advanced physics materials. However, the ability to interpret graphs of prospective teachers is still low. The purpose of this study is to test the ability to read and interpret the kinematic graphs of prospective teachers using polytomous rasch model analysis. The instrument consists of four essay questions presenting a kinematic graph. The test was given to 20 prospective teachers, consisting of 14 females and 6 males. The method used is quantitative descriptive survey with analysis using the rasch model with polytomous data. The results obtained were the reliability value of 0.58 in the weak category, the level of difficulty for 3 questions in the difficult category and one question in the easy category, the distinguishing power was very good for all the questions. The overall ability to read and interpret kinematics graphs is quite good. In conclusion, the instruments and analysis used can test the ability to interpret the prospective teacher's kinematics graph. Keywords: interpretation; graph; kinematics; polytomous.
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Hanson, Robert B. "Statistical Analysis of Proper Motion Surveys." Symposium - International Astronomical Union 109 (1986): 43–45. http://dx.doi.org/10.1017/s0074180900076385.
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Proper motion surveys offer a great deal of data bearing on important astronomical problems such as stellar kinematics and the luminosity function in the solar neighborhood. Major obstacles to the full use of proper motions have long been posed by: (1) incompleteness of proper motion surveys, (2) proper motion bias in kinematic studies, and (3) the indirect approaches and kinematical assumptions needed in traditional luminosity studies.
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Tan, Yue Sheng, Peng Le Cheng, and Ai Ping Xiao. "Inverse Kinematics Solution for a 6R Special Configuration Manipulators Based on Screw Theory." Advanced Materials Research 216 (March 2011): 250–53. http://dx.doi.org/10.4028/www.scientific.net/amr.216.250.
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Three basic sub-problems of screw theory are acceptable for some particular configuration manipulators’ inverse kinematics, which can not solve the inverse kinematics of all configuration manipulators. This paper introduces two extra extended sub-problems, through which all inverse kinematic solutions for 6-R manipulators having closed-form inverse kinematics can be gained. The inverse kinematic solution for a new particular configuration manipulator is presented.
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Freitas, Gustavo M., Antonio C. Leite, and Fernando Lizarralde. "Kinematic control of constrained robotic systems." Sba: Controle & Automação Sociedade Brasileira de Automatica 22, no. 6 (December 2011): 559–72. http://dx.doi.org/10.1590/s0103-17592011000600002.
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This paper addresses the posture control problem for robotic systems subject to kinematic constraints. The key idea is to consider the kinematic constraints of the mechanisms from their structure equations, instead of explicitly using the constraint equations. A case study for parallel robots and cooperating redundant robots is discussed based on the following concepts: forward kinematics, differential kinematics, singularities and kinematic control. Simulations results, obtained with a Four-Bar linkage mechanism, a planar Gough-Stewart platform and two cooperating robots, illustrate the applicability and versatility of the proposed methodology.
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Müller, Andreas. "Kinematic topology and constraints of multi-loop linkages." Robotica 36, no. 11 (August 2, 2018): 1641–63. http://dx.doi.org/10.1017/s0263574718000619.
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SUMMARYModeling the instantaneous kinematics of lower pair linkages using joint screws and the finite kinematics with Lie group concepts is well established on a solid theoretical foundation. This allows for modeling the forward kinematics of mechanisms as well the loop closure constraints of kinematic loops. Yet there is no established approach to the modeling of complex mechanisms possessing multiple kinematic loops. For such mechanisms, it is crucial to incorporate the kinematic topology within the modeling in a consistent and systematic way. To this end, in this paper a kinematic model graph is introduced that gives rise to an ordering of the joints within a mechanism and thus allows to systematically apply established kinematics formulations. It naturally gives rise to topologically independent loops and thus to loop closure constraints. Geometric constraints as well as velocity and acceleration constraints are formulated in terms of joint screws. An extension to higher order loop constraints is presented. It is briefly discussed how the topology representation can be used to amend structural mobility criteria.
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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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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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Semenov, Denis, Vyacheslav Shlyakhtov, and Alexandr Rumyantsev. "Kinematic analysis as the basis for training strategy in gymnastics." BIO Web of Conferences 29 (2021): 01012. http://dx.doi.org/10.1051/bioconf/20212901012.
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The kinematic analysis of gymnastic skills performance is a widely used research method in sports science. This study presents the experience of applying the method of kinematic analysis in the managing the training process of junior gymnasts on the example of mastering three basic gymnastic skills. The test group included 10 junior male gymnasts of the age 9 to 12. The subject of kinematic analysis was based on comparing gymnasts’ joint angles, angular velocity and angular acceleration parameters. The kinematics parameters of gymnastic skills performance by a highly qualified gymnast became the target model for junior gymnasts. As a result of these targets application in the training of junior gymnasts, changes in the basic skills kinematic parameters were detected. At the end of the study, the kinematics parameters of junior gymnasts became much closer to the model parameters. Thus, the effectiveness of the kinematics analysis method in the training of junior gymnasts was demonstrated.
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Li, Bin Cheng, Dan Yang, and Rong Zhi Lu. "Kinematics Analysis and Control System Design of 6-DOF Parallel Kinematic Machine with Matlab and EMC2." Advanced Materials Research 102-104 (March 2010): 363–67. http://dx.doi.org/10.4028/www.scientific.net/amr.102-104.363.
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This paper obtained the inverse kinematics model through performing kinematic analysis of 6-DOF parallel kinematic machine (PKM) via the MATLAB software. On the basis of that, kinematics inverse module in EMC2(Enhanced Machine Controller) is recompiled and verified through CNC machining simulation, which set up an important foundation for later prototype construction and motor output control.
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Hu, Ming, and Jia Shun Shi. "The Kinematics Analysis of the 3-PTT Parallel Machine Tools." Applied Mechanics and Materials 701-702 (December 2014): 784–87. http://dx.doi.org/10.4028/www.scientific.net/amm.701-702.784.
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This paper presents the kinematics for 3-PTT parallel machine tools, the kinematic is analytically performed, the forward and inverse position kinematic equations are explicit functions and workspace is derived and there is no singularity configuration and kinematic coupling in the whole workspace. The manipulability analytical of the parallel machine tool is investigated by the Jacobian matrix.
