Incremental Kinematic Analysis of Mechanisms

1995 ◽  
Vol 117 (4) ◽  
pp. 589-596 ◽  
Author(s):  
R. Konkar ◽  
M. Cutkosky
Keyword(s):  
Quantitative Study ◽  
Kinematic Analysis ◽  
Computational Techniques ◽  
Fast Analysis ◽  
Recursive Procedure ◽  
Design Problems ◽  
Incremental Method ◽  
Iterative Analysis ◽  
Kinematic Analyses ◽  
Kinematic Properties

Kinematic design is an important aspect of the design of mechanical systems with moving parts. The performance of such systems may suffer from the presence of parts that bind during their motion causing jams, or that execute undesired motions. Kinematic analysis needs to be conducted and the design of the system modified. Analysis-redesign-reanalysis cycles are common in reaching a satisfactory design. If the system is large and the incidence of redesign frequent, then it becomes imperative to have fast analysis methods. This work addresses this problem by providing computational techniques for doing incremental kinematic analysis. The mechanism is represented as a graph of objects with connection constraints among them. A recursive procedure traverses the graph to establish instantaneous kinematic properties. A store-and-reuse strategy is employed to increase the efficiency of re-analysis runs. This involves storing intermediate results of computations for reuse in case of incremental redesign or iterative analysis. The store-and reuse strategy is also applicable when retrieving elements of previous designs, and their associated kinematic analyses, and adapting them to new design problems. A comparative, quantitative study of the normal, “from-scratch” method and the incremental method is provided to prove the greater efficiency of the latter.

A Methodology for Compliant Mechanisms Design: Part I — Introduction and Large-Deflection Analysis

1992 ◽  
Author(s):  
A. Midha ◽  
I. Her ◽  
B. A. Salamon
Keyword(s):  
Large Deflection ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Companion Paper ◽  
Computational Techniques ◽  
Shooting Methods ◽  
Mechanism Synthesis ◽  
Calculation Algorithm ◽  
Deflection Analysis ◽  
Kinematic Properties

Abstract A broader research proposal seeks to systematically combine large-deflection mechanics of flexible elements with important kinematic considerations, in yielding compliant mechanisms which perform useful tasks. Specifically, the proposed design methodology will address the following needs: development of the necessary nomenclature, classification and definitions, and identification of the kinematic properties; categorization of mechanism synthesis types, both structurally as well as by function; development of efficient computational techniques for design; consideration of materials; and application and validation. Contained herein, in particular, is an introduction to the state-of-the-art in compliant mechanisms, and the development of an accurate chain calculation algorithm for use in the analysis of a large-deflection, cantilevered elastica. Shooting methods, which permit specification of additional boundary conditions on the elastica, as well as compliant mechanism examples are presented in a companion paper.

Kinematic Alterations in the Shoulder Complex in Rockwood V Acromioclavicular Injuries During Humerothoracic and Scapulothoracic Movements: A Whole-Cadaver Study

2021 ◽  
pp. 036354652110530
Author(s):  
Ian Peeters ◽  
Thomas Braeckevelt ◽  
Stijn Herregodts ◽  
Tanneke Palmans ◽  
Lieven De Wilde ◽  
...  
Keyword(s):  
Kinematic Analysis ◽  
Acromioclavicular Joint ◽  
Sagittal Plane ◽  
Cadaver Study ◽  
Dominant Factor ◽  
Posterior Translation ◽  
Kinematic Analyses ◽  
Kinematic Studies ◽  
Joint Motions ◽  
Passive Movements

