Computer Aid of Mechanism Behaviour

2013 ◽  
Vol 440 ◽  
pp. 182-187 ◽  
Author(s):  
Katarina Monkova ◽  
Veronika Fečová ◽  
Zuzana Hutyrová

It is often needed to define the velocity and acceleration of the body or some point of mechanism, if the input parameters of driver are known. As one of the most commonly used mechanisms in manufacturing or real practice can be considered the slotted-link mechanism. This mechanism is the part of the various machines and it has some special configurations created by making link infinite in length. It is often used to transform rotary motion into linear motion. The article deals with the computer aid of mechanism behaviour, specifically there are compared two approaches to the kinematic analysis of mechanism, the possibility to generate curve trajectory of selected point of mechanism or to make its motion envelope. The solution is presented on the mechanism usually used for the sliding feed of the packages in real practice.

2011 ◽  
Vol 403-408 ◽  
pp. 5053-5060 ◽  
Author(s):  
Mostafa Ghayour ◽  
Amir Zareei

In this paper, an appropriate mechanism for a hexapod spider-like mobile robot is introduced. Then regarding the motion of this kind of robot which is inspired from insects, direct kinematics of position and velocity of the centre of gravity (C.G.) of the body and noncontact legs are analysed. By planning and supposing a specific time variation for each joint variable, location and velocity of the C.G. of the robot platform and angular velocity of the body are obtained and the results are shown and analysed.


2017 ◽  
Vol 118 (4) ◽  
pp. 2499-2506 ◽  
Author(s):  
A. Pomante ◽  
L. P. J. Selen ◽  
W. P. Medendorp

The vestibular system provides information for spatial orientation. However, this information is ambiguous: because the otoliths sense the gravitoinertial force, they cannot distinguish gravitational and inertial components. As a consequence, prolonged linear acceleration of the head can be interpreted as tilt, referred to as the somatogravic effect. Previous modeling work suggests that the brain disambiguates the otolith signal according to the rules of Bayesian inference, combining noisy canal cues with the a priori assumption that prolonged linear accelerations are unlikely. Within this modeling framework the noise of the vestibular signals affects the dynamic characteristics of the tilt percept during linear whole-body motion. To test this prediction, we devised a novel paradigm to psychometrically characterize the dynamic visual vertical—as a proxy for the tilt percept—during passive sinusoidal linear motion along the interaural axis (0.33 Hz motion frequency, 1.75 m/s2peak acceleration, 80 cm displacement). While subjects ( n=10) kept fixation on a central body-fixed light, a line was briefly flashed (5 ms) at different phases of the motion, the orientation of which had to be judged relative to gravity. Consistent with the model’s prediction, subjects showed a phase-dependent modulation of the dynamic visual vertical, with a subject-specific phase shift with respect to the imposed acceleration signal. The magnitude of this modulation was smaller than predicted, suggesting a contribution of nonvestibular signals to the dynamic visual vertical. Despite their dampening effect, our findings may point to a link between the noise components in the vestibular system and the characteristics of dynamic visual vertical.NEW & NOTEWORTHY A fundamental question in neuroscience is how the brain processes vestibular signals to infer the orientation of the body and objects in space. We show that, under sinusoidal linear motion, systematic error patterns appear in the disambiguation of linear acceleration and spatial orientation. We discuss the dynamics of these illusory percepts in terms of a dynamic Bayesian model that combines uncertainty in the vestibular signals with priors based on the natural statistics of head motion.


Author(s):  
Mazhar Ul Haq ◽  
Zhao Gang ◽  
Fazl E. Ahad ◽  
Anees Ur Rehman ◽  
Muhammad Hussain

In this paper, inverse kinematic analysis of a proposed three link mechanism of a bio-inspired micro scanning device towed underwater by a surface vessel to actuate its aileron fins for its depth control and for its stabilization against roll is performed. Mechanism is actuated by IPMC actuators. To speed up the design verification process, computer aided simulations are used to perform motion analysis of the proposed IPMC actuated mechanism through Pro/Mechanism tool. Inverse kinematic analysis is performed to find out the joint variables of the mechanism to realize fin actuation along desired path. Displacements, velocities and accelerations of the links constructing mechanism are found out to establish their interrelationship. Results are analysed for the study of mechanism efficacy and for sizing the IPMC actuators. This paper contributes to introduce a new approach of virtual prototyping using advanced simulation tools for analysis and design verification of IPMC actuated mechanisms for biomimetic applications before moving into functional prototype stage.


2011 ◽  
Vol 148-149 ◽  
pp. 1487-1490
Author(s):  
Jong Gyu Lee ◽  
Sang Ryong Lee ◽  
Choon Young Lee ◽  
Seung Han Yang

In this paper, a parallel manipulator is comprised of sliders and links. The end-effector has an orientation. Sliders execute a linear motion along parallel guidelines and make the connected links rotate. We derived displacement, velocity and acceleration from kinematic analysis of this manipulator using direct and inverse kinematics,found constraint conditions and proposed the verification algorithm of constraint conditions. With the result from the simulation, we found that there was a local workspace where the manipulator cannot carry out a series of link motion.


Author(s):  
Herbert E. Stumph ◽  
Andrew P. Murray

Abstract In this paper we introduce the MATLAB-based SDAMP (pronounced stamp) software for the analysis and synthesis of several mechanical press linkages. These linkages include the slider-crank and the four six-bar mechanisms formed by attaching a drag-link, crank-rocker, crank-shaper or Whitworth mechanism to a slider-crank. SDAMP performs four basic tasks: guided layout, kinematic analysis, mechanism refine and kinematic synthesis. Guided layout leads the user through joint selection to ensure a functioning mechanism. Kinematic analysis displays the position, velocity, acceleration and jerk of the sliding output versus the rotation of the input link. Mechanism refine allows the user to vary the geometry of an existing mechanism towards the goal of achieving a desired kinematic analysis. Lastly, kinematic synthesis determines the set of defect-free slider-cranks capable of achieving four precision points. All of these capabilities are integrated through a host of GUI driven MATLAB files in SDAMP.


2003 ◽  
Vol 2003.40 (0) ◽  
pp. 225-226
Author(s):  
Yoshiyasu Ishikura ◽  
Makoto Ohya

Author(s):  
Muhammed R. Pac ◽  
Dan O. Popa

Legged robots are more maneuverable, and can negotiate rough terrain much better than conventional locomotion using wheels. However, since the kinematic or dynamic analysis of such robots involves closed chains, it is typically more difficult to investigate the impact of design changes, such as the number, or the design of its legs, to robot performance. Most legged robots consist of 4 legs (quadrupeds) or 6 legs (hexapods). This paper discusses the kinematic analysis of an unconventional, symmetrical 5-legged robot with 2-DOF (Degrees Of Freedom) universal joints in each leg. The analysis was carried out in order to predict the mobility of the upper body platform, and investigate the number of robot actuators needed for mobility. The product of exponentials formulation with respect to the local coordinate frames is used to describe the twists of the joints. The analysis is based on the idea that the robot body platform along with the legs can be considered instantaneously as a parallel robot manipulating the ground. Hence, the analysis can be done using the Jacobian formulation of parallel robots. Simulation results confirm the mobility analysis that the robot can have at most 3-DOF for the body and that these freedoms are coupled rotations and translations in 3D space also with a dependence on the configuration of the robot.


2010 ◽  
Vol 42 ◽  
pp. 400-403
Author(s):  
Shou Feng Nie ◽  
Zai Dan Geng ◽  
Ying Liang Yu

The special section tube was machined by special NC reconstruction according to constituents of rolling motion. The rotation of driving and driven roller was controlled directly by servo motors and the rolling machining was controlled by converting linear motion into rotary motion. The principle, control and implementation and the analysis of the bending deformation regularity and influencing factors affecting the uniformly accelerated motion and measures were elaborated. The structural reconstruction and the parameters conversion and the reason why the machining accuracy improved were analysizedanalyzed. The NC reconstruction in rolling machining of the special section tube had good effects on the practical application and the function and application scope of NC technology were expanded


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