Kinematic Modeling Analysis Research Articles

Application of a novel higher-order stretchable kinematic model for electro-elastic response analysis of constrained cylindrical shell

This article investigates impact of initial electric potential and parameters of Pasternak’s foundation on the higher-order electroelastic responses of cylindrical shell rested on the Pasternak’s foundation subjected to electromechanical loads. The mathematical modeling is performed using the higher-order thickness stretchable model including bending and shear parameters of deformation. The virtual work principle is used to derive governing equations. The results are analytically obtained in terms of main parameters of the shell. A verification study is presented before presentation of numerical results. The results are presented with changes of initial electric potential and two parameters of Pasternak’s foundation.

A variable kinematic multi-field model for lamb wave propagation analysis in smart composite panels

The study explores the propagation of symmetric and antisymmetric fundamental Lamb waves in laminated composite strips, employing multi-field piezo-elastic plate models. The findings indicate the necessity of employing higher-order kinematic models to enhance the accuracy of wave propagation assessments. To further optimize computational efficiency, node-dependent kinematic models are utilized. The research delves into the tradeoff between reducing computational costs and maintaining result accuracy demonstrating a reduction of up to 60% in computational expenses in simple models while keeping the error below 1%. Two-dimensional wave propagation in laminated composite plates was further considered, expanding the scope due to material orthotropy.

Working mechanism and experimental study of split bit

As a component directly acting on the rock in the drilling process, the low efficiency of rock breaking will occur when the bit is drilled. In this paper, a new type of split drill is designed in which the cutting ring can move relatively independently, as well as the kinematic analysis model of the cutting tooth is established. The displacement, velocity and acceleration values of the specific points on the cutting tooth ring of the bit are obtained, which verifies that the small cutting ring at the center of the split cone bit can improve the rock breaking efficiency at the center of the bit. Through the comparison experiments of different types of bits and split bits, the results show that the mechanical drilling rate of split single-tooth bits and triple-tooth bits increased by 11.7% and 12.4%, respectively, in Beipei limestone conditions. Meanwhile, the speed of those two increased by 8.9% and 11.4%, respectively, in Wusheng sandstone conditions, which effectively improved the rock-breaking performance. Combined with the results of bottom hole model, the characteristics of impact, invasion and cutting in the process of tooth rock breaking can be obtained, which effectively improves the rock breaking performance and verifies the rationality of bit design and the correctness of theoretical analysis.

A Wrist-Inspired Magneto-Pneumatic Hybrid-Driven Soft Actuator with Bidirectional Torsion.

A novel wrist-inspired soft actuator, which is driven by a magneto-pneumatic hybrid system and based on a Kresling origami unit, is proposed. The geometric model, kinematic analysis model, and quasistatic analysis model of the Kresling origami unit are presented. A key focus is on the formulation and investigation of the variation in rotation angle using the kinematic analysis model. A wrist-inspired soft actuator is designed, and its quasistatic characteristics are validated through various experiments. The paper proposes an innovative magneto-pneumatic hybrid actuation method, capable of achieving bidirectional torsion. This actuation method is experimentally validated, demonstrating the actuator's ability to maintain 3 steady states and its capability for bidirectional torsion deformation. Furthermore, the paper highlights the potential of the Kresling origami unit in designing soft actuators capable of achieving large rotation angles. For instance, an actuator with 6 sides (n = 6) is shown to achieve a rotation angle of 239.5°, and its rotation ratio exceeds 277°, about twice the largest one reported in other literature. The actuator offers a practical and effective solution for bidirectional torsion deformation in soft robotic applications.

