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Letteratura scientifica selezionata sul tema "Multibody kinematic optimization"

Autore: Grafiati

Pubblicato: 14 dicembre 2024

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Articoli di riviste sul tema "Multibody kinematic optimization"

Tarnita, Daniela, Ionut Daniel Geonea, Doina Pisla, Giuseppe Carbone, Bogdan Gherman, Nicoleta Tohanean, Paul Tucan, Cristian Abrudan e Danut Nicolae Tarnita. "Analysis of Dynamic Behavior of ParReEx Robot Used in Upper Limb Rehabilitation". Applied Sciences 12, n. 15 (7 agosto 2022): 7907. http://dx.doi.org/10.3390/app12157907.

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This paper presents a dynamic analysis of the ParReEx multibody mechanism, which has been designed for human wrist joint rehabilitation. The starting point of the research is a virtual prototype of the ParReEx multibody mechanism. This model is used to simulate the dynamics of the multibody mechanism using ADAMS in three simulation scenarios: (a) rigid kinematic elements without friction in joints, (b) rigid kinematic elements with friction in joints, and (c) kinematic elements as deformable solids with friction in joints. In all three cases, the robot is used by a virtual patient in the form of a mannequin. Results such as the connecting forces in the kinematic joints and the torques necessary to operate the ParReEx robot modules are obtained by dynamic simulation in MSC.ADAMS. The torques obtained by numerical simulation are compared with those obtained experimentally. Finite element structural optimization (FEA) of the flexion/extension multibody mechanism module is performed. The results demonstrate the operational safety of the ParReEx multibody mechanism, which is structurally capable of supporting the external loads to which it is subjected.

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Lefebvre, F., I. Rogowski, N. Long e Y. Blache. "Influence of marker weights optimization on scapular kinematics estimated with a multibody kinematic optimization". Journal of Biomechanics 159 (ottobre 2023): 111795. http://dx.doi.org/10.1016/j.jbiomech.2023.111795.

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Douadi, Lounis, Davide Spinello, Wail Gueaieb e Hassan Sarfraz. "Planar kinematics analysis of a snake-like robot". Robotica 32, n. 5 (4 novembre 2013): 659–75. http://dx.doi.org/10.1017/s026357471300091x.

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SUMMARYThis paper presents the kinematics of a planar multibody vehicle which is aimed at the exploration, data collection, non-destructive testing and general autonomous navigation and operations in confined environments such as pipelines. The robot is made of several identical modules hinged by passive revolute joints. Every module is actuated with four active revolute joints and can be regarded as a parallel mechanism on a mobile platform. The proposed kinematics allows to overcome the nonholonomic kinematic constraint, which characterizes typical wheeled robots, resulting into a higher number of degrees of freedom and therefore augmented actuation inputs. Singularities in the kinematics of the modules are analytically identified. We present the dimensional synthesis of the length of the arms obtained as the solution of an optimization problem with respect to a suitable dexterity index. Simulation results illustrate a kinematic control path following inside pipes. Critical scenarios such as 135° elbows and concentric restriction are explored. Path following shows the kinematic capability of deployment of the robot for autonomous operations in pipelines, with feedback implemented by on-board sensors.

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Hall, Andrew, Thomas Uchida, Francis Loh, Chad Schmitke e John Mcphee. "Reduction of a Vehicle Multibody Dynamic Model Using Homotopy Optimization". Archive of Mechanical Engineering 60, n. 1 (1 marzo 2013): 23–35. http://dx.doi.org/10.2478/meceng-2013-0002.

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Despite the ever-increasing computational power of modern processors, the reduction of complex multibody dynamic models remains an important topic of investigation, particularly for design optimization, sensitivity analysis, parameter identification, and controller tuning tasks, which can require hundreds or thousands of simulations. In this work, we first develop a high-fidelity model of a production sports utility vehicle in Adams/Car. Single-link equivalent kinematic quarter-car (SLEKQ, pronounced “sleek”) models for the front and rear suspensions are then developed in MapleSim. To avoid the computational complexity associated with introducing bushings or kinematic loops, all suspension linkages are lumped into a single unsprung mass at each corner of the vehicle. The SLEKQ models are designed to replicate the kinematic behaviour of a full suspension model using lookup tables or polynomial functions, which are obtained from the high-fidelity Adams model in this work. The predictive capability of each SLEKQ model relies on the use of appropriate parameters for the nonlinear spring and damper, which include the stiffness and damping contributions of the bushings, and the unsprung mass. Homotopy optimization is used to identify the parameters that minimize the difference between the responses of the Adams and MapleSim models. Finally, the SLEKQ models are assembled to construct a reduced 10-degree-of-freedom model of the full vehicle, the dynamic performance of which is validated against that of the high-fidelity Adams model using four-post heave and pitch tests.

