Kinematic Transformation Matrices for 3D Surface Contact Joints

1992 ◽  
Author(s):  
L. J. Gutkowski ◽  
Gary L. Kinzel
Keyword(s):  
Kinematic Analysis ◽  
Three Dimensional ◽  
Analysis Procedure ◽  
Transformation Matrices ◽  
3D Surface ◽  
Surface Contact ◽  
The Matrix ◽  
Kinematic Transformation

Abstract A generalized procedure is presented for the development of a pair matrix that describes kinematic joints formed by contact between three-dimensional surfaces. The pair matrix is useful in the matrix-based kinematic analysis procedure put forth by Sheth and Uicker (1971) previously. Any two surfaces may make up the joint as long as the surfaces can be described parametrically, and contact takes place at one point. The corresponding pair matrix is a function of five pair variables.

Kinematic Transformation Matrices for 3D Surface Contact Joints

1995 ◽  
Vol 117 (2A) ◽  
pp. 278-285 ◽  
Author(s):  
L. J. Gutkowski ◽  
G. L. Kinzel
Keyword(s):  
Kinematic Analysis ◽  
Three Dimensional ◽  
Analysis Procedure ◽  
Transformation Matrices ◽  
3D Surface ◽  
Surface Contact ◽  
The Matrix ◽  
Kinematic Transformation

A generalized procedure is presented for the development of a pair matrix that describes kinematic joints formed by contact between three-dimensional surfaces. The pair matrix is useful in the matrix-based kinematic analysis procedure put forth by Sheth and Uicker (1971) previously. Any two surfaces may make up the joint as long as the surfaces can be described parametrically, and contact takes place at one point. The corresponding pair matrix is a function of five pair variables.

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.

Matrix Equations Models For Nonlinear Dynamic Analysis of Two-Dimensional And Three-Dimensional RC Structures With Lateral Load Resisting Cantilever Elements

2021 ◽  
Author(s):  
Assaf Shmerling
Keyword(s):  
Structural Dynamics ◽  
Phase Plane ◽  
Three Dimensional ◽  
Nonlinear Dynamic Analysis ◽  
Equation Of Motion ◽  
Matrix Equations ◽  
Two Dimensional ◽  
Control Engineering ◽  
Transformation Matrices ◽  
The Matrix

Abstract In control engineering and structural dynamics, mathematical models such as the state-space representation, equation-of-motion, and the phase plane are matrix equations describing the system equilibrium. This paper develops novel matrix equations models for linear/nonlinear dynamic analysis of reinforced concrete (RC) buildings with cantilever elements lateral load resisting system (e.g., RC shear wall, RC core). The matrix equations models offer a reliable and idealized tool for introducing two-dimensional and three-dimensional cantilever structures to control engineering and structural dynamics' equation-of-motion. The displacement-related stiffness matrix of cantilever elements is determined using the Left Riemann Sums (LRS) numerical integration method that yields transformation matrices that cater to the element's boundary conditions. The three-dimensional structure's mass and stiffness matrices are determined using the Direct Stiffness Method (DSM) and local-to-global-coordinates transformation matrices. The nonlinear matrix structural analysis employs a smooth hysteretic model for deteriorating inelastic structures, referring to the relation between the bending moment and the bending-curvature through the bending-stiffness. The parameters controlling the cyclic behavior regard a composite RC cross-section subject to gravitational load and bending simultaneously. The paper includes four examples that exemplify the practical utilization of the matrix equations models in analyzing two-dimensional and three-dimensional structures of linearly-elastic and inelastic properties. The four examples demonstrated the idealized applicability of the matrix equations models that suit state-space, equation-of-motion, and phase plane analyses.

Designing TIMP (tissue inhibitor of metalloproteinases) variants that are selective metalloproteinase inhibitors

2003 ◽  
Vol 70 ◽  
pp. 201-212 ◽  
Author(s):  
Hideaki Nagase ◽  
Keith Brew
Keyword(s):  
Three Dimensional ◽  
Therapeutic Interventions ◽  
Tissue Inhibitors Of Metalloproteinases ◽  
Structural Basis ◽  
Structural Elements ◽  
Ridge Structure ◽  
Extracellular Matrix Components ◽  
Metalloproteinase Inhibitors ◽  
The Matrix ◽  
A Disintegrin And Metalloproteinase

The tissue inhibitors of metalloproteinases (TIMPs) are endogenous inhibitors of the matrix metalloproteinases (MMPs), enzymes that play central roles in the degradation of extracellular matrix components. The balance between MMPs and TIMPs is important in the maintenance of tissues, and its disruption affects tissue homoeostasis. Four related TIMPs (TIMP-1 to TIMP-4) can each form a complex with MMPs in a 1:1 stoichiometry with high affinity, but their inhibitory activities towards different MMPs are not particularly selective. The three-dimensional structures of TIMP-MMP complexes reveal that TIMPs have an extended ridge structure that slots into the active site of MMPs. Mutation of three separate residues in the ridge, at positions 2, 4 and 68 in the amino acid sequence of the N-terminal inhibitory domain of TIMP-1 (N-TIMP-1), separately and in combination has produced N-TIMP-1 variants with higher binding affinity and specificity for individual MMPs. TIMP-3 is unique in that it inhibits not only MMPs, but also several ADAM (a disintegrin and metalloproteinase) and ADAMTS (ADAM with thrombospondin motifs) metalloproteinases. Inhibition of the latter groups of metalloproteinases, as exemplified with ADAMTS-4 (aggrecanase 1), requires additional structural elements in TIMP-3 that have not yet been identified. Knowledge of the structural basis of the inhibitory action of TIMPs will facilitate the design of selective TIMP variants for investigating the biological roles of specific MMPs and for developing therapeutic interventions for MMP-associated diseases.

3D simulation of emulsion flow using the boundary element method on the heterogeneous computational systems

2012 ◽  
Vol 9 (1) ◽  
pp. 142-146
Author(s):  
O.A. Solnyshkina
Keyword(s):  
Boundary Element Method ◽  
Boundary Element ◽  
Three Dimensional ◽  
Reynolds Numbers ◽  
Problem Size ◽  
Low Reynolds Numbers ◽  
Infinite Domains ◽  
The Matrix ◽  
Computational Systems ◽  
Element Method

In this work the 3D dynamics of two immiscible liquids in unbounded domain at low Reynolds numbers is considered. The numerical method is based on the boundary element method, which is very efficient for simulation of the three-dimensional problems in infinite domains. To accelerate calculations and increase the problem size, a heterogeneous approach to parallelization of the computations on the central (CPU) and graphics (GPU) processors is applied. To accelerate the iterative solver (GMRES) and overcome the limitations associated with the size of the memory of the computation system, the software component of the matrix-vector product

scholarly journals Data-Driven Intelligent 3D Surface Measurement in Smart Manufacturing: Review and Outlook

Machines ◽  
2021 ◽  
Vol 9 (1) ◽  
pp. 13
Author(s):  
Yuhang Yang ◽  
Zhiqiao Dong ◽  
Yuquan Meng ◽  
Chenhui Shao
Keyword(s):  
High Resolution ◽  
High Performance ◽  
Sampling Design ◽  
Three Dimensional ◽  
Measurement Data ◽  
Data Driven ◽  
Surface Measurement ◽  
Smart Manufacturing ◽  
Future Research ◽  
3D Surface

High-fidelity characterization and effective monitoring of spatial and spatiotemporal processes are crucial for high-performance quality control of many manufacturing processes and systems in the era of smart manufacturing. Although the recent development in measurement technologies has made it possible to acquire high-resolution three-dimensional (3D) surface measurement data, it is generally expensive and time-consuming to use such technologies in real-world production settings. Data-driven approaches that stem from statistics and machine learning can potentially enable intelligent, cost-effective surface measurement and thus allow manufacturers to use high-resolution surface data for better decision-making without introducing substantial production cost induced by data acquisition. Among these methods, spatial and spatiotemporal interpolation techniques can draw inferences about unmeasured locations on a surface using the measurement of other locations, thus decreasing the measurement cost and time. However, interpolation methods are very sensitive to the availability of measurement data, and their performances largely depend on the measurement scheme or the sampling design, i.e., how to allocate measurement efforts. As such, sampling design is considered to be another important field that enables intelligent surface measurement. This paper reviews and summarizes the state-of-the-art research in interpolation and sampling design for surface measurement in varied manufacturing applications. Research gaps and future research directions are also identified and can serve as a fundamental guideline to industrial practitioners and researchers for future studies in these areas.

scholarly journals Macroporous chitosan/methoxypoly(ethylene glycol) based cryosponges with unique morphology for tissue engineering applications

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Pradeep Kumar ◽  
Viness Pillay ◽  
Yahya E. Choonara
Keyword(s):  
Tissue Engineering ◽  
Polymer Network ◽  
Three Dimensional ◽  
Hysteresis Loops ◽  
Interpenetrating Polymer Network ◽  
Morphological Data ◽  
Porous Scaffolds ◽  
Morphological Variations ◽  
Molecular Stability ◽  
The Matrix

AbstractThree-dimensional porous scaffolds are widely employed in tissue engineering and regenerative medicine for their ability to carry bioactives and cells; and for their platform properties to allow for bridging-the-gap within an injured tissue. This study describes the effect of various methoxypolyethylene glycol (mPEG) derivatives (mPEG (-OCH3 functionality), mPEG-aldehyde (mPEG-CHO) and mPEG-acetic acid (mPEG-COOH)) on the morphology and physical properties of chemically crosslinked, semi-interpenetrating polymer network (IPN), chitosan (CHT)/mPEG blend cryosponges. Physicochemical and molecular characterization revealed that the –CHO and –COOH functional groups in mPEG derivatives interacted with the –NH2 functionality of the chitosan chain. The distinguishing feature of the cryosponges was their unique morphological features such as fringe thread-, pebble-, curved quartz crystal-, crystal flower-; and canyon-like structures. The morphological data was well corroborated by the image processing data and physisorption curves corresponding to Type II isotherm with open hysteresis loops. Functionalization of mPEG had no evident influence on the macro-mechanical properties of the cryosponges but increased the matrix strength as determined by the rheomechanical analyses. The cryosponges were able to deliver bioactives (dexamethasone and curcumin) over 10 days, showed varied matrix degradation profiles, and supported neuronal cells on the matrix surface. In addition, in silico simulations confirmed the compatibility and molecular stability of the CHT/mPEG blend compositions. In conclusion, the study confirmed that significant morphological variations may be induced by minimal functionalization and crosslinking of biomaterials.

scholarly journals Lymphocyte locomotion and attachment on two-dimensional surfaces and in three-dimensional matrices

1982 ◽  
Vol 92 (3) ◽  
pp. 747-752 ◽  
Author(s):  
WS Haston ◽  
JM Shields ◽  
PC Wilkinson
Keyword(s):  
Three Dimensional ◽  
Two Dimensional ◽  
Collagen Gels ◽  
Peripheral Lymph Node ◽  
Cellulose Esters ◽  
Peripheral Lymph ◽  
The Matrix ◽  
Identical Material ◽  
Variable Morphology ◽  
Collagen Lattices

The adhesion and locomotion of mouse peripheral lymph node lymphocytes on 2-D protein- coated substrata and in 3-D matrices were compared. Lymphocytes did not adhere to, or migrate on, 2-D substrata suck as serum- or fibronectin-coated glass. They did attach to and migrate in hydrated 3-D collagen lattices. When the collagen was dehydrated to form a 2-D surface, lymphocyte attachment to it was reduced. We propose that lymphocytes, which are poorly adhesive, are able to attach to and migrate in 3-D matrices by a nonadhesive mechanism such as the extension and expansion of pseudopodia through gaps in the matrix, which could provide purchase for movement in the absence of discrete intermolecular adhesions. This was supported by studies using serum-coated micropore filters, since lymphocytes attached to and migrated into filters with pore sizes large enough (3 or 8 mum) to allow pseudopod penetration but did not attach to filters made of an identical material (cellulose esters) but of narrow pore size (0.22 or 0.45 mum). Cinematographic studies of lymphocyte locomotion in collagen gels were also consistent with the above hypothesis, since lymphocytes showed a more variable morphology than is typically seen on plane surfaces, with formation of many small pseudopodia expanded to give a marked constriction between the cell and the pseudopod. These extensions often remained fixed with respect to the environment as the lymphocyte moved away from or past them. This suggests that the pseudopodia were inserted into gaps in the gel matrix and acted as anchorage points for locomotion.

Simulation Analysis of Pneumatic on-off Pressure Mechanism on Printing Press

2010 ◽  
Vol 154-155 ◽  
pp. 1481-1484 ◽  
Author(s):  
Jun Zhong Guo ◽  
Jun Ping Yang
Keyword(s):  
Kinematic Analysis ◽  
Simulation Analysis ◽  
Angular Displacement ◽  
Three Dimensional ◽  
Printing Press ◽  
Work Demand ◽  
Analysis Process ◽  
Adams Software ◽  
Important Basis

The on-off pressure mechanism has an important function to the printing press, the quality of which concerns the working performance of the printing machine and the quality of printed products directly. In this paper, the pneumatic on-off pressure mechanism is discussed; the work demand of order on-off pressure is analyzed. In addition, the three-dimensional digital model and the kinematic analysis process can be achieved on the basis of ADAMS software. What’s more, the on pressure value in the process of on pressure is derived from the kinematic analysis. Lastly, the relation between the motion of on-off pressure mechanism and cylinder’s angular displacement is analyzed, an important basis to the on-off pressure mechanism’s optimal design will be provided.

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