High-precision simulation and experimental verification of residual stress and surface topography of cylindrical surface shot peening

Shot peening is commonly employed for surface deformation strengthening of cylindrical surface part. Therefore, it is critical to understand the effects of shot peening on residual stress and surface topography. Compared to flat surface, cylindrical surface shot peening has two significant features: (i) the curvature of the cylindrical surface and the scattering of the shot stream cause distributed impact velocities; (ii) the rotation of the part results in a periodic variation of the impact velocity component. Therefore, it is a challenge to quickly and accurately predict the shot peening residual stress and surface topography of cylindrical surface. This paper developed a high-precision model which considers the more realistic shot peening process. Firstly, a kinematic analysis model was developed to simulate the relative movement of numerous shots and cylindrical surface. Then, the spatial distribution and time-varying impact information was calculated. Subsequently, the impact information was used for finite element modeling to predict residual stress and surface topography. The proposed kinematic analysis method was validated by comparison with the discrete element method. Meanwhile, 9310 high strength steel rollers shot peening test verified the effectiveness of the model in predicting the residual stress and surface topography. In addition, the effects of air pressure and attack angle on the residual stress and surface topography were investigated. This work could provide a functional package for efficient prediction of the surface integrity and guide industrial application in cylindrical surface shot peening.

Panel-Pin Model for Kinematic and Equilibrium Analysis of Rigid Origami

In this study, the mathematical model referred to as the panel-pin model is proposed for analyzing the infinitesimal-deformation mechanism and the large-deformation equilibrium path of a rigid origami composed of rigid faces (panels) and subjected to deformation only at its crease lines. The panel-pin model represents a rigid origami as a structure of rigid panels pin-connected at the vertices and has the following advantages: 1) consistent formulation of compatibility equations for any type of the rigid origami structure; 2) systematic computation of vertex displacements, folding angles, and their derivatives; and 3) ease of accounting for gravity acting on the panels. The infinitesimal mechanism of the panel-pin model is studied according to the standard procedure for mechanisms and linkages, and an equilibrium path is traced as the trajectory of equilibrium points obtained by minimizing the total potential energy of the model with a rotational spring along each crease line. The numerical examples with multiple degrees of freedom of the mechanism show that the multiple equilibrium paths can be obtained by assigning the initial imperfection, and this is also confirmed by the physical model.

Optimization of a Cost-Constrained, Hydraulic Knee Prosthesis Using a Kinematic Analysis Model

Approximately 82% of amputees prefer microprocessor knees (MPKs) to the passive alternatives. However, the cost of these devices makes them inaccessible for many patients. The aim of this research is to develop an affordable MPK that allows for stumble reduction and flexion dampening at a fraction of the cost of similar devices. The GKnee was developed by a sophisticated mathematical model that can effectively calculate geometric configuration and simulate forces transferred through a prosthetic knee at any given point through the gait cycle. With a median error of 6%, the mathematical model was developed to the point of reasonable accuracy for determining component placement and force interactions. The model served as a valuable tool to assist in the iterative design process of the GKnee, influencing component selection for the hydraulic system and frame design. This model was then validated using a compression rig and a mock GKnee prototype. The GKnee was then evaluated for its ability to perform under expected loading conditions, using compression testing and dynamic flexion testing. This research led to the development of a sub USD 500 microprocessor prosthetic, while remaining under 2.27 kg.

Motion, Static Force, and Efficiency Analysis of Planetary Gear Transmission Based on Graph Theory

This paper employs graph theory to analyze kinematic relationships, static force, and power flow for planetary gear systems. We start from the graphs of these trains to determine all the structurally distinct kinematic inversions. We then obtain all the constructive solutions resulting from every possible combination of gear configuration. Based on the kinematic and static force analysis model, related matrices are acquired. Hence, a kinematic and static force analysis of the planetary gear mechanism is achieved. The link power can be determined by the link speed and torque. Power flow diagrams of each gear are acquired. The efficiency is calculated by the transmission ratio method. This analysis is useful in the design of power transmission applications. A planetary gear system of a 6HP26 automatic transmission is further illustrated for the motion, static force, and efficiency calculations by using graph theory technique and matrix equations. This paper provides a guide for engineers in gear transmission fields to easily finish mechanical transmission design.

