Kinematic Model for Determination of Human Arm Reachable Workspace

Meccanica ◽  
2005 ◽  
Vol 40 (2) ◽  
pp. 203-219 ◽  
Author(s):  
Nives Klopčar ◽  
Jadran Lenarčič
Keyword(s):  
Kinematic Model ◽  
Reachable Workspace ◽  
Human Arm

Design of Workspace of Human Fingers and Computer Keyboard Operation

2014 ◽  
Vol 484-485 ◽  
pp. 1118-1125
Author(s):  
Rao Shun
Keyword(s):  
Degrees Of Freedom ◽  
Index Finger ◽  
Operation Mode ◽  
Penalty Function Method ◽  
Three Dimension ◽  
Mechanism Model ◽  
Reachable Workspace ◽  
Human Arm ◽  
Dimension Space ◽  
Human Finger

There are more and more complex tools and machinery that need be operated by human fingers in our modem industrial environment. Such as computer keyboards, screwdriver, handle wrench, button and switch. All of those should be designed to work effectively and safely with the operators for whom they were designed. At first, ergonomic consideration in design is reachable; this means the operators fingertip must be able to reach the operating component. This is generally no question because human arm has much more degrees of freedom required to position his arms, hands and fingers in the three-dimension space. However, some times we need the finger operate with a fixed wrist. For example in the case in the typing, the reachable workspace of the finger must take into account in such situation.Finger contacting is the most familiar operation mode of the man-machine system, and the index finger takes on the primary operation tasks. From viewpoint of ergonomic engineering, the operation component should be placed within the workspace of the fingertip to reduced or eliminate the movement of palm and arm should to the greatest extent during finger manipulation. Therefore the research of the workspace of ginger is significant to the ergonomic design of the operation device. In this paper, the reachable workspace and workspace under direction restrain of contacting for the index finger are determined using serial mechanism model and the Penalty Function Method based on geometric measurement of human body. The optimal operating position and orientation of human finger is analyzed.

scholarly journals Milky Way Rotation Models from Neutral Hydrogen and Molecular Clouds: Galactic Constants, Common Details and Differences

2000 ◽  
Vol 174 ◽  
pp. 403-407
Author(s):  
Igor’ I. Nikiforov
Keyword(s):  
Milky Way ◽  
Galactic Center ◽  
Kinematic Model ◽  
Neutral Hydrogen ◽  
Galactic Rotation ◽  
Kinematic Data ◽  
Galactic Rotation Curve ◽  
The Common ◽  
Center Distance

Kinematic data from neutral hydrogen observations provide information to solve the interdependent problems of the determination of the main Galactic constants (the Solar-Galactic center distance R0, the Oort constant A and others) and the Galactic rotation curve (Nikiforov & Petrovskaya 1994, hereafter NP94, and references therein). However, in the standard method for finding R0 by comparing the rotations of HI clouds and some other objects (typically HII regions/CO clouds), the kinematic model, constructed typically solely from HI data, is considered to be the same for both galactic subsystems (e.g. Merrifield 1992). In practice a discrepancy between their rotation curves can produce strongly erroneous results (Merrifield 1992, NP94). Establishing the common rotation law from HI plus HII/CO data in NP94 is only a part of attacking the problem.

Determination of the Optimum Cost-Residual Error Trade-off in Robot Calibration

1994 ◽  
Vol 116 (1) ◽  
pp. 28-35 ◽  
Author(s):  
G. Zak ◽  
R. G. Fenton ◽  
B. Benhabib
Keyword(s):  
Kinematic Model ◽  
Optimization Procedure ◽  
Calibration Procedure ◽  
Residual Error ◽  
Industrial Robots ◽  
Multiple Objective Optimization ◽  
Robot Calibration ◽  
Optimum Cost ◽  
The Cost

Most industrial robots cannot be off-line programmed to carry out a task accurately, unless their kinematic model is suitably corrected through a calibration procedure. However, proper calibration is an expensive and time-consuming procedure due to the highly accurate measurement equipment required and due to the significant amount of data that must be collected. To improve the efficiency of robot calibration, an optimization procedure is proposed in this paper. The objective of minimizing the cost of the calibration is combined with the objective of minimizing the residual error after calibration in one multiple-objective optimization. Prediction of the residual error for a given calibration process presents the main difficulty for implementing the optimization. It is proposed that the residual error is expressed as a polynomial function. This function is obtained as a result of fitting a response surface to either experimental or simulated sample estimates of the residual error. The optimization problem is then solved by identifying a reduced set of possible solutions, thus greatly simplifying the decision maker’s choice of an effective calibration procedure. An application example of this method is also included.

Development of a Two-Arm Robotic System for Surfaces Polishing

2014 ◽  
Vol 934 ◽  
pp. 218-222
Author(s):  
Feng Yun Lin
Keyword(s):  
Kinematic Model ◽  
Industrial Robots ◽  
Parametric Surfaces ◽  
Efficient Tool ◽  
Generation Algorithm ◽  
Tool Paths ◽  
Coordination System ◽  
Structure Flexibility ◽  
Polishing Tool

Two-arm robots can get a greater structure flexibility and a better maneuverability, In this paper, a coordination system by using dual industrial robots for parametric surfaces polishing is presented. One robot holds and maneuvers a polishing workpiece, and the other robot moves the polishing tool. In order to improve time efficiency and surface quality, an adaptive path generation algorithm is proposed for the determination of efficient tool paths. The kinematic model of two-arm robots is also discussed.

A kinematic model for the determination of the peripheral force

1997 ◽  
Vol 34 (4) ◽  
pp. 261-268 ◽  
Author(s):  
George Komándi
Keyword(s):  
Kinematic Model

Extensible-Link Kinematic Model for Characterizing and Optimizing Compliant Mechanism Motion

2014 ◽  
Vol 136 (3) ◽  
Author(s):  
Justin Beroz ◽  
Shorya Awtar ◽  
A. John Hart
Keyword(s):  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Kinematic Model ◽  
Model Development ◽  
Taylor Series Expansion ◽  
Analytical Determination ◽  
Motion Trajectory ◽  
Model Framework ◽  
Error Components

We present an analytical model for characterizing the motion trajectory of an arbitrary planar compliant mechanism. Model development consists of identifying particular material points and their connecting vectorial lengths in a manner that represents the mechanism topology; whereby these lengths may extend over the course of actuation to account for the elastic deformation of the compliant mechanism. The motion trajectory is represented within the model as an analytical function in terms of these vectorial lengths, whereby its Taylor series expansion constitutes a parametric formulation composed of load-independent and load-dependent terms. This adds insight to the process for designing compliant mechanisms for high-accuracy motion applications because: (1) inspection of the load-independent terms enables determination of specific topology modifications that reduce or eliminate certain error components of the motion trajectory; and (2) the load-dependent terms reveal the polynomial orders of principally uncorrectable error components in the trajectory. The error components in the trajectory simply represent the deviation of the actual motion trajectory provided by the compliant mechanism compared to the ideally desired one. A generalized model framework is developed, and its utility demonstrated via the design of a compliant microgripper with straight-line parallel jaw motion. The model enables analytical determination of all geometric modifications for minimizing the error trajectory of the jaw, and prediction of the polynomial order of the uncorrectable trajectory components. The jaw trajectory is then optimized using iterative finite elements simulations until the polynomial order of the uncorrectable trajectory component becomes apparent; this reduces the error in the jaw trajectory by 2 orders of magnitude over the prescribed jaw stroke. This model serves to streamline the design process by identifying the load-dependent sources of trajectory error in a compliant mechanism, and thereby the limits with which this error may be redressed by topology modification.

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