Background: Previous cadaveric kinematic studies on acromioclavicular injuries described mainly rotational differences during humerothoracic movements. Although isolated scapulothoracic movements are also often performed during activities of daily life and can be painful after acromioclavicular injuries, they have not been extensively studied. Further, the analysis of joint translations in kinematic studies has received little attention compared with biomechanical studies. Hypothesis: A kinematic analysis of joint motions in the intact shoulder versus a shoulder with Rockwood V injury would demonstrate a different pattern of kinematic alterations during humerothoracic and scapulothoracic movements. Study design: Descriptive laboratory study. Methods: A kinematic analysis was performed in 14 cadaveric shoulders during 3 humerothoracic passive movements (coronal and sagittal plane elevation and horizontal adduction) and 3 scapulothoracic passive movements (protraction, retraction, and shrug). An optical navigation system registered rotational motions in the sternoclavicular, scapulothoracic, and acromioclavicular joints in the intact and Rockwood V conditions. In the acromioclavicular joint, mediolateral, anteroposterior, and superoinferior translations were also analyzed. Results: In the Rockwood V condition, a significant increase in clavicular elevation in the sternoclavicular joint during both humerothoracic and scapulothoracic movements was demonstrated, whereas a significant decrease in posterior rotation of the clavicle occurred only during humerothoracic movements. In the scapulothoracic joint, the scapular position changed most significantly during protraction. In the acromioclavicular joint, the scapular tilting position was altered significantly during both humerothoracic and scapulothoracic movements, whereas the scapular rotational position changed only during coronal and sagittal plane elevation. The largest significant changes in the scapular protraction position were seen during protraction movement. Further, in the acromioclavicular joint there was a significant inferior translation of the scapula during all motions, a significant anterior translation during protraction and horizontal adduction, and a significant posterior translation during coronal plane elevation. Mediolaterally, the acromial end of the scapula slid further under the distal clavicle during protraction than during horizontal adduction. Conclusion: Large kinematic differences were seen between the intact state and a Rockwood V lesion not only during humerothoracic movements but also during scapulothoracic movements in the cadaveric model. During humerothoracic movements, rotational differences were mainly caused by alterations in the clavicular position. In contrast, during protraction, the alterations in the scapular position were the dominant factor. Clinical Relevance: This study demonstrates that protraction induces larger kinematic alterations than horizontal adduction in acromioclavicular injuries and can therefore be included in both clinical examination and kinematic analyses to identify lesions more clearly.

scholarly journals Geometric and Kinematic Analyses and Novel Characteristics of Origami-Inspired Structures

Symmetry ◽  
2019 ◽  
Vol 11 (9) ◽  
pp. 1101 ◽  
Author(s):  
Yao Chen ◽  
Jiayi Yan ◽  
Jian Feng
Keyword(s):  
Flexible Electronics ◽  
Kinematic Analysis ◽  
Three Dimensional ◽  
Research Progress ◽  
The Novel ◽  
Pattern Design ◽  
Research Directions ◽  
Practical Engineering ◽  
Kinematic Analyses ◽  
The Common

In recent years, origami structures have been gradually applied in aerospace, flexible electronics, biomedicine, robotics, and other fields. Origami can be folded from two-dimensional configurations into certain three-dimensional structures without cutting and stretching. This study first introduces basic concepts and applications of origami, and outlines the common crease patterns, whereas the design of crease patterns is focused. Through kinematic analysis and verification on origami structures, origami can be adapted for practical engineering. The novel characteristics of origami structures promote the development of self-folding robots, biomedical devices, and energy absorption members. We briefly describe the development of origami kinematics and the applications of origami characteristics in various fields. Finally, based on the current research progress of crease pattern design, kinematic analysis, and origami characteristics, research directions of origami-inspired structures are discussed.

scholarly journals From Separation to Incorporation - A Full-Circle Application of Computational Approaches to Performance-Based Architectural Design

2021 ◽  
pp. 189-198
Author(s):  
Yuhan Chen ◽  
Youyu Lu ◽  
Tianyi Gu ◽  
Zhirui Bian ◽  
Likai Wang ◽  
...  
Keyword(s):  
Architectural Design ◽  
Building Design ◽  
Computational Design ◽  
Synthesis Process ◽  
Computational Techniques ◽  
Building Performance ◽  
Design Problems ◽  
Full Circle ◽  
Complex Building ◽  
New Research

AbstractIn performance-based architectural design, most existing techniques and design approaches to assisting designers are primarily for a single design problem such as building massing, spatial layouts, or facade design. However, architectural design is a synthesis process that considers multiple design problems. Thus, for achieving an overall improvement in building performance, it is critical to incorporate computational techniques and methods into all key design problems. In this regard, this paper presents a full-circle application of different computational design approaches and tools to exploit the potential of building performance in driving architectural design towards more novel and sustainable buildings as well as to explore new research design paradigms for performance-based architectural design in real-world design scenarios. This paper takes a commercial complex building design as an example to demonstrate how building performance can be incorporated into different building design problems and reflect on the limitations of existing tools in supporting the architectural design.