Comparative Study of Tidal Evolution of Mars-Phobos-Deimos Based on Kinematic Model and Based on Seismic Model

Phobos, a moon of Mars, is in sub-synchronous orbit and hence it is in-spiraling towards Mars to its complete destruction on a gravitational runaway course. On the other hand Deimos, the second moon of Mars is in extra-synchronous orbit and almost stay put in the present orbit. My results predict that Phobos is losing its altitude at a rate of 21cm/yr and is likely to crash with Mars in 10My whereas recent Mars Express (Burns 1978, Witasse et.al 2013) results show that the altitude loss is at 1.8cm/yr and the doomsday will occur in 100My. Bills et.al.(2005) and Ramslay & Head III(2013) have reported altitude loss rate at 4cm/yr and remaining life-time for Phobos as 30-50My. The author had proposed a planetary-satellite dynamics based on detailed study of Earth-Moon [personal communication: http://arXiv.org/abs/0805.0100 ] which he calls the Kinematic Model. Based on this Kinematic Model, 1.8cm/yr and 4cm/y approach velocity leads to the age of Phobos to be 53 Gyrs and 24 Gyrs which is physically untenable since our Solar System’s age is 4.567Gyrs. Assuming that Phobos is co-accreted body along with Mars or formed from impact generated debris, the age of Mars-Phobos-Deimos system should be 4.5Gy. Within this constraint, the present altitude loss of Phobos is 21 cm/y and the dooms day of Phobos is predicted to be much shorter at 10My. Deimos is also assumed to be a co-accreted body with an age of 4.5Gyrs and launched in super-synchronous orbit hence it is on an expanding spiral path but its insignificant mass ratio with respect to Mars makes it almost stay put in its present orbit and it has negligible tidal evolution history. Considering that Phobos is trapped in a gravitational runaway death spiral the rapid decay of Phobos orbit at 21cm/y and its early doom seems to be reasonable but we do not have a conclusive proof .The conclusive validation of Kinematic Model will be made by Phobos Laser Ranging(PLR) Mission to be set up at Phobos. Though one thing is very clear that results obtained by Bills et.al.(2005) and Ramslay & Head III(2013) depend on several elastoviscous properties of the planetary bodies which are hard to obtain for the variety of Planetary Systems being encountered in this era of Exo-Planet hunting whereas the Kinematic Model analysis depends only on the age of the secondary component which is readily available. Hence this study definitely establishes that the tidal evolutionary history of Planet-Satellite systems can be easily arrived at through Kinematic Model. Regarding its accuracy, we have to wait for the results from PLR Mission.

ANÁLISE POSTURAL NO BASQUETEBOL BASEADA NAS HABILIDADES ESPORTIVAS

ABSTRACT Introduction The continuous development of basketball provides greater demands on its players. The traditional method of practical education hardly adapts to the current situation of rapid development, requiring updated teaching strategies. Objective Explore the teaching method concerning the posture taught in basketball based on sports training and skills. Methods Under a particular protocol, the outstanding sports skills of each athlete were analyzed kinematically with a marker ball, deficiencies in their sports skills were checked and corrected, and new tests were performed from the corrections. After the training, the kinematic data of the motor skills were obtained again. The before and after data were compared, analyzed, and discussed. A group of experts discussed a scientific training scheme dedicated to each practitioner’s sports skills. Results Using the kinematic movement analysis model, we can find in detail the athletes’ deficiencies in the sport process and adjust them, optimizing the outstanding aspects of each player. Conclusion The use of the mechanical model to analyze basketball sports skills and movements can complement scientific teaching programs for athletes, and further studies are recommended for its popularization. Level of evidence II; Therapeutic studies - investigation of treatment outcomes.

Stability analysis of rock slopes using kinematic analysis and numerical modeling: Foça–Bağarası State Highway, Turkey

Stability analysis of rock slopes using kinematic analysis and numerical modeling: Foça–Bağarası State Highway, Turkey

Study on the design and control method of a wire-driven waist rehabilitation training parallel robot

AbstractWith the increasing demand for rehabilitation and the lack of professional rehabilitation personnel, robot-assisted rehabilitation technology plays an increasingly important role in neurological rehabilitation. In order to recover the exercise ability of patients with waist injury, a new type of wire-driven waist rehabilitation training parallel robot (WWRTPR) is designed. According to the motion trajectory planning of waist rehabilitation training, two coordinate systems are established: moving coordinate system and static coordinate system. The inverse kinematics modeling analysis is carried out, and the dynamic model of the robot is established by using Newton–Euler method. An intelligent control method of force/position hybrid control based on radial basis function neural network is proposed. The stability of the closed-loop system is analyzed, and the results show that WWRTPR tends to be stable. The simulation analysis of rehabilitation training on WWRTPR is carried out, and the simulation results show that the proposed intelligent control method can effectively control the robot system, which provides a reference for the development of a flexible intelligent rehabilitation training robot.