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Wang, Michael Yu, Tong Liu, and Diana M. Pelinescu. "Fixture Kinematic Analysis Based on the Full Contact Model of Rigid Bodies." Journal of Manufacturing Science and Engineering 125, no. 2 (April 15, 2003): 316–24. http://dx.doi.org/10.1115/1.1557293.
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The conventional point-kinematic model of fixtures has only treated point geometry of the contacts between locators and workpiece. However, this model, which ignores the underlying surface properties of the locators-plus-workpiece system, is inherently incapable of capturing the effects of the geometric properties important to accurate positioning of the workpiece. In this paper, we present a fixture kinematic analysis based on the full kinematics of locator-workpiece contact. This model incorporates a “virtual” kinematic chain with meshing parameters of contact kinematics in a velocity formulation. Conditions of a deterministic fixture are derived. It is shown that the workpiece position and orientation are completely characterized by the kinematic properties of the locator contacts with the workpiece, including not only the arbitrary locator location errors but also the surface properties at nonprismatic locator-workpiece contacts. This is illustrated with numerical examples. The fixture kinematic analysis developed here has a strong implication for designing fixtures with high locating precision requirements.
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Yang, Qiang, Hongkun Ma, Jiaocheng Ma, Zhili Sun, and Cuiling Li. "Sensitivity Analysis of Reliability of Low-Mobility Parallel Mechanisms Based on a Response Surface Method." Applied Sciences 11, no. 19 (September 27, 2021): 9002. http://dx.doi.org/10.3390/app11199002.
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Kinematic accuracy is a crucial indicator for evaluating the performance of mechanisms. Low-mobility parallel mechanisms are examples of parallel robots that have been successfully employed in many industrial fields. Previous studies analyzing the kinematic accuracy analysis of parallel mechanisms typically ignore the randomness of each component of input error, leading to imprecise conclusions. In this paper, we use homogeneous transforms to develop the inverse kinematics models of an improved Delta parallel mechanism. Based on the inverse kinematics and the first-order Taylor approximation, a model is presented considering errors from the kinematic parameters describing the mechanism’s geometry, clearance errors associated with revolute joints and driving errors associated with actuators. The response surface method is employed to build an explicit limit state function for describing position errors of the end-effector in the combined direction. As a result, a mathematical model of kinematic reliability of the improved Delta mechanism is derived considering the randomness of every input error component. And then, reliability sensitivity of the improved Delta parallel mechanism is analyzed, and the influences of the randomness of each input error component on the kinematic reliability of the mechanism are quantitatively calculated. The kinematic reliability and proposed sensitivity analysis provide a theoretical reference for the synthesis and optimum design of parallel mechanisms for kinematic accuracy.
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Davis, RO, and RJ Siemers. "Derivation and reliability of kinematic measures of sperm motion." Reproduction, Fertility and Development 7, no. 4 (1995): 857. http://dx.doi.org/10.1071/rd9950857.
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Studies of sperm movement are relevant in the diagnosis of sperm function and in investigations of cellular biology. Such studies have been traditionally performed by analysing the kinematics of the flagellum or the head. Analysis of the flagellum can provide insights into the cell biological mechanisms responsible for the control of movement. However, the mathematical correspondence between head kinematics and flagellum kinematics is not unique. Therefore, it is not possible to use head kinematics to obtain detailed insights into cell mechanisms or physiology. The accuracy and precision of kinematic measurements are limited by a number of technical and biological factors. Therefore, the interpretation of kinematic data is dependent on a thorough understanding of the assumptions and conditions underlying the analysis. Evaluation of the reliability of kinematic measurements has suffered because no absolute standard for measurement has existed. The development and application of a new standard based on images which were simulated using the equations of motion is described. Because the kinematics of these images are known prior to empirical measurement, the performance of different methods can be determined absolutely. Some kinematic measures are unreliable because they are inappropriate analogues for engineering concepts. The development and use of appropriate engineering measures for the frequency and amplitude of sperm motion is also described. Some types of sperm motion cannot be analysed using kinematic measures (e.g. hyperactivated movement). The concept of the fractal dimension as a more accurate measurement for such motions is introduced. It is concluded that kinematic measurements of sperm motion can provide valuable information about cell biological mechanisms (in the case of the flagellum) and about general membrane and axoneme function (in the case of the head) when the measurements are made under the appropriate conditions, when standard techniques are followed, and when the assumptions underlying the analysis are well understood.
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Kifayat Mammadova, Aytan Aliyeva, Kifayat Mammadova, Aytan Aliyeva, and Nigar Baghirova Nigar Baghirova. "CONSTRUCTION OF THE KINEMATIC MODEL OF ROBOTIC SYSTEMS IN THE MATLAB ENVIRONMENT." ETM - Equipment, Technologies, Materials 16, no. 04 (October 6, 2023): 67–75. http://dx.doi.org/10.36962/etm16042023-67.
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Robotics has become relatively accessible with low-cost projects, but there is still a need to create models that accurately represent the robot's physical behavior. Creating a virtual platform allows us to test behavioral algorithms using artificial intelligence. In addition, it will enable us to find potential problems in the physical design of the robot. The article describes the methodology of building a kinematic model and simulation of an autonomous robot. The development of a kinematic model and its implementation using several tools are presented. The environment used for the experiment is very close to natural conditions and reflects the kinematic characteristics of the robot. As a result, the simulation of the model following the mobile robot's kinematics is executed and tested in MATLAB. As a study, the m-file creation in MATLAB, its use with the Simulink package, and the solution of the forward and inverse problem of kinematics are shown. In addition to constructing the robot body using Simulink blocks, the structure of the kinematic scheme is simulated using the Denavit-Hartenberg (DH) parameters of the robot without blocks. "Simscape" and "Robotics System Toolbox" packages simulate forward and inverse kinematics using the Simulink package, and the robot's handle and body movement are observed. In the forward kinematics problem, the readings in the Scope compare the signals received from joint one and the end effector. For the inverse kinematic problem, the parameters of the manipulator along the XYZ axes are entered using the "Signal builder" block, and the circular movement of the arm is observed. In contrast, the handle of the manipulator remains fixed at a given point. Keywords: mobile robot, kinematic model, the forward and inverse problem of kinematics, Denavit-Hartenberg parameters, joint types
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Hroncová, Darina, Ingrid Delyová, Peter Sivák, and Vojtech Neumann. "THE DESIGN OF MOVEMENT OF THE ROBOT MODEL IN STRUCTURED ENVIRONMENT USING MSC ADAMS." Acta Mechatronica 6, no. 1 (March 31, 2021): 1–5. http://dx.doi.org/10.22306/am.v6i1.72.
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In this work, the issue of kinematic analysis of the open kinematic chain of an industrial robot is discussed. The aim of the work lies in the kinematic analysis of the robot and the display of kinematic quantities in the work process. Transformation matrices of coordinate systems of individual members are determined for the solution by the matrix method. The direct method of kinematics using the MSC Adams View program is solved. The result is a graphical representation of the kinematic variables of the mechanical system of the end point of the effector and trajectory when moving in its working space.
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Nagao, Keisuke, Nobuaki Fujiki, Yoshitaka Morimoto, and Akio Hayashi. "Calibration Method of Parallel Mechanism Type Machine Tools." International Journal of Automation Technology 14, no. 3 (May 5, 2020): 429–37. http://dx.doi.org/10.20965/ijat.2020.p0429.
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This paper proposes a calibration method for a parallel mechanism type machine tool (XMINI, Exechon Enterprises L.L.C.). In this method, the kinematic parameters are calculated using forward kinematics and the least squares method from the results obtained by a coordinate measuring machine. By using an articulated arm coordinate measuring machine (AACMM), we can measure a wide space, and the measuring machine position do not have to be determined strictly. This paper provides a solution for the forward kinematics problem to identify the kinematic parameters. The results from the kinematic parameter calculation are evaluated using the experimental results from an actual machine.
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Hu, Bo, Bo Li, and He Cui. "Design and kinematics analysis of a novel serial–parallel kinematic machine." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 230, no. 18 (August 9, 2016): 3331–46. http://dx.doi.org/10.1177/0954406215624450.
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A novel serial–parallel kinematic machine based on a serial–parallel manipulator is proposed and its kinematics and statics are studied systematically. First, the concept of serial–parallel kinematic machine formed by the 3-PRS parallel manipulator and the 2-UPR + SPR PM is proposed. Second, the displacement is derived in close form based on the geometrical and dimensional constraints existed in the serial–parallel kinematic machine. Third, the Jacobian, velocity and statics of the serial–parallel kinematic machine are derived in the explicit and compact form. Finally, the formulas for solving the acceleration of this serial–parallel kinematic machine are derived. This research will lay a good foundation for the development of the serial–parallel kinematic machine.
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Limanuel, Fransisko, Calvin Susanto, and Ferry Rippun Gideon Manalu. "Design and Implementation of 6 DOF ROTARIC Robot Using Inverse Kinematics Method." Jurnal Elektro 13, no. 2 (February 17, 2021): 125–34. http://dx.doi.org/10.25170/jurnalelektro.v13i2.1930.
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This paper will discuss the calculation of inverse kinematic which will be used to control the 6-DOF articulated robot. This robot consists of 6 Dynamixel MX-28 smart servo with OpenCM 9.04 microcontroller. The articulated robot has been simplified to 4-DOF because there are no obstacles in the work area and no special movements are required. The calculation method uses the intersection point equation between the ball and the line, so that it can make it easier to determine the point in calculating the kinematic inverse. The experiment is carried out using the desired position as input for the kinematic inverse to produce the angle of each joint. From the angle of each joint obtained, it will be entered into forward kinematic so that the end-effector position will be obtained. The desired position will be compared with the end-effector position, and then how much difference will be calculated. From the experimental results, it was found that the inverse kinematic method which has been inverted by the forward kinematic produces the same final position.
Keywords: 6-DOF manipulator, Articulated robot, inverse kinematics and forward kinematics, Dynamixel MX-28, OpenCM 9
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Siradjuddin, Indrazno, Gilang Al Azhar, Anggit Murdani, and Mukhamad Luqman Muttaqin Faizin. "Desain dan pemodelan kontrol kinematik pergerakan robot beroda dengan menggunakan 6 roda omni-wheels." JURNAL ELTEK 18, no. 1 (April 28, 2020): 116. http://dx.doi.org/10.33795/eltek.v18i1.226.
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Pengembangan desain kontrol kinematic sangatlah penting dalam pengembangan kontrol untuk robot beroda. Hal ini sangat dibutuhkan mengingat bahwa robot beroda memiliki banyak parameter yang mampu merubah persamaan kontrol kinematiknya terutama pada kontrol kinematik untuk robot beroda dengan jenis roda omnidirectional, baik dari segi jenis roda yang digunakan hingga jumlah roda penggerak yang digunakan. Dengan berbagai macam hal yang dapat merubah persamaan kontrol kinematiknya, maka pada makalah ini dibuat sebuah persamaan kontrol kinematik yang general, yang dapat diaplikasikan untuk berbagai macam roda omnidirectional, serta berbagai jumlah roda yang digunakan. Selain itu persamaan general yang telah dibuat, diaplikasikan untuk menguji respon robot beroda dengan menggunakan 6 buah omni-wheels untuk menguji hasil respon dari persamaan general kontrol yang telah dibuat. Pengujian dilakukan dengan menggunakan simulasi program dengan menggunakan pemrograman dengan menggunakan Bahasa pemrograman python. Hasil yang didapatkan menunjukkan robot mampu bergerak sesuai dengan arah gerak target yang ditentukan, yaitu membentuk pola jalur yang linier serta mampu bergerak membentuk pola lingkaran dan pola setengah gelombang sinus. Hal ini menunjukkan bahwa kontrol kinematik yang dirancang mampu membuat robot bergerak sesuai dengan yang direncanakan. Hasil dari respon robot berupa sinyal kontrol, pola yang dibentuk serta nilai perubahan error disajikan dalam bentuk grafik.
