Kinematic and Force Analysis of Articulated Mechanical Hands

1983 ◽  
Vol 105 (1) ◽  
pp. 35-41 ◽  
Author(s):  
J. K. Salisbury ◽  
B. Roth
Keyword(s):  
Screw Theory ◽  
Force Analysis ◽  
Different Types ◽  
Basic Concepts ◽  
Number Synthesis ◽  
Object Relative ◽  
Mechanical Hands

This paper deals with several of the basic concepts in the kinematics of mechanical hands. Several different types of finger contacts are modeled and used in a number synthesis of three-fingered hands. Screw theory is used to show which finger configurations allow complete immobilization of the gripped object relative to the fingers, and also allow for the manipulation of the object by the fingers while maintaining the grasp. Shown in this paper is how to determine the forces applied by the fingers on the object, and also how to compute the velocities of the fingers and the object. The analysis developed in this paper is shown to lead to a hand with three fingers, each with three turning joints, and having friction contacts with an object at three separate points.

Hierarchies

2003 ◽  
pp. 91-115 ◽  
Author(s):  
Elaheh Pourabbas ◽  
Maurizio Rafanelli
Keyword(s):  
Hierarchical Structures ◽  
Different Types ◽  
Basic Concepts ◽  
Points Of View

In this chapter we will focus on the rules of aggregation hierarchies in analysis dimensions of a cube. We give an overview of the related works on the basic concepts of the different types of aggregation hierarchies. We then discuss the hierarchies from two different points of view: mapping between domain values and hierarchical structures. In relation to them, we introduce the characterization of some OLAP operators on hierarchies and give a set of operators that concern the change in the hierarchy structure. Finally, we propose an enlargement of the operator set concerning hierarchies.

Repelling-Screw Based Force Analysis of Origami Mechanisms

2016 ◽  
Vol 8 (3) ◽  
Author(s):  
Chen Qiu ◽  
Ketao Zhang ◽  
Jian S. Dai
Keyword(s):  
Parallel Mechanism ◽  
Screw Theory ◽  
Reaction Force ◽  
Theoretical Background ◽  
Force Analysis ◽  
Modeling Approach ◽  
Reaction Forces ◽  
Redundantly Actuated

This paper provides an approach to model the reaction force of origami mechanisms when they are deformed. In this approach, an origami structure is taken as an equivalent redundantly actuated mechanism, making it possible to apply the forward-force analysis to calculating the reaction force of the origami structure. Theoretical background is provided in the framework of screw theory, where the repelling screw is introduced to integrate the resistive torques of folded creases into the reaction-force of the whole origami mechanism. Two representative origami structures are then selected to implement the developed modeling approach, as the widely used waterbomb base and the waterbomb-based integrated parallel mechanism. With the proposed kinematic equivalent, their reaction forces are obtained and validated, presenting a ground for force analysis of origami-inspired mechanisms.

Five Developed Cylinder Reticulated Shell ANSYS Parametric Modelings

2012 ◽  
Vol 166-169 ◽  
pp. 743-746
Author(s):  
Xiao Yang Lu ◽  
Zhi Dan Wang ◽  
Xiao Wei Zhao ◽  
Wang Chao
Keyword(s):  
Cylindrical Shell ◽  
Coordinate System ◽  
Parametric Design ◽  
Parametric Modeling ◽  
Force Analysis ◽  
Ansys Software ◽  
Cylindrical Coordinate ◽  
Different Types ◽  
Optimizing Design ◽  
The Given

Based on the geometric characteristics of developed cylinder shell, five methods of node generation and element connection were proposed in the cylindrical coordinate system. The corresponding macro programmers were made by means of ANSYS software parametric design language. Five developed cylindrical shell parametric modelings were achieved under the conditions of the given shell types, span, vector height, length, the grid number of length wise direction and cross wise direction. Applied examples show that this parametric modeling method and programmers are simple, efficient and useful, which facilitate the force analysis and optimizing design under different types and parameter by means of ANSYS software.

Analysis on the Instantaneous Stiffness of the 3-RPS Parallel Machine

2009 ◽  
Vol 407-408 ◽  
pp. 63-67 ◽  
Author(s):  
Xian Guo Han ◽  
Xue Liang Cui ◽  
Wu Yi Chen
Keyword(s):  
Jacobian Matrix ◽  
Screw Theory ◽  
Parallel Machine ◽  
Force Analysis ◽  
Stiffness Model ◽  
Generalized Force ◽  
Moving Platform ◽  
Position And Orientation

Based on the screw theory, the force analysis of the 3-RPS parallel machine is illuminated. Been equivalent to a 6-chain parallel machine, the deformation harmony equation of the parallel machine under the outside generalized force is interpreted. The instantaneous stiffness model of the parallel machine, which includes the change of the force Jacobian matrix, is established. Considering the deviation of the position and orientation of the moving platform, which is resulted from the distortion of the PRS chains of the parallel machine, the influence of the change of the Jacobian matrix to the instantaneous stiffness model of the 3-RPS parallel machine is analyzed, and furthermore, it is verified with an instance.

Force Analysis of Qi Chaotic System

2016 ◽  
Vol 26 (14) ◽  
pp. 1650237 ◽  
Author(s):  
Guoyuan Qi ◽  
Xiyin Liang
Keyword(s):  
Chaotic System ◽  
Chaotic Attractor ◽  
Casimir Energy ◽  
State Variables ◽  
Force Analysis ◽  
Key Factors ◽  
Kolmogorov Type ◽  
Different Types ◽  
Inertial Torque ◽  
Energy Law

The Qi chaotic system is transformed into Kolmogorov type of system. The vector field of the Qi chaotic system is decomposed into four types of torques: inertial torque, internal torque, dissipation and external torque. Angular momentum representing the physical analogue of the state variables of the chaotic system is identified. The Casimir energy law relating to the orbital behavior is identified and the bound of Qi chaotic attractor is given. Five cases of study have been conducted to discover the insights and functions of different types of torques of the chaotic attractor and also the key factors of producing different types of modes of dynamics.

Geometric Synthesis and Enumeration of the Family of 3-DOF Translational Parallel Manipulators via the Screw Theory

2004 ◽  
Author(s):  
Jingjun Yu ◽  
Shusheng Bi ◽  
Guanghua Zong ◽  
Yuefa Fang
Keyword(s):  
Screw Theory ◽  
Parallel Manipulators ◽  
The Other ◽  
Systematic Method ◽  
Symmetrical Structure ◽  
Geometric Conditions ◽  
Other Hand ◽  
Asymmetrical Structure ◽  
The Family ◽  
Different Types

In this paper, a systematic method based on the screw theory is proposed for the geometric synthesis of a family of 3-DoF translational parallel manipulators (TPMs). The theory of screws and reciprocal screws is employed for the analysis of the geometric conditions undergoing the different types of constraints for the TPMs. In terms of these established geometric conditions, limb structures that can be used for constructing TPMs are enumerated, and a number of novel TPMs including both symmetrical structure and asymmetrical structure are synthesized accordingly. On the other hand, some composite kinematic pairs are proposed. The involvement of these composite kinematic pairs into the limbs of a TPM greatly enlarges the family of the TPMs.

scholarly journals Basic Concepts of Structural Design for Architecture Students

2021 ◽  
Author(s):  
Anahita Khodadadi ◽  
Keyword(s):  
Material Properties ◽  
Structural Design ◽  
Structural Systems ◽  
Structural Elements ◽  
Math Problem Solving ◽  
Vector Addition ◽  
Rules Of Thumb ◽  
Different Types ◽  
Internal Forces ◽  
Basic Concepts

This book aims to narrate fundamental concepts of structural design to architecture students such that they have minimum involvement with math problem-solving. Within this book, students learn about different types of loads, forces and vector addition, the concept of equilibrium, internal forces, geometrical and material properties of structural elements, and rules of thumb for estimating the proportion of some structural systems such as catenary cables and arches, trusses, and frame structures.

scholarly journals Awareness of Knowledge Management in Nepalese Financial Institutions

2017 ◽  
Vol 3 (3) ◽  
pp. 76-88
Author(s):  
Lekhanath Khanal
Keyword(s):  
Knowledge Management ◽  
Financial Institutions ◽  
Academic Research ◽  
Knowledge Resources ◽  
Business Context ◽  
Different Types ◽  
Intellectual Assets ◽  
Strategic Impact ◽  
Basic Concepts ◽  
Almost All

Knowledge Management (KM) is one of the buzzwords prevailing in the management circles. It is seen as a tool which can create a strategic impact. Organizations which are unaware of knowledge management (KM) and its concepts are considered illiterate in business context. In order to thrive in this turbulent market, an organization must be familiar with all concepts pertaining to its intellectual assets, i.e. Knowledge, and all other activities involved in managing its intangible assets, i.e. KM through various practices, suitable strategy and processes,. Banks and financial institutions as drivers of economic growth play a major role in prosperity and innovativeness of almost all countries worldwide. The main objective of this study is to identify the awareness of knowledge management in financial institutions of Nepal. In this study, samples of 385 respondents were selected randomly from four different types of financial institutions of Kathmandu, Nepal. The statistical analysis was done to draw the conclusion. The results clearly show that the level of KM awareness amongst Nepalese financial institutions is medium in which some companies understand the principles of KM but they observe many challenges and difficulties in pursuing KM implementation. Finally, this paper concludes that those institutions which are aware of the basic concepts and principle of KM can effectively manage knowledge resources; are more innovative and have better performance than others who do not takes this factor into account.Journal of Advanced Academic Research, Vol. 3, No. 3, 2016

Adhesive Bonding

2020 ◽  
pp. 1-25
Keyword(s):  
Adhesive Bonding ◽  
Adhesive Bond ◽  
Bonding Process ◽  
Manufacturing Processes ◽  
Adhesive Bonds ◽  
Different Types ◽  
Bonding Technology ◽  
Basic Concepts

This chapter presents the application of adhesive bonding technology with a long tradition of use in manufacturing processes. It has an established position among a number of different ways of permanently joining elements together. This work offers a list of many advantages of this technology, alongside the difficulties and limitations in the use of adhesive bonds. The basic concepts of adhesives and their components are described, and the terms related to the bonding process are presented. Attention was paid to the great variety of adhesives and many different criteria of their division and selection to a particular technological situation. In the following chapter, examples of the application of different types of adhesives with regard to using materials and constructions can be found as well as methods and requirements for the preparation of the finished adhesive. Mechanisms of the formation of an adhesive bond are characterized, and various constructions of adhesive bonds that are necessary to form a durable bond of elements are presented.

Sign in / Sign up

Export Citation Format

Share Document