An equivalent mechanism model for kinematic accuracy analysis of harmonic drive

The kinematic accuracy analysis of harmonic drive (HD) is very complex since there is a compliant cup. To explicitly figure out the effects of errors on the kinematic accuracy of HD, an equivalent mechanism in kinematics of HD is proposed, in which a spatial gear-linkage with 3-R, 2-S pin, 1-P and 1-Gear pair is equivalent to the HD with single pair of teeth of flexspline and circular spline. The kinematic model/equations of the mechanism under error condition are established by means of the mechanism topological structure analysis. For multiple tooth pairs’ engagement in HD with load, a similar parallel mechanism with multi-branch of the single tooth pair is then established and a compatibility equation is derived from the identical output motion caused by all branches. With the mechanism model, the kinematic accuracy/transmission error (TE) of HD can be investigated with consideration of errors and deformation caused by load. The TE effects of assembly errors and geometry errors are simulated. The FE analysis and test of a HD are conducted to validate the proposed mechanism model. The FE and test results show good agreement with the simulations’, which indicates that the proposed mechanism model is reasonable and effective.

Fault Rock Property Prediction on Jurassic Clastics of the Barents Sea, Norway

Summary We analyzed the fault rocks of a compartmentalized field in the Barents Sea, in an area with several tectonic elements, which formed at different tectonic events. Standard fault seal analysis (FSA) was conducted to predict the shale content of the fault rock (shale gouge ratio, SGR). A static cellular model based on well data, seismic data, and geological concepts served as input. The fault rock calibration workflow required various data acquired by different methods. We analyzed the Middle Triassic to Upper Jurassic clastic deposits to reconstruct the tectonic history. Apatite fission track (AFT) and (U-Th)/He thermochronology were used to determine the maximum burial depths and exhumation history. The results of high-resolution shale ductility analysis, a compaction trend study, kinematic analysis, and structural modeling (section balancing) served as additional input constraints for fault rock calibration. The interpretation of the results helped to reconstruct the following tectonic evolution. The orthogonal faults developed shortly after deposition, during Late Triassic to Early Jurassic times at relatively shallow depth, below 1000 m. Ongoing subsidence created accommodation space for Upper Jurassic to Cenozoic deposits with a maximum burial depth of 2000 m for the Middle Jurassic rocks. Exhumation of the area started around 10 Ma and continued through to Quaternary times. The predicted across-fault-flow values for fault rock permeability show a wide range when using poorly constrained input for fault rock calibration: 9.9E−15 to 9.9E−13 m² for SGR values around 0.08 at reservoir/reservoir juxtaposition. Fault rock calibration using elaborated results reduced the uncertainty of fault rock permeability estimates, and ultimately, for transmissibility multipliers (TMs). The reason for the sensitivity of the fault rock calibration is a combination of following factors: highly permeable reservoir sandstone, shallow depth of initial faulting, maximum burial depth and low shale content at the upper, main reservoir level. The study shows that an accurate reconstruction of the geohistory provides essential parameters for fault rock calibration and fault rock permeability prediction. The range of values can widely scatter if boundary conditions are not acknowledged. Well-constrained fault rock calibration reduces the uncertainty on possible flow scenarios, increases the reliability on production forecasts and helps determine the most efficient drainage strategy.

Flexural Analysis Combined with Freeze-thaw Depth for Reinforced Concrete Beams and Columns

This study presents a kinematic model for flexural analysis of RC beams and columns subjected to freeze-thaw action based on upper bound theorem. The developed model enables analytical derivation of the contribution of damaged concrete when actual deterioration profile is idealized as an assemblage of undamaged and damaged zones based on freeze-thaw depth obtained from concrete core specimens. The accuracy of the analysis is verified by comparing its predictions with available 21 RC columns and beams failing in flexure after freeze-thaw exposure. The predicted results show good agreement with the test results within error of 6% on average. Thereafter, the developed analysis predicts the ultimate moment capacity of a RC beam, which was taken from an existing bridge slab replaced because of the combined effect of frost damage and fatigue. Results demonstrate that the present analysis could support a rational decision-making regarding the need for repair or rehabilitation. This paper is the English translation from the authors’ previous work [Kanazawa, T., Nakamura, T., Sakaguchi, J. and Kawaguchi, K., (2021). “Flexural analysis combined with freeze–thaw depth for RC linear members.” Journal of Japan Society of Civil Engineers, Ser. E2 (Materials and Concrete Structures), 77(4), 177-186. (in Japanese)].