Development of the kinematics control is very important for the development of kinematics control for mobile robots. This is very necessary because mobile robots have a lot of factors that can manipulate the equation of its kinematic control, such as the type of wheels, the number of wheels, etc. With this kind of problem, it necessary to generate a general equation for the robot’s kinematic control, which in this journal we purpose the general equation for the mobile robot control, and we evaluate the outcome by applying the general equation into the 6 omnidirectional robot control. To make a valid statement, we simulate the control to understanding the control outcome by using a python program. The results of the simulation show us that the robot can move as planned, that the robot produces a linear trajectory, circular trajectory, and half sine wave trajectory. Depends on the results, it can be concluded that the proposed kinematics control equation can make the robot moves well as we planned. The results of the respons, the trajectory, and the changes in error values are presented in graphical form
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Jatsun, S. F., and Yan Naing Soe. "KINEMATIC AND JACOBIAN ANALYSIS APPROACH FOR THE FOUR-LEGGED ROBOT." Proceedings of the Southwest State University 22, no. 4 (August 28, 2018): 32–41. http://dx.doi.org/10.21869/2223-1560-2018-22-4-32-41.
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This paper presents forward kinematics, inverse kinematics and Jacobian analysis of four-legged robot research. The kinematics analysis is the main problem of the legged robot. The four-legged robots are very complex more than wheeled robots. In this study,the four-legged robot of each leg calculates Denavit-Hartenberg (D-H) method,that is used for forward kinematics and the inverse is used the geometrical and mathematical methods.The Kinematic divided into two categories Forward Kinematic and Inverse Kinematics. The forward kinematic is calculated we knew the leg of endpoint position for the angles (θ1,θ2 and θ3 ). . Inverse kinematics is used to compute the joint angles which will achieve a desired position and orientation of the end-effector relative to the base frame. The Jacobian is one of the most important analyses for controlling smooth trajectory planning and execution in the derivation of the dynamic equation of robot motion.For calculation is used MATLAB software and robot modeling is used Simulink toolbox in MATLAB software. A program is obtained that calculate joint of angular velocity and angles to move from the desired position to target position. In this study are given different angular velocity and angle of the endpoint of the leg. The work mainly focuses on mechanical design, calculation of kinematic analysis, Jacobian function and experiment data of four-legged robots in MATLAB simulation.
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Cai, Lin. "Kinematic Analysis of 5-UPS Parallel Machine Tool Based on Adams." Applied Mechanics and Materials 644-650 (September 2014): 215–19. http://dx.doi.org/10.4028/www.scientific.net/amm.644-650.215.
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In this paper, the kinematics of 5-UPS parallel machine tool is analyzed, and a kinematic analysis method combining kinematic analysis and computer kinematics software is proposed. Under the premise that the parallel machine tool sector parameters is known, firstly we use the vector method to establish a mathematical model of inverse kinematics, and in accordance with a U-shaped processing trajectory the inverse solution is calculated; Secondly, three-dimensional model of the parallel machine tool is modeled in Adams, and kinematic constraints are set correctly; Finally, the inverse kinematics solution of the mathematical model is used as the Adams drive input, then the positive solutions is carried out. Compared through the Adams simulation results with U-machining path, it is verified that the inverse solution of the mathematical model and parallel machine tool bodies both are correct, it has certain significance for Parallel machine tools and other parallel robot kinematics analysis.
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Han, Ziyong, Shihua Yuan, Xueyuan Li, and Junjie Zhou. "Enhanced closed-loop systematic kinematics analysis of wheeled mobile robots." International Journal of Advanced Robotic Systems 16, no. 4 (July 2019): 172988141986324. http://dx.doi.org/10.1177/1729881419863242.
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The traditional homogeneous transform maintains central position in the kinematic modelling of robotics. However, for these kinematic modelling of wheeled mobile robots over uneven terrain, the homogeneous transform that represents angular velocity implicitly in the time derivative of the rotation matrix has a drawback in orientation representation. In this article, to improve the angular representation, a new general systematic method for kinematics modelling and analysis of wheeled mobile robot is proposed. The approach uses the Sheth–Uicker convention and loop-closure kinematic chains to derive the position, velocity and acceleration kinematics. The screw coordinates are used to reform the velocity kinematics to centroidal kinematics; then, the Jacobian calculation is simplified to solve the screw vector algebra equations instead of the matrix equations. Meanwhile, the linear and angular components of the centroidal kinematics are endowed with physical meanings and are easy to be selected as control variables. The approach is applied to a wheeled mobile robot, and its effectiveness is verified by the simulation results with various terrain.
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Xin, Shi Zhi, Luo Yu Feng, Hang Lu Bing, and Yang Ting Li. "A Simple Method for Inverse Kinematic Analysis of the General 6R Serial Robot." Journal of Mechanical Design 129, no. 8 (August 18, 2006): 793–98. http://dx.doi.org/10.1115/1.2735636.
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The inverse kinematic analysis of the general 6R serial robot has been a very significant and important problem in the theory of the spatial mechanisms. Because the solution to inverse kinematics problem of the general 5R serial robot is unique and its assembly condition has been derived, a simple effective method for inverse kinematics problem of general 6R serial robot or forward kinematics problem of general 7R single-loop mechanism is presented based on a one-dimension searching algorithm. All the real solutions to inverse kinematics problems of the general 6R serial robot or forward kinematics problems of the general 7R single-loop mechanism can be obtained. The new method has the following features: (1) using one-dimension searching algorithm, all the real inverse kinematic solutions are obtained and it has higher computing efficiency; and (2) compared with the algebraic method, it has evidently reduced the difficulty of deducing formulas. The principle of the new method can be generalized to kinematic analysis of parallel mechanisms.
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Cui, Bing Yan, and Zhen Lin Jin. "Analysis of Workspace and Rotation Ability for a Novel Humanoid Robot Elbow Joint." Advanced Materials Research 69-70 (May 2009): 585–89. http://dx.doi.org/10.4028/www.scientific.net/amr.69-70.585.
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The workspace and the kinematic transmission play important role on the design and optimation of the eblow joint. In this paper, a novel humanoid robot elbow joint based on 2-DOF orthogonal spherical parallel mechanism is proposed. Position of elbow joint is analyzed using the vector method and projection theory. The kinematic balance equation of the eblow joint is established by analyzing the relationship of its input and output velocity. The kinematics transmission evaluation index and the global kinematic transmission evaluation index of the elbow are defined, and the distribution of the global kinematics transmission evaluation index in the workspace is drawn. And rotation ability of the elbow joint is analyzed. The analytical results indicate the elbow has advantages of big volume, smooth boundary, good kinematic transmission, strong rotation ability, which can provide theoretical base for the applications of the elbow.
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Yang, Qiang, Zhi Li Sun, Dong Liang Lei, and Peng Zhou. "Kinematic Reliability and Sensitivity Analysis of Delta Parallel Mechanism." Advanced Materials Research 118-120 (June 2010): 546–50. http://dx.doi.org/10.4028/www.scientific.net/amr.118-120.546.
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Kinematic accuracy is an important index to evaluate the quality of mechanisms. Kinematic reliability is a significant standard to examine dynamic kinematic accuracy of mechanisms. Having deduced inverse kinematics and calculated model for position errors of Delta mechanism, kinematic reliability of the mechanism is calculated considering the randomness of every error components. Analytic method sensitivity analysis is adopted to describe contribution of the randomness of each error component to kinematic reliability of the mechanism, and the calculating approach is exactly given that the sensitivity analysis which is for getting the error contributions to reliability of which the position errors during movement is in the range of allowable accuracy at any time. Kinematic reliability and its sensitivity analysis can search key factor influencing kinematic accuracy, which can provide the foundation for error compensate and accuracy assurance technology of the mechanism.
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Chang, De Gong, Lu Sun, and Bin Zuo. "Kinematic Simulation of the Tripod Universal Joint with or without Gap." Key Engineering Materials 501 (January 2012): 306–10. http://dx.doi.org/10.4028/www.scientific.net/kem.501.306.
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In this paper, based on the structural features of twin tripod sliding universal joint, by using the CAD software Pro/E technology, the author first established the three-dimensional solid model of the twin tripod sliding universal joint, then compared the kinematics analysis under the following two circumstances ,that is, with or without a clearance of kinematic pairs and obtained the kinematical regularities of various components of the twin tripod sliding universal joint, which can provide a theoretical basis for the further research of the impact of the clearance on the tripod universal joint.
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Pllana, Gani, and Sadete Pllana. "Overview of Basic Terms of Technical Lexis of Mechanics in the Albanian Language." European Journal of Language and Literature 4, no. 4 (November 29, 2018): 66. http://dx.doi.org/10.26417/ejls.v4i4.p66-71.
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The subject of the study in this paper is the basic terms of the field of mechanics as a broad field, understanding with this concept not only nouns with nominal base, like pair and kinematic pair, but also other units that can be called terms if they are seen from a certain perspective when connected to the system by terms of nouns or when expressing the specifics of the field as kinematics (adj.) - kinematic (adv.) - shifting (v.), in Albanian kinematik-e (mb.) – kinematikisht (ndajf.) – zhvendoset (fol.). As it is well known in the compilation of terminology dictionaries, both criteria apply, although it can be said that there is no definite stance on this problem. By appearing as single word units, on their own, as well as in wider compounded units (word group), these units serve as compound elements of around 70-80% of the whole Mechanics vocabulary, as they are in Albanian and respectively in English: mekanizëm XE "mekanizëm – mechanism, makin XE "makinëë – machine, hallkë XE "hallkë – link, zinxhir – chain, zhvendosje XE "zhvendosje – displacement, lëvizje XE "lëvizje" – motion XE "motion" , rrotullim XE "rrotullim – rotation, rrotulloj – rotate, rrotullues-e – rotary, kinematik-e – kinematic, kinematikisht – kinametically etc. All of this base vocabulary appears mainly in the basic subfields of Mechanics, in the Theory of Mechanics and in the Applied Mechanics in Machines, in the special subfields, as well as in the subfield of Mechanical Technology of automobiles, of heat technology etc., but it connects also with the base fields of knowledge which stands at the foundation of Mechanics, as with mathematics, geometry, physics, chemistry etc.
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Harding, Paul, and Heather Morrison. "The Bulge/Halo interface rotational kinematics from [Fe/H] = −3.0 to Solar." Symposium - International Astronomical Union 153 (1993): 297–98. http://dx.doi.org/10.1017/s0074180900123332.
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Kinematics and abundances have been determined for a large sample of K giants in a field at ∼2 kpc from the center to study the relationship between the bulge and the halo. There are two different kinematic groups evident. The metal-poor stars have low rotation and high velocity dispersion, and so can be associated with the halo. The metal-richer stars have intermediate rotation. Our data suggest that the bulge and halo could be separate kinematical entities.
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Lin, Cheng-Chung, Hsuan-Lun Lu, Tung-Wu Lu, Chia-Yang Wang, Jia-Da Li, Mei-Ying Kuo, and Horng-Chuang Hsu. "Reconstruction of Three-Dimensional Tibiofemoral Kinematics Using Single-Plane Fluoroscopy and a Personalized Kinematic Model." Applied Sciences 11, no. 20 (October 11, 2021): 9415. http://dx.doi.org/10.3390/app11209415.
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Model-based 3D/2D image registration using single-plane fluoroscopy is a common setup to determine knee joint kinematics, owing to its markerless aspect. However, the approach was subjected to lower accuracies in the determination of out-of-plane motion components. Introducing additional kinematic constraints with an appropriate anatomical representation may help ameliorate the reduced accuracy of single-plane image registration. Therefore, this study aimed to develop and evaluate a multibody model-based tracking (MbMBT) scheme, embedding a personalized kinematic model of the tibiofemoral joint for the measurement of tibiofemoral kinematics. The kinematic model was consisted of three ligaments and an articular contact mechanism. The knee joint activities in six volunteers during isolated knee flexion, lunging, and sit-to-stand motions were recorded with a biplane X-ray imaging system. The tibiofemoral kinematics determined with the MbMBT and mediolateral view fluoroscopic images were compared against those determined using biplane fluoroscopic images. The MbMBT was demonstrated to yield tibiofemoral kinematics with precision values in the range from 0.1 mm to 1.1 mm for translations and from 0.2° to 1.3° for rotations. The constraints provided by the kinematic model were shown to effectively amend the nonphysiological tibiofemoral motion and not compromise the image registration accuracy with the proposed MbMBT scheme.
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Hwang, Yunn Lin, Thi Na Ta, and Cao Sang Tran. "Dynamic Analysis and Control of Hydraulic Machine System and Industrial Robotic Manipulators." Applied Mechanics and Materials 883 (July 2018): 1–7. http://dx.doi.org/10.4028/www.scientific.net/amm.883.1.
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Dynamic control on hydraulic machine system and kinematic control on industrial robotic manipulators are two studied topics in this research. The main objective of this study is to analyze dynamic, forward kinematic and inverse kinematic on a couple of mechanical systems and hydraulic mechanical systems in order to control these machines. The characteristics of hydraulic and manipulator robot parameters are firstly calculated by using dynamic theories. In the former topic, we perform an example on CNC machine tools which is designing a hydraulic controller to move a cutting tool along a circular path. Dynamics analysis, forward kinematics and inverse kinematics of industrial robotic are archived in the latter topic. Two experiments were also performed on RRR and RRRRRR manipulators by analyzing the inverse kinematic equations to make these robots follow the desired trajectories. This study takes innovations and achieves control improvement in different systems with optimization controller or trajectory planning.
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An, Jiping, Xinhong Li, Zhibin Zhang, Guohui Zhang, Wanxin Man, Gangxuan Hu, Junwei He, and Dingzhan Yu. "A Novel Method for Inverse Kinematics Solutions of Space Modular Self-Reconfigurable Satellites with Self-Collision Avoidance." Aerospace 9, no. 3 (February 28, 2022): 123. http://dx.doi.org/10.3390/aerospace9030123.
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Space modular self-reconfigurable satellites (SMSRSs) are a new type of satellite with reconfigurable structures and adjustable functions. The inverse kinematics of the hyper-redundant structure of SMSRSs are difficult to solve by traditional methods. In this paper, the inverse kinematics of SMSRS is transformed into an optimization problem and solved using the optimization method. Moreover, the avoidance of self-collision is implemented in the optimization process. Firstly, the kinematic model of SMSRS is established. Then, to find the more accurate inverse kinematics solutions, a novel Segmented Hybrid CMA-ES and PSO (SHCP) algorithm is proposed. The algorithm is used for three cases of inverse kinematic problems, and the optimization results prove the optimization method is effective to solve the inverse kinematic problem with self-collision avoidance. Compared to the results of PSO variants, meta-heuristic algorithms, and hybrid algorithms, the novel algorithm has higher accuracy, proving its better performance on the inverse kinematics problem of SMSRS.
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Cui, Guohua, Muyuan Sun, Liang Yan, Hongjuan Hou, and Haiqiang Zhang. "Kinematic Reliability Solution of 3-UPS-PU Parallel Mechanism Based on Monte Carlo Simulation." Open Mechanical Engineering Journal 9, no. 1 (May 29, 2015): 324–32. http://dx.doi.org/10.2174/1874155x01509010324.
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In order to research kinematic reliability of 3-UPS-PU parallel mechanism, the structure and kinematics analysis were performed. Inverse kinematics equation can be derived by homogeneous coordinate transformation formula. Position and orientation output error forward kinematics model was obtained by the differential transformation on the basis of inverse kinematic solution of the position. The curves of the position and orientation output errors can be plotted with a large batch production by adopting Monte-Carlo simulation method. Then kinematic reliability of the mechanism can be solved through the probability statistics method and theoretical solution method respectively. Finally, these two methods were compared with each other. The results illustrate that the results of the two methods are basically consistent, and the mechanism can be work reliably and stably under general operations, which provides some valuable references for the related future research.
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Campos, A., R. Guenther, and D. Martins. "Differential kinematics of parallel manipulators using Assur virtual chains." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 223, no. 7 (March 24, 2009): 1697–711. http://dx.doi.org/10.1243/09544062jmes1156.
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This article introduces the concept of Assur virtual chains and its applications in differential kinematics of parallel manipulators. Using Assur virtual chains, the differential kinematics has a simple matricial formulation and the choice between direct and inverse kinematics is reduced to select primary variables in a homogeneous linear system. Assur virtual chains are also useful for obtaining information about the relative movements or to imposing particular kinematic constraints between two links of a kinematic chain. Additionally, a new systematic algorithm is established to analytically eliminate passive joint velocities and calculate the Jacobian matrices. This elimination approach is based on screw theory concepts such as twist, wrench, and reciprocity; also, graph theory is used for kinematic chain representation. At the end of the article, the method is applied to a 3RRR planar parallel manipulator and a general universal-prismatic-spheric Stewart—Gough platform.
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Liu, Shao Gang, and Farah Edris. "Forward Kinematics Simulation for a Surgical Robot Using CATIA 5." Journal of Biomimetics, Biomaterials and Biomedical Engineering 22 (March 2015): 21–28. http://dx.doi.org/10.4028/www.scientific.net/jbbbe.22.21.
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Forward Kinematic simulation of a 6 DOF surgical robot tracking a path through the constraint of the Remote Center of Motion point (RCM) is developed in this paper. Theoretical calculations of the forward kinematics are analyzed by solving the configuration kinematic equations of the robot. CAD prototype of the surgical robot and the patient are created using CATIA5 part and assembly tools. The theoretical results are validated through a Kinematic simulation of CATIA kinematics. The simulation results confirm the usefulness of the six revolute joint robots in minimally invasive surgery (MIS) and the efficiency of using the power full CATIA5 software to simulate surgical robot, and checking the robot mechanism capability of doing surgical procedures.
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Weast-Knapp, Julie A., Kevin Shockley, Michael A. Riley, Sarah Cummins-Sebree, Michael J. Richardson, Trenton D. Wirth, and Philip C. Haibach. "Perception of another person’s maximum reach-with-jump height from walking kinematics." Quarterly Journal of Experimental Psychology 72, no. 8 (January 25, 2019): 2018–31. http://dx.doi.org/10.1177/1747021818821935.
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Humans can perceive affordances (possibilities for action) for themselves and others, including the maximum overhead height reachable by jumping (reach-with-jump height, RWJ). While observers can accurately perceive maximum RWJ for another person without previously seeing the person jump, estimates improve after viewing the person walk, suggesting there is structure in walking kinematics that is informative about the ability to produce vertical force for jumping. We used principal component analysis (PCA) to identify patterns in human walking kinematics that specify another person’s maximum RWJ ability, and to determine whether athletes are more sensitive than non-athletes to these patterns. Kinematic data during treadmill walking were collected and submitted to PCA to obtain loading values for the kinematic time series variables on the first principal component. Kinematic data were also used to create point-light (PL) displays, in which the movement kinematics of PL walkers were manipulated using the obtained PCA loading values to determine how changes in body-segment movements impacted perception of maximum RWJ height. While manipulating individual segmental loadings in the PL displays did not substantially affect RWJ estimates, PL displays created by replacing the PCA loadings of a high-jumper with those of a low-jumper, and vice versa, resulted in corresponding reversals of participants’ RWJ estimates, suggesting that the global structure of walking kinematics carries information about another’s maximum RWJ height. Athletes exhibited greater sensitivity than controls to the kinematic manipulations, indicating that they are better attuned to useful kinematic information as a result of their sport experience.
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Yir, Khor Ching, Haslina Arshad, and Elankovan Sundararajan. "Offline Programming to Control Robot Manipulator in Virtual Kinematic Learning Tool." Advanced Materials Research 845 (December 2013): 740–44. http://dx.doi.org/10.4028/www.scientific.net/amr.845.740.
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Robot programming demands skilled robot programmers. Conventional methods of robot programming include teaching robot using the teach pendant and the high level programming language. Teaching robot kinematics and solving kinematic problems are complex and they involve robot programming. With the advancement of computer and robotic technologies, this can be solved via computer simulation. In this paper, an approach for programming the robots manipulator via an offline virtual kinematic learning tool is proposed. A virtual system is developed which has a user interface for users to improve the knowledge of the robot manipulators kinematic. Basic kinematics note, exercise and forward kinematic calculation based on Danavit Hertenberg method was included in the system. A template will be provided to the user as a guide to develop the controller to control the simulation of the virtual robot. The input and output method will be used to transfer data from the controller to the offline kinematic learning tool. After receiving the input, the data is stored in a text file. This data will provide the value of each angle of the virtual robots to allow the system to generate the final position of the virtual robot and the virtual robot manipulator will be displayed and animated accordingly. Besides that, the offline robot programming will be generated by the system according the simulation planned by the user. This offline virtual kinematic simulation will help to provide a better understanding of the robot manipulators kinematic.
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OTA, Hiromichi, Teturo SHIBUKAWA, Taizo TOOYAMA, and Masaru UCHIYAMA. "Study of Kinematic Calibration Method for Parallel Mechanism. (2nd Report). Kinematic Calibration Using Forward Kinematics." Journal of the Japan Society for Precision Engineering 66, no. 10 (2000): 1568–72. http://dx.doi.org/10.2493/jjspe.66.1568.
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OTA, Hiromichi, Tetsuro SHIBUKAWA, and Taizo TOOYAMA. "Study of Kinematic Calibration Method for Parallel Mechanism. (1st Report). Kinematic Calibration using Inverse Kinematics." Journal of the Japan Society for Precision Engineering 66, no. 6 (2000): 950–54. http://dx.doi.org/10.2493/jjspe.66.950.
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de Oliveira, Andre Schneider, Edson Roberto De Pieri, and Ubirajara Franco Moreno. "A new method of applying differential kinematics through dual quaternions." Robotica 35, no. 4 (November 24, 2015): 907–21. http://dx.doi.org/10.1017/s0263574715000880.
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SUMMARYDifferential kinematics is a traditional approach to linearize the mapping between the workspace and joint space. However, a Jacobian matrix cannot be inverted directly in redundant systems or in configurations where kinematic singularities occur. This work presents a novel approach to the solution of differential kinematics through the use of dual quaternions. The main advantage of this approach is to reduce “drift” error in differential kinematics and to ignore the kinematic singularities. An analytical dual-quaternionic Jacobian is defined, which allows for the application of this approach in any robotic system.
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Kong, Ying, Ruiyang Zhang, Yunliang Jiang, and Xiaoyun Xia. "A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application." Complexity 2019 (July 31, 2019): 1–16. http://dx.doi.org/10.1155/2019/8642027.
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For repeatable motion of redundant mobile manipulators, the flexible base platform and the redundant manipulator have to be returned to the desired initial position simultaneously after completing the given tasks. To remedy deviations between initial position and desired position of each kinematic joint angle, a special kind of repeatable optimization for kinematic energy minimization based on terminal-time Zhang neural network (TTZNN) with finite-time convergence is proposed for inverse kinematics of mobile manipulators. It takes the advantages that each joint of the manipulator is required to return to the desired initial position not considering the initial orientation of itself for realizing repeatable kinematics control. Unlike the existed training methods, such an optimization of kinematic energy scheme based on TTZNN can not only reduce the convergent position error of each joint to zero in finite time, but also improve the convergent precision. Theoretical analysis and verifications show that the proposed optimal kinematic energy scheme accelerates the convergent rate, which is tended to be applied in practical robot kinematics. Simulation results on the manipulator with three mobile wheels substantiate the timeliness and repetitiveness of the proposed optimization scheme.
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Staretu, Ionel. "The Structure, Work Space and Direct Kinematic of the Robots with 8 Axes of Type T Normal R Parallel (PM)(OM)." Applied Mechanics and Materials 658 (October 2014): 718–23. http://dx.doi.org/10.4028/www.scientific.net/amm.658.718.
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The paper presents first structural synthesis aspects of serial redundant open kinematic chains for industrial robots. These chains are obtained from 3-axis positioning kinematic chains that create non-degenerate workspaces plus first a rotation or translation coupling in parallel or perpendicular position, obtaining structures with 7-axis, to which by adding in the same way one more rotation or translation coupling structures with 8 axes are obtained. Below we present the direct kinematics analysis for this kinematic chain using the homogeneous operators’ method. This method is based on the use of homogeneous translation or rotation operators and covering the kinematic chain from the base to the characteristic point at its end by a mobile reference system. Based on linear and angular dimensions expressed in matrix by corresponding homogeneous operators we obtain the matrix of the robot characteristic point coordinates in the fixed reference system attached to the robot base. Thus, direct kinematics is solved qualitatively. For a set of numerical values, we obtain a quantitative solution.
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Fain, AuraLea, Ayden McCarthy, Bradley C. Nindl, Joel T. Fuller, Jodie A. Wills, and Tim L. A. Doyle. "IMUs Can Estimate Hip and Knee Range of Motion during Walking Tasks but Are Not Sensitive to Changes in Load or Grade." Sensors 24, no. 5 (March 5, 2024): 1675. http://dx.doi.org/10.3390/s24051675.
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The ability to estimate lower-extremity mechanics in real-world scenarios may untether biomechanics research from a laboratory environment. This is particularly important for military populations where outdoor ruck marches over variable terrain and the addition of external load are cited as leading causes of musculoskeletal injury As such, this study aimed to examine (1) the validity of a minimal IMU sensor system for quantifying lower-extremity kinematics during treadmill walking and running compared with optical motion capture (OMC) and (2) the sensitivity of this IMU system to kinematic changes induced by load, grade, or a combination of the two. The IMU system was able to estimate hip and knee range of motion (ROM) with moderate accuracy during walking but not running. However, SPM analyses revealed IMU and OMC kinematic waveforms were significantly different at most gait phases. The IMU system was capable of detecting kinematic differences in knee kinematic waveforms that occur with added load but was not sensitive to changes in grade that influence lower-extremity kinematics when measured with OMC. While IMUs may be able to identify hip and knee ROM during gait, they are not suitable for replicating lab-level kinematic waveforms.
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Heil, D. P., and Robert Pickels. "The Influence of Bicycle Geometry on Time-Trial Positioning Kinematics and Markers of Performance." International Journal of Physical Education, Fitness and Sports 8, no. 1 (January 20, 2019): 11–24. http://dx.doi.org/10.26524/ijpefs1912.
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Studies have previously documented how changes in cycling body kinematics are related to submaximal energetics and power output, as well as cycling performance, but few have focused specifically on how body kinematics will vary with changes in bicycle geometry. This study sought to describe kinematic changes resulting from the systematic change of several bicycle geometry variables: Trunk angle (“low” and “high” positions), seat-tube angle (76° and 80°), saddle tilt angle (0° to -10°), saddle sitting position (middle or nose), as well as two types of saddles. Methods: Well-trained cyclists were kinematically evaluated across specific combinations of geometry variables using a modified cycle ergometer at a standard relative power. Standard two dimensional sagittal-view kinematics from the left side were used to summarize a collection of kinematic variables: Trunk angle, hip angle (HA), knee angle, pelvic tilt angle, and two “composite” angles called body position and pelvic position (PP). Finally, each trial was also evaluated for frontal area (FA; m2) from stationary digital photography. Data were evaluated using repeated measures ANOVA (a=0.05) to evaluate change in kinematics between trials, as well as regression analysis to determine predictability of performance markers (HA and FA) from the collection of geometry and kinematic variables. Results: Changing trunk angle had the greatest impact on other kinematic variables, while saddle type had no influence. Regression showed that geometry variables could explain 75-85% of the variability in either HA or FA, while 78-79% of the variation in HA and 83- 84% of FA was explained by PP alone. Conclusions: The composite kinematic measure PP was generally a better predictor of both HA and FA than any combination of geometry variables. These results can serve as a starting point for understanding the interactions between bicycle geometry and body kinematics, both of which are important determinants of power generation and aerodynamic drag.
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Hewitt, Angela L., Laurentiu S. Popa, Siavash Pasalar, Claudia M. Hendrix, and Timothy J. Ebner. "Representation of limb kinematics in Purkinje cell simple spike discharge is conserved across multiple tasks." Journal of Neurophysiology 106, no. 5 (November 2011): 2232–47. http://dx.doi.org/10.1152/jn.00886.2010.
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Encoding of movement kinematics in Purkinje cell simple spike discharge has important implications for hypotheses of cerebellar cortical function. Several outstanding questions remain regarding representation of these kinematic signals. It is uncertain whether kinematic encoding occurs in unpredictable, feedback-dependent tasks or kinematic signals are conserved across tasks. Additionally, there is a need to understand the signals encoded in the instantaneous discharge of single cells without averaging across trials or time. To address these questions, this study recorded Purkinje cell firing in monkeys trained to perform a manual random tracking task in addition to circular tracking and center-out reach. Random tracking provides for extensive coverage of kinematic workspaces. Direction and speed errors are significantly greater during random than circular tracking. Cross-correlation analyses comparing hand and target velocity profiles show that hand velocity lags target velocity during random tracking. Correlations between simple spike firing from 120 Purkinje cells and hand position, velocity, and speed were evaluated with linear regression models including a time constant, τ, as a measure of the firing lead/lag relative to the kinematic parameters. Across the population, velocity accounts for the majority of simple spike firing variability (63 ± 30% of Radj2), followed by position (28 ± 24% of Radj2) and speed (11 ± 19% of Radj2). Simple spike firing often leads hand kinematics. Comparison of regression models based on averaged vs. nonaveraged firing and kinematics reveals lower Radj2 values for nonaveraged data; however, regression coefficients and τ values are highly similar. Finally, for most cells, model coefficients generated from random tracking accurately estimate simple spike firing in either circular tracking or center-out reach. These findings imply that the cerebellum controls movement kinematics, consistent with a forward internal model that predicts upcoming limb kinematics.
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Timofeev, G. A., I. Z. Kataev, and D. M. Samsonenko. "Research of the Rhombic Mechanism Kinematics." Proceedings of Higher Educational Institutions. Маchine Building, no. 4 (733) (April 2021): 12–17. http://dx.doi.org/10.18698/0536-1044-2021-4-12-17.
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Designing modern mechanisms and machines is a very complex and iterative process. One of its first stages is the kinematic analysis of mechanisms followed by structural, dynamic, kinetostatic, etc. The scheme of an asymmetric rhombic mechanism with a developed drive arm of the working group is investigated. The kinematics of the characteristic links points of this mechanism is considered: their kinematic pairs and centers of mass. The kinematics of points and links of this mechanism is considered. The main dependencies for determining the analogs of the velocities and accelerations of points and links of the mechanism are presented. To solve the kinematics tasks the Zinoviev’s method of vector contours was used. The results of the kinematic analysis can be used for dynamic and kinetostatic research of the asymmetric rhombic mechanism with a developed drive arm of the working group, as well as for optimization synthesis of its design.