Computational Design of Microstructure

2016 ◽  
pp. 61-100
Author(s):  
G. Anand ◽  
P. P. Chattopadhyay
Keyword(s):  
Phase Stability ◽  
Materials Science ◽  
Computational Design ◽  
Computational Techniques ◽  
Length Scale ◽  
Design Problems ◽  
Design Paradigm ◽  
Multiscale Problem ◽  
Microstructural Design ◽  
Temporal Interaction

During the last couple of decades, treatment of microstructure in materials science has been shifted from the diagnostic to design paradigm. Design of microstructure is inherently complex problems due to non linear spatial and temporal interaction of composition and parameters leading to the target properties. In most of the cases, different properties are reciprocally correlated i.e., improvement of one lead to the degradation of other. Also, the design of microstructure is a multiscale problem, as the knowledge of phenomena at range of scales from electronic to mesoscale is required for precise composition-microstructure-property determination. In the view of above, present chapter provides the introduction to computationally driven microstructure engineering in the framework of constitutive length scale in microstructure design. The important issues pertaining to design such as phase stability and interfaces has been explained. Additionally, the bird-eye view of various computational techniques in order of length scale has been introduced, with an aim to present the picture of combination of various techniques for solving microstructural design problems under various scenarios.

Kinematic Analysis of a Belt Mechanism with a Circular Eccentric Output Element

2012 ◽  
Vol 162 ◽  
pp. 11-18 ◽  
Author(s):  
Dan Perju ◽  
Erwin Christian Lovasz ◽  
Karl Heinz Modler ◽  
Cristian Moldovan ◽  
Iosif Carabas
Keyword(s):  
Kinematic Analysis ◽  
Cam Mechanism ◽  
Incremental Method ◽  
Output Element ◽  
The Given ◽  
Different Order

The paper proposes two methods for kinematic analysis of a belt mechanism with circular eccentric output element (link). One of them is based on the mechanisms geometry and the second on its kinematics in order to obtain the transmission functions of different order. Both approaches are based on a imaginary cam mechanism instantaneous isokinetic with the given belt mechanism. The transmission functions obtained by means of proposed procedures are in a numerical form due to the finite incremental method used in solving the problem.

Computational Techniques In Management Of Engineering And Business Institutions

2014 ◽  
Vol 1 (1) ◽  
pp. 489-492 ◽  
Author(s):  
Marius Cioca ◽  
Cosmin Cioranu ◽  
Daniela Gîfu
Keyword(s):  
Decision Making ◽  
Human Factor ◽  
The Internet ◽  
Computational Techniques ◽  
Decision Making Process ◽  
Fast Analysis ◽  
Web Technologies ◽  
Analyze Data

AbstractThis paper deals with computational techniques used in management engineering in order to support enterprise managers in the decision-making process. Thus, the paper presents an application, built with web technologies for extracting and interpreting information from various sources, enabling the user to analyze data both in text files and the data available on the Internet, results that greatly improves the decision-making process through an efficient and fast analysis of data which, due to large the volume growing exponentially can no longer be covered and analyzed “manually” by a human factor.

scholarly journals MULTIBODY SYSTEMS AND SIMULATION IN MATLAB

2018 ◽  
pp. 84-94
Author(s):  
Darina Hroncová
Keyword(s):  
Kinematic Analysis ◽  
Graphical Representation ◽  
Industrial Robot ◽  
Mathematical Representation ◽  
Teaching Methodology ◽  
Transformation Matrices ◽  
The Matrix ◽  
Virtual Prototypes ◽  
Internal Properties ◽  
Kinematic Properties

Urgency of the research. Computer modeling changes the teaching methodology, the way of thinking and the possibilities of applications. It helps to move from external to internal properties and from individual to related properties. The development of the product is accelerated by experimenting with a computer model. Target setting. Kinematic analysis in Matlab and MSC Adams View. The aim is to investigate the rotation of individual members of the robotic system and to determine the spatial movement of the end effector. Actual scientific researches and issues analysis. MSC Adams represents dynamic simulators of virtual prototypes of mechanical systems. Virtual prototypes allow to model, analyze and optimize the future products and to examine their properties before building a real prototype. This approach is suitable for developing miniature mechatronic elements as well as complex systems. Uninvestigated parts of general matters defining. Virtual prototypes represent a suitable resource for testing of control and regulation procedures. The research objective. Compilation of a virtual prototype of a mechanical system that has all the decisive features and is computationally stable. The statement of basic materials. Virtual model is a mathematical representation of real-world structures, simulating all its physical properties virtually. Conclusions. The aim was to determine the kinematic properties and also to evaluate the influence of the parameters of the mechanism which influence these kinematic properties. The matrix method was used. The process of the solution consisted of determining the transformation matrices of the coordinate systems, the kinematic analysis of the industrial robot and the graphical representation of the effector handling space.

A Kinematic Analysis Method of Double Roller Tripod Joints Based on the Principle of Conjugate Surfaces

2021 ◽  
pp. 1-33
Author(s):  
Yinyuan Qiu ◽  
Baoshu Shi ◽  
Hui Lü
Keyword(s):  
Kinematic Analysis ◽  
Pitch Angle ◽  
Working Condition ◽  
Analysis Method ◽  
Analysis Model ◽  
Relative Pitch ◽  
Contact Constraint ◽  
Kinematic Analyses ◽  
Conjugate Surfaces

Abstract To systematically investigate the contact constraint relationships and the influences of fit clearances on the kinematic performances of a double roller tripod joint (DRTJ), a method for the kinematic analysis of DRTJs is proposed based on the principle of conjugate surfaces. In the proposed method, the constraint relations between rollers and tracks as well as between rollers and trunnions are firstly derived based on the principle of conjugate surfaces. Then, according to the constructed constraint relationships, the kinematic analysis model of a DRTJ considering the influences of fit clearances is established. Next, the effectiveness of the proposed method is validated by measuring the relative displacements and angles between rollers and tracks via experiment. Finally, kinematic analyses are carried out and the main results show that the relative pitch angle between rollers and tracks are always kept as zeroes under any working condition by designing the shapes of rollers' outer surfaces to be semi-toroid. The fit clearances have little influence on the kinematic performances of the DRTJ, thus proper fit clearances between rollers and tracks as well as between rollers and trunnions can be designed to improve the lubricating conditions of the DRTJ.

Kinematic Analysis and Stiffness Characteristics of a Hybrid 2-DOF 7-Bar Linkage

2004 ◽  
Author(s):  
Zhenjun Luo ◽  
Jian S. Dai
Keyword(s):  
Kinematic Analysis ◽  
Stiffness Index ◽  
Structural Stiffness ◽  
Parallel Mechanisms ◽  
Range Of Movement ◽  
Comparative Analyses ◽  
Hybrid Mechanisms ◽  
High Dynamic ◽  
Stiffness Characteristics ◽  
Kinematic Properties

Parallel mechanisms have drawn interest due to many advantages such as large payload ratio, high structural stiffness, low inertias and high dynamic capacities. But there are also drawbacks such as limited workspace and more singularities. Therefore many research efforts have been given to hybrid mechanisms, especially to hybrid serial-parallel mechanisms. This paper presents a new hybrid 2-DoF 7-bar linkage and several related linkages. Such mechanisms allow much larger range of movement than parallel mechanisms, yet have larger stiffness than serial mechanisms, and are desirable for robot fingers and limbs. Kinematic properties of the hybrid 2-DoF 7-bar planar linkage are analyzed. Comparative analyses between it and several 2-DoF linkages are given based on conditioning mapping, stiffness mapping, global conditioning index and global stiffness index. The results demonstrate the applicability of such linkages.

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