Gesture estimation for 3D martial arts based on neural network

A 3D martial arts gestures estimation method is proposed, for it is difficult to accurately describe the gestures, which is caused by the high degree of freedom and high similarity of 3D martial arts gestures. This method is combined with finger kinematics analysis model. And beyond that, it is based on the morphological topological structure of hand and combined with the CNN neural network. Firstly, the CNN is used to extract and classify 3D gesture features of martial arts. Then, using the morphological topological structure of hands to simulate the dependence of hand joints, and the 3D coordinates of hand joints were obtained. Finally, the attitude regression module is used to realize the attitude estimation of martial arts gesture action. Simulation results show that the accuracy of gesture estimation can be improved through cascade splicing in this research. Compared with existing 3D gesture estimation methods such as V2V, Pose-REN and CrossInfoNet, the proposed method performs better in MSE and FS indicators. It has lower estimation errors and an inference speed of 220.7 frames per second. In addition, the three-dimensional visualization results show that the predicted joint points obtained by the proposed estimation method coincide with the labeled joint points, and there is no occlusion. So it is proved that the proposed method is feasible, and it can be used to estimate martial arts gestures in the future.

Towards a New, Pre-Clinical, Subject-Independent Test Model for Kinematic Analysis after Total Knee Arthroplasty—Influence of the Proximo-Distal Patella Position and Patellar Tendon Stiffness

Although simulation models are heavily used in biomechanical research and testing of TKA implants, pre-clinical tools for a holistic estimation of implant performance under dynamic loading conditions are rare. The objective of this study was the development of an efficient pre-clinical test method for analyzing knee contact mechanics and kinematics based on a dynamic FE model and to evaluate the effects of the proximo-distal patella position and the patellar tendon stiffness on the patellar kinematics. A finite element-based workflow for knee prostheses designs was developed based on standardized in vivo load data, which included the tibial forces and moments. In a new research approach, the tibial forces are used as input for the model, whereas the tibial moments were used to validate the results. For the standardized sit down, stand up, and knee bend load cycles, the calculated tibial moments show only small deviations from the reference values—especially for high flexion angles. For the knee bend cycle, the maximum absolute value of patellar flexion decreases for higher patellar tendon stiffness and more distally placed patellar components. Therefore, patella-related clinical problems caused by patella baja may also arise if the patellar tendon is too weak for high tibiofemoral flexion angles.

A Kinematic Analysis Method of Double Roller Tripod Joints Based on the Principle of 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 first 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 and quasi-static analysis model of a novel variable stiffness pneumatic artificial muscle

A novel variable stiffness axial expansion pneumatic artificial muscle based on hexagonal origami is proposed. Based on the presented assumptions, a kinematic analysis model of the pneumatic artificial muscles is presented, and the changes in crease angles, air cavity volume and geometric configurations of the pneumatic artificial muscles during the actuation process are obtained. The equivalent elastic modulus of the hyperelastic material is obtained by fitting the stress-strain curve. The stress state of the crease is simplified as the pure bending model of a straight beam, and the rotational stiffness of the crease is formulated. Based on the energy method, a quasi-static characteristic analysis model of the pneumatic artificial muscles is developed. The pressure-displacement curve under the unloading state and the output force-displacement curve under the loading state are calculated. The variable stiffness characteristics of the pneumatic artificial muscles are evaluated. Compared with the experimental and numerical simulation results, the analysis models are verified. The work will provide analysis models for the mechanical design and force-displacement control of this type of pneumatic artificial muscles.

Unprecedented Biting Performance in Herbivorous Fish: How the Complex Biting System of Pomacentridae Circumvents Performance Trade-Offs.

AbstractIt is well accