Computation of Kinematic Redundancy and Its Workspace in RRRR Planar Kinematic Chain

2019 ◽  
pp. 483-491
Author(s):  
Shravan Anand Komakula
Keyword(s):  
Kinematic Chain ◽  
Kinematic Redundancy

Design of a Human Knee Reeducation Mechanism

2019 ◽  
Vol 11 (1) ◽  
pp. 42-53
Author(s):  
Allaoua Brahmia ◽  
Ridha Kelaiaia
Keyword(s):  
Lower Limb ◽  
Mechanical Design ◽  
Kinematic Chain ◽  
Lower Limbs ◽  
Kinematic Structure ◽  
Robotic Device ◽  
Human Knee ◽  
Kinematic Study ◽  
Rehabilitation Exercise ◽  
New Machine

Abstract To establish an exercise in open muscular chain rehabilitation (OMC), it is necessary to choose the type of kinematic chain of the mechanical / biomechanical system that constitutes the lower limbs in interaction with the robotic device. Indeed, it’s accepted in biomechanics that a rehabilitation exercise in OMC of the lower limb is performed with a fixed hip and a free foot. Based on these findings, a kinematic structure of a new machine, named Reeduc-Knee, is proposed, and a mechanical design is carried out. The contribution of this work is not limited to the mechanical design of the Reeduc-Knee system. Indeed, to define the minimum parameterizing defining the configuration of the device relative to an absolute reference, a geometric and kinematic study is presented.

scholarly journals Gradual Wear Diagnosis of Outer-Race Rolling Bearing Faults through Artificial Intelligence Methods and Stray Flux Signals

Electronics ◽  
2021 ◽  
Vol 10 (12) ◽  
pp. 1486
Author(s):  
Israel Zamudio-Ramirez ◽  
Roque A. Osornio-Rios ◽  
Jose A. Antonino-Daviu ◽  
Jonathan Cureño-Osornio ◽  
Juan-Jose Saucedo-Dorantes
Keyword(s):  
Kinematic Chain ◽  
Industrial Applications ◽  
Electric Motors ◽  
Feed Forward Neural Network ◽  
Mechatronic Systems ◽  
Linear Discriminant ◽  
Bearing Faults ◽  
Outer Race ◽  
Non Invasive ◽  
Operation Conditions

Electric motors have been widely used as fundamental elements for driving kinematic chains on mechatronic systems, which are very important components for the proper operation of several industrial applications. Although electric motors are very robust and efficient machines, they are prone to suffer from different faults. One of the most frequent causes of failure is due to a degradation on the bearings. This fault has commonly been diagnosed at advanced stages by means of vibration and current signals. Since low-amplitude fault-related signals are typically obtained, the diagnosis of faults at incipient stages turns out to be a challenging task. In this context, it is desired to develop non-invasive techniques able to diagnose bearing faults at early stages, enabling to achieve adequate maintenance actions. This paper presents a non-invasive gradual wear diagnosis method for bearing outer-race faults. The proposal relies on the application of a linear discriminant analysis (LDA) to statistical and Katz’s fractal dimension features obtained from stray flux signals, and then an automatic classification is performed by means of a feed-forward neural network (FFNN). The results obtained demonstrates the effectiveness of the proposed method, which is validated on a kinematic chain (composed by a 0.746 KW induction motor, a belt and pulleys transmission system and an alternator as a load) under several operation conditions: healthy condition, 1 mm, 2 mm, 3 mm, 4 mm, and 5 mm hole diameter on the bearing outer race, and 60 Hz, 50 Hz, 15 Hz and 5 Hz power supply frequencies

Ourobot—A sensorized closed-kinematic-chain robot for shape-adaptive rolling in rough terrain

2021 ◽  
pp. 103715
Author(s):  
Jan Paskarbeit ◽  
Simon Beyer ◽  
Matthäus Engel ◽  
Adrian Gucze ◽  
Johann Schröder ◽  
...  
Keyword(s):  
Kinematic Chain ◽  
Rough Terrain

An improved hybrid immune algorithm for mechanism kinematic chain isomorphism identification in intelligent design

2014 ◽  
Vol 19 (1) ◽  
pp. 217-223 ◽  
Author(s):  
Ping Yang ◽  
Kehan Zeng ◽  
Chunquan Li ◽  
Jianming Yang ◽  
Shuting Wang
Keyword(s):  
Intelligent Design ◽  
Kinematic Chain ◽  
Immune Algorithm ◽  
Mechanism Kinematic ◽  
Isomorphism Identification

scholarly journals An Obstacle Avoidance Method for Action Support 7-DOF Manipulators Using Impedance Control

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Masafumi Hamaguchi ◽  
Takao Taniguchi
Keyword(s):  
Angular Velocity ◽  
Obstacle Avoidance ◽  
Impedance Control ◽  
Kinematic Redundancy ◽  
End Effector ◽  
Rate Vector

An obstacle avoidance method of action support 7-DOF manipulators is proposed in this paper. The manipulators are controlled with impedance control to follow user's motions. 7-DOF manipulators are able to avoid obstacles without changing the orbit of the end-effector because they have kinematic redundancy. A joint rate vector is used to change angular velocity of an arbitrary joint with kinematic redundancy. The priority of avoidance is introduced into the proposed method, so that avoidance motions precede follow motions when obstacles are close to the manipulators. The usefulness of the proposed method is demonstrated through obstacle avoidance simulations and experiments.

ROBOTIC HANDWRITING

2005 ◽  
Vol 02 (01) ◽  
pp. 105-124 ◽  
Author(s):  
VELJKO POTKONJAK
Keyword(s):  
Mathematical Models ◽  
Muscle Fatigue ◽  
Simulation Study ◽  
Robot Control ◽  
Robot Arm ◽  
Redundancy Resolution ◽  
Kinematic Redundancy ◽  
New Concepts ◽  
Human Arm ◽  
Arm Motion

Handwriting has always been considered an important human task, and accordingly it has attracted the attention of researchers working in biomechanics, physiology, and related fields. There exist a number of studies on this area. This paper considers the human–machine analogy and relates robots with handwriting. The work is two-fold: it improves the knowledge in biomechanics of handwriting, and introduces some new concepts in robot control. The idea is to find the biomechanical principles humans apply when resolving kinematic redundancy, express the principles by means of appropriate mathematical models, and then implement them in robots. This is a step forward in the generation of human-like motion of robots. Two approaches to redundancy resolution are described: (i) "Distributed Positioning" (DP) which is based on a model to represent arm motion in the absence of fatigue, and (ii) the "Robot Fatigue" approach, where robot movements similar to the movements of a human arm under muscle fatigue are generated. Both approaches are applied to a redundant anthropomorphic robot arm performing handwriting. The simulation study includes the issues of legibility and inclination of handwriting. The results demonstrate the suitability and effectiveness of both approaches.

Structural and Static Analysis of the Mechanisms Used in Car Mechanical Jacks

2016 ◽  
Vol 823 ◽  
pp. 277-282
Author(s):  
Viorica Velișcu ◽  
Dan Mesarici ◽  
Păun Antonescu
Keyword(s):  
Structural Analysis ◽  
Static Analysis ◽  
Kinematic Chain ◽  
Gravity Force ◽  
Complex Mechanisms

The paper presents a structural analysis of the complex mechanisms type screw-jack. The mechanism mobilityanalysis using various generally applicable formulas has been performed. A newkinematic scheme of the jack linkage has been proposed. Besides the actuatorscrew, it has a planar kinematic chain with articulated bars. With regard tothis new mechanism, an algorithm for static calculus has been developed, inwhich the automobile gravity force is the main exterior force.

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