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Delyová, Ingrid, Darina Hroncová, Peter Frankovský, Peter Sivák, Ján Kostka e Vojtech Neumann. "Application of direct and inverse kinematics and dynamics in motion planning of manipulator links". International Journal of Applied Mechanics and Engineering 28, n. 3 (29 settembre 2023): 53–64. http://dx.doi.org/10.59441/ijame/169515.

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For the synthesis of manipulators and robots, an accurate analysis of the movements of the individual links is essential. This thesis deals with motion planning of the effector of a multi-linked manipulator. An important topic in this area is the orientation and position of links and kinematic pairs in space. In particular, attention should be paid to the position of their endpoint as well as other significant points. Trajectory planning allows the manipulator to perform complex tasks, such as picking and placing objects or following a particular path in space. Overall, trajectory planning of a multibody manipulator involves a combination of direct and inverse kinematics calculations, as well as control theory and optimization techniques. It is an important process enabling manipulators to perform complex tasks such as assembly, handling and inspection. In the design of robot kinematic structures, simulation programs are currently used for their kinematic and dynamic analysis. The proposed manipulator was first solved by inverse kinematics problem in Matlab. Subsequently, the trajectories of the end-effector were determined in Matlab by a direct kinematics problem. In Simulink, using the SimMechanics library, the inverse problem of dynamics was used to determine the trajectories of the moments.

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Blache, Y., M. Degot, M. Begon, S. Duprey e I. Rogowski. "Does double calibration coupled with a closed loop multibody kinematic optimization improve scapular kinematic estimates?" Computer Methods in Biomechanics and Biomedical Engineering 23, sup1 (19 ottobre 2020): S35—S37. http://dx.doi.org/10.1080/10255842.2020.1811505.

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Manrique-Escobar, Camilo Andres, Carmine Maria Pappalardo e Domenico Guida. "A Multibody System Approach for the Systematic Development of a Closed-Chain Kinematic Model for Two-Wheeled Vehicles". Machines 9, n. 11 (20 ottobre 2021): 245. http://dx.doi.org/10.3390/machines9110245.

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In this investigation, a closed-chain kinematic model for two-wheeled vehicles is devised. The kinematic model developed in this work is general and, therefore, it is suitable for describing the complex geometry of the motion of both bicycles and motorcycles. Since the proposed kinematic model is systematically developed in the paper by employing a sound multibody system approach, which is grounded on the use of a straightforward closed-chain kinematic description, it allows for readily evaluating the effectiveness of two alternative methods to formulate the wheel-road contact constraints. The methods employed for this purpose are a technique based on the geometry of the vector cross-product and a strategy based on a simple surface parameterization of the front wheel. To this end, considering a kinematically driven vehicle system, a comparative analysis is performed to analyze the geometry of the contact between the front wheel of the vehicle and the ground, which represents a fundamental problem in the study of the motion of two-wheeled vehicles in general. Subsequently, an exhaustive and extensive numerical analysis, based on the systematic multibody approach mentioned before, is carried out in this work to study the system kinematics in detail. Furthermore, the orientation of the front assembly, which includes the frontal fork, the handlebars, and the front wheel in a seamless subsystem, is implicitly formulated through the definition of three successive rotations, and this approach is used to propose an explicit formulation of its inherent set of Euler angles. In general, the numerical results developed in the present work compare favorably with those found in the literature about vehicle kinematics and contact geometry.

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Blanco-Claraco, Jose-Luis, Antonio Leanza e Giulio Reina. "A general framework for modeling and dynamic simulation of multibody systems using factor graphs". Nonlinear Dynamics 105, n. 3 (28 luglio 2021): 2031–53. http://dx.doi.org/10.1007/s11071-021-06731-6.

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AbstractIn this paper, we present a novel general framework grounded in the factor graph theory to solve kinematic and dynamic problems for multibody systems. Although the motion of multibody systems is considered to be a well-studied problem and various methods have been proposed for its solution, a unified approach providing an intuitive interpretation is still pursued. We describe how to build factor graphs to model and simulate multibody systems using both, independent and dependent coordinates. Then, batch optimization or a fixed lag smoother can be applied to solve the underlying optimization problem that results in a highly sparse nonlinear minimization problem. The proposed framework has been tested in extensive simulations and validated against a commercial multibody software. We release a reference implementation as an open-source C++ library, based on the GTSAM framework, a well-known estimation library. Simulations of forward and inverse dynamics are presented, showing comparable accuracy with classical approaches. The proposed factor graph-based framework has the potential to be integrated into applications related with motion estimation and parameter identification of complex mechanical systems, ranging from mechanisms to vehicles, or robot manipulators.

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Blache, Y., M. Degot, S. Duprey, M. Begon e I. Rogowski. "Closed-loop multibody kinematic optimization coupled with double calibration improves scapular kinematic estimates in asymptomatic population". Journal of Biomechanics 126 (settembre 2021): 110653. http://dx.doi.org/10.1016/j.jbiomech.2021.110653.

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Kaidash, Mykhailo, e Serhii Selevych. "Dynamics and kinematics of complex mechanical systems harnessing multibody dynamic program". Bulletin of Electrical Engineering and Informatics 13, n. 6 (1 dicembre 2024): 3928–37. http://dx.doi.org/10.11591/eei.v13i6.7721.

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Understanding the behavior and performance of engineering applications like machines, transport machines, manipulators, and mechanisms like gears relies heavily on the study of the dynamics and kinematics of complex mechanical systems. This article provides a comprehensive overview of recent findings and advancements in this field. The purpose of this work is to provide an in-depth introduction to the theoretical and practical considerations involved in assessing the dynamic and kinematic properties of such complex systems. Understanding forces, torques, displacements, and velocities is highlighted as crucial to the design and study of complex mechanical systems, and the underlying mathematical models and concepts that control their motion are investigated. This paper also evaluates and critiques the most current developments in modeling and simulation approaches such as finite element analysis (FEA), computational dynamics, and optimization strategies. The multidisciplinary aspect of the topic and its potential to progress numerous engineering, robotics, and industrial applications constitute the topic's scientific uniqueness. The results include various advanced modeling and simulation techniques like FEA, computational dynamics, and multibody dynamics simulation. In conclusion, this article compiles a lot of information on the dynamics and kinematics of sophisticated mechanical systems, such as machines, transport machines, manipulators, and mechanisms.

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Più fonti

Tesi sul tema "Multibody kinematic optimization"

Lefebvre, Félix. "Analyse cinématique de l'épaule et du membre supérieur par capture de mouvement avec et sans marqueurs". Electronic Thesis or Diss., Lyon 1, 2024. http://www.theses.fr/2024LYO10264.

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La caractérisation précise et quantifiée du mouvement humain est essentielle dans de nombreux domaines et particulièrement en pratique clinique et sportive pour exploiter, préserver ou rétablir les capacités motrices. L’anatomie complexe de l’épaule lui confère une capacité de mouvement fine et de grande amplitude, au détriment d’une stabilité fragile et exposée à des risques importants d’altérations pouvant compromettre sa mobilité. Pour estimer la cinématique articulaire du complexe de l’épaule, il est donc nécessaire de disposer d’un système de capture de mouvement qui soit rapide, précis, et applicable en routine. Parmi les nombreux outils utilisés, l’estimation de la cinématique de l’épaule par mesure directe est généralement invasive ou irradiante, et en tout cas non adaptée à l’évaluation systématique. Les méthodes d’estimation cinématique de l’épaule par mesure cutanée indirecte sont plébiscitées, notamment avec marqueurs, mais avec une précision moindre du fait des artefacts des tissus mous. De nombreuses stratégies expérimentales et numériques ont été développées pour en améliorer les performances, sans toutefois donner pleinement satisfaction. Récemment, des méthodes de capture de mouvement sans marqueurs sont apparues mais aucune ne propose à ce jour d’estimations compatibles avec la modélisation cinématique détaillée du complexe de l’épaule. L’objectif de cette thèse était alors de contribuer au développement des outils d’analyse cinématique de l’épaule par capture de mouvement avec et sans marqueurs. Un premier sous-objectif de ce travail de thèse était d’étudier l’influence de l’optimisation du modèle cinématique et du poids des marqueurs de la scapula sur la cinématique scapulaire dans une optimisation multi-segmentaire. Les résultats de cette première étude ont mis en évidence que la redondance des marqueurs, à savoir l’utilisation de plus de trois marqueurs sur la scapula, est recommandée pour l’estimation de la cinématique scapulaire par optimisation multi-segmentaire. Ces résultats ont aussi montré que les poids optimaux sont à la fois spécifiques au participant et au mouvement, mais qu’un jeu de poids moyen par mouvement pouvait améliorer l’estimation de la cinématique scapulaire. Le second sous-objectif de ce travail de thèse était de développer une méthode de capture de mouvement sans marqueurs par algorithme d’apprentissage profond permettant le suivi cinématique du membre supérieur incluant le complexe de l’épaule. Cette seconde étude a consisté à développer un algorithme d’estimation de pose 2D capable d’identifier 20 repères anatomiques sur cinq mouvements différents avec une précision médiane inférieure à 9 px. La méthode de capture de mouvement sans marqueurs développée sur la base de cet algorithme a permis des estimations 3D des repères anatomiques de l’épaule avec une précision moyenne inférieure à 15 mm, aboutissant à une précision cinématique articulaire de 14° pour l’articulation scapulo-thoracique. Les estimations ainsi obtenues sont équivalentes voire meilleures que pour la capture de mouvement avec marqueurs, pour un gain de temps considérable par l’absence de préparation. De futurs travaux sont nécessaires pour transformer la preuve de concept développée en véritable outil de capture de mouvement, et valider son potentiel à devenir la méthode la plus adaptée pour l’estimation cinématique du complexe de l’épaule en routine
The precise and quantified characterization of human movement is essential in many fields, particularly in clinic and sports, to enhance, preserve, or restore motor abilities. The complex anatomy of the shoulder gives it fine and large-range motion capability, at the cost of fragile stability, exposing it to significant risks of impairments that can compromise its mobility. To accurately estimate the kinematics of the shoulder complex, it is necessary to have a motion capture system that is fast, accurate, and suitable for routine use. Among the many tools employed, shoulder kinematic estimation via direct measurement is generally invasive or radiation-based, and in any case not suited for systematic evaluation. Indirect skin-based shoulder kinematic estimation methods, especially those using markers, are widely used but offer lower accuracy due to soft tissue artifacts. Numerous experimental and numerical strategies have been developed to improve their performance, though they have not yet fully satisfied expectations. Recently, markerless motion capture methods have emerged, but to date, none of them provide estimates compatible with the detailed kinematic modeling of the shoulder complex. The objective of this thesis was therefore to contribute to the development of shoulder kinematic analysis tools using both marker-based and markerless motion capture. A first sub-objective of this thesis was to study the influence of kinematic model optimization and scapular marker weight on scapular kinematics in a multibody kinematic optimization. The results of this first study highlighted that marker redundancy, meaning the use of more than three markers on the scapula, is recommended for scapular kinematic estimation in multibody kinematic optimization. These results also showed that the optimal marker weights are both participant- and movement-specific, but that an average weight set per movement could improve scapular kinematic estimation. The second sub-objective of this thesis was to develop a markerless motion capture method using a deep learning algorithm that allows for the kinematic tracking of the upper-limb, including the shoulder complex. This second study involved developing a 2D pose estimation algorithm capable of identifying 20 anatomical landmarks across five different movements with a median accuracy of less than 9 px. The markerless motion capture method developed based on this algorithm provided 3D estimates of the anatomical landmarks of the shoulder with an average accuracy of less than 15 mm, resulting in an articular kinematic accuracy of 14° for the scapulothoracic joint. These estimates were equivalent to, if not better than, those obtained using marker-based motion capture, with a significant time-saving due to the absence of preparation required. Further research is needed to transform this proof of concept into a fully functional motion capture tool and validate its potential to become the most suitable method for routine shoulder complex kinematic estimation

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

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This paper focuses on the kinematic and dynamic numerical simulation of mechanisms by applying a numerical method, and a complex simulation programme built on it, developed by the author. Described are mathematical principles of the numerical method used and also the programming progression of the important parts of the application and its optimization. The final part includes comparative measuring of the accuracy and performance.

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"Geometrical and kinematic optimization of closed-loop multibody systems/Optimisation géométrique et cinématique de systèmes multicorps avec boucles cinématiques". Université catholique de Louvain, 2007. http://edoc.bib.ucl.ac.be:81/ETD-db/collection/available/BelnUcetd-11132007-114747/.

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Capitoli di libri sul tema "Multibody kinematic optimization"

Kuenzer, U., e M. L. Husty. "Joint Trajectory Optimization Using All Solutions of Inverse Kinematics of General 6-R Robots". In Multibody Mechatronic Systems, 423–32. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-09858-6_40.

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Ben Abdallah, Mohamed Amine, Imed Khemili, Med Amine Laribi e Nizar Aifaoui. "Dynamic Synthesis of a Multibody System: A Comparative Study Between Genetic Algorithm and Particle Swarm Optimization Techniques". In Computational Kinematics, 227–34. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-60867-9_26.

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Atti di convegni sul tema "Multibody kinematic optimization"

Datoussaïd, Sélim, Olivier Verlinden e Calogéro Conti. "Optimal Design of Multibody Systems by Using Genetic Algorithms". In ASME 1999 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1999. http://dx.doi.org/10.1115/detc99/dac-8682.

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Abstract The design step of multibody systems requires in some specific cases an optimization process, in order to determine the set of parameters which lead to optimal kinematic or dynamic performances. The aim of this paper is to propose an optimal design method adapted to general multibody systems and submitted to kinematic and/or dynamic time-dependent criteria. The optimization process is based on stochastic techniques referred to genetic algorithms, which are inspired from natural evolution and can often overtop classical optimization methods when applied to practical problems. Illustrative examples are given in the context of the optimization of the kinematics of a motorcar suspension and the lateral dynamics of an urban railway vehicle.

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Fumagalli, Alessandro, Gabriella Gaias e Pierangelo Masarati. "A Simple Approach to Kinematic Inversion of Redundant Mechanisms". In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-35285.

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This work addresses the problem of kinematic inversion of complex redundant mechanisms. The inverse problem for redundant mechanisms is known to be ill-posed. Using the multibody formalism and the capability to automatically write the equations of motion of mechanisms provided by general multibody software, a simple algorithm is proposed for the solution of the inverse kinematics problem for redundant robotic systems. The algorithm, in its basic form, is equivalent to the classical Moore-Penrose pseudo-inverse applied to the Jacobian matrix of the constraints. The inverse solution is found in a least squares sense: among the infinite admissible solutions, the one with minimum norm is chosen. Little extra effort allows the computation of optimized inverse kinematics. In this case, the solution is found in a weighted least squares sense. Weights can be automatically chosen by an optimization algorithm in order to minimize a given cost function, or assigned by the user based on engineering judgment. Among the advantages of the proposed approach, it is worth mentioning its simplicity and the possibility to be used within generic multibody software with very limited effort.

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Zhu, Yitao, Daniel Dopico, Corina Sandu e Adrian Sandu. "MBSVT: Software for Modeling, Sensitivity Analysis, and Optimization of Multibody Systems at Virginia Tech". In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-34084.

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This paper introduces MBSVT (Multibody Systems at Virginia Tech), as a software library for the kinematic and dynamic simulation of multibody systems, with forward kinematics and dynamics, direct and adjoint sensitivity analysis, and optimization capabilities. The MBSVT software was developed in Fortran 2003 as a collection of Fortran modules and it was tested on several different platforms using multiple compilers. The kinematic library includes dot-1 constraint, revolute, spherical, Euler, and translational joints, as well as distance and coordinates driving constraints. The forward dynamics uses the penalty formulation to write the equations of motion and both explicit and implicit Runge-Kutta numerical integrators are implemented to integrate the equations. The library implements external forces, such as translational spring-damper-actuator, bump stop, linear normal contact, and basic tire force. Direct and adjoint sensitivity equations are implemented for the penalty formulation. The L-BFGS-B quasi-Newton optimization algorithm [1] is integrated with the library, to carry out the optimization tasks. MBSVT also provides a connection with Matlab by means of the Matlab engine. 3D rendering is available via the graphic library MBSVT-viz based on OpenSceneGraph. The collection of benchmark problems provided includes a crank-slider mechanism, 2D and 3D excavators models, a vehicle suspension, and full vehicle model. The distribution includes a Cmake list, gfortran make files, MSV2010 project files, and a collection of training problems. Detailed doxygen documentation for the MBSVT library is available in html and pdf formats.

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Kim, Junggon, e Rudranarayan Mukherjee. "A QP-Based Approach to Kinematic Motion Planning of Multibody Systems". In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-48096.

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This article presents a quadratic programming (QP) based approach to local kinematic motion planning of general multibody robotic systems. Given kinematic constraints and targets such as desired positions and orientations in Cartesian space, we find locally optimal joint velocities toward the targets at every time step by formulating the problem into a constrained optimization with a quadratic objective function and linear constraints in terms of the joint velocities. The solution is integrated to obtain the joint displacements at the next time step, and this process is repeated until reaching the targets or converging to a certain configuration. Our formulation based on relative Jacobian is particularly useful in handling constraints on relative motions, which arises in many practical problems such as dual-arm manipulation and self-collision avoidance, in a concise manner. A brief overview of our software implementation and its applications to manipulation and mobility planning of a simulated multi-limbed robot are also presented.

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Ryu, Jonathan, Andrew Ellis, R. K. Schmidt e Ilyong Kim. "Gradient Based Simultaneous Structural and Kinematic Optimization of Landing Gear Members based on the Modified Input-Output Equation for Multibody Kinematics". In AIAA SCITECH 2023 Forum. Reston, Virginia: American Institute of Aeronautics and Astronautics, 2023. http://dx.doi.org/10.2514/6.2023-1672.

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Hensges, Michael. "Simulation and Optimization of an Adjustable Inlet Guide Vane for Industrial Turbo Compressors". In ASME Turbo Expo 2008: Power for Land, Sea, and Air. ASMEDC, 2008. http://dx.doi.org/10.1115/gt2008-50242.

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To investigate the kinematics and dynamics of an adjustable inlet guide vane mechanism (IGV) for industrial turbo compressors, an IGV was modeled as a multibody system (MBS) consisting of elastic interconnections and rigid bodies. Besides investigating the IGV kinematics, its vibrations and structural strength were also verified numerically. The kinematic analyses enabled the design to be optimized in terms of undesirable collisions between the interconnected bodies. The pressure exerted on the guide vanes, which is calculated by CFD simulations, forms a set of forces and torques for each blade. These sets were created for two different performance maps, referred to in the following as Gas I and Gas II. Calculating the desired drive torque, joint reaction forces and the driving ring’s displacements were the essential inputs for the dynamic multibody analyses performed. These investigations showed that the desired torque to drive the mechanism is governed by the sliding element’s friction forces. The gas forces were able to raise the torque by roughly 6% and 32.6% for Gas I and II, respectively. Due to uncertainties in the determination of the friction coefficients, the highest expected values were taken into account for selecting an accurate actuator for the IGV. The strength and vibration analyses were carried out using the Finite Element (FE) Method. All computed critical natural frequencies of the IGV can be empirically considered to be highly damped resonances in the actual system due to joint friction effects. Reaction forces determined by the dynamic multibody analyses were transferred as loads to the FE model. In most cases, the joint reaction forces have been so low that no further investigations were necessary. Hence, verification of strength was carried out using a contact FE analysis for the highest loading condition between the assembly and the pin, which transfers the entire drive force from a lever into the driving ring.

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Callejo, Alfonso, Valentin Sonneville e Olivier A. Bauchau. "Sensitivity Analysis of Flexible Multibody Systems Based on the Motion Formalism and the Discrete Adjoint Method". In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-86211.

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The combination of analysis and optimization methods in mechanical engineering, also known as design optimization, has great potential in product development. Robust sensitivity analyses that provide reliable and efficient objective function gradients play a key role in design optimization. This paper presents a discrete adjoint method for the sensitivity analysis of flexible mechanical systems. The ultimate goal is to be able to relate the physical properties of beam cross-sections to the dynamic behavior of the system, which is key to design realistic flexible elements. The underlying flexible multibody formulation is one that supports large-amplitude motion, beams with sophisticated composite cross-sections, and kinematic joints. A summary of the kinematic and dynamic foundations of the forward equations is presented first. Then, a discrete adjoint method, along with meaningful examples and validation, is presented. The method has proven to provide extremely accurate and reliable sensitivities.

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Simonidis, Christian, Gu¨nther Stelzner e Wolfgang Seemann. "A Kinematic Study of Human Torso Motion". In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-35257.

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This paper illustrates a kinematic study of human torso motion in order to design and transfer human-like motion on humanoid robots. The realization is done using motion capture data and an optimization based inverse kinematic approach for mapping motion data to skeleton models with the main focus on reproducing realistic torso motion. The kinematic model is based on a multiybody approach using relative coordinates. According to the difficulty of marker based motion reconstruction of human torso movements a detailed multibody model of the spine with a coupling structure between vertebrae based on medical data is introduced. Then, a new formulation describing the kinematic constraints between pelvis and shoulder girdle is presented in order to simplify modeling effort while maintaining natural motion of the torso. Results are compared for key movements with common models. The developed models will be used for design application in the Collaborative Research Center 588 “Humanoid Robots - Learning and Cooperating Multimodal Robots”.

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Sancibrian, Ramon, Pablo Garcia, Fernando Viadero e Alfonso Fernandez. "Exact-Gradient Optimization Method for Rigid-Body Guidance Synthesis of Planar Mechanisms". In ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2004. http://dx.doi.org/10.1115/detc2004-57051.

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In this paper an approximate kinematic synthesis method is presented with application to rigid-body guidance in planar multibody systems. The problem of finding the optimal dimensions in linkages with rigid-body guidance constraints has been widely studied. Many techniques have been developed and applied to numerous kinematic chains. However, some problems remain without appropriate solution, such as a large number of required poses or low computational cost. The proposed method uses exact-gradient determination to search for an optimal solution. The modelling of the mechanism uses fully Cartesian coordinates and is formulated by means of algebraic constraint equations. Furthermore, the formulation allows the use of a large number of prescribed poses giving high accuracy in the definition of synthesis conditions. Examples are included to illustrate the new approach to some synthesis specifications.

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Nasr, Ali, Spencer Ferguson e John McPhee. "Model-Based Design and Optimization of Passive Shoulder Exoskeletons". In ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/detc2021-69437.

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Abstract To physically assist workers in reducing musculoskeletal strain or to develop motor skills for patients with neuromuscular disabilities, recent research has focused on Exoskeletons (Exos). Designing active Exos is challenging due to the complex human geometric structure, the human-Exoskeleton wrench interaction, the kinematic constraints, and the selection of power source characteristics. Because of the portable advantages of passive Exos, designing a passive shoulder mechanism has been studied here. The study concentrates on modeling a 3D multibody upper-limb human-Exoskeleton, developing a procedure of analyzing optimal assistive torque profiles, and optimizing the passive mechanism features for desired tasks. The optimization objective is minimizing the human joint torques. For simulating the complex closed-loop multibody dynamics, differential-algebraic equations (DAE)s of motion have been generated and solved. Three different tasks have been considered, which are common in industrial environments: object manipulation, over-head work, and static pointing. The resulting assistive Exoskeleton’s elevation joint torque profile could decrease the specific task’s human shoulder torque. Since the passive mechanism produces a specific torque for a given elevation angle, the Exoskeleton is not versatile or optimal for different dynamic tasks. We concluded that designing a passive Exoskeleton for a wide range of dynamic applications is impossible. We hypothesize that augmenting an actuator to the mechanism can provide the necessary adjustment torque and versatility for multiple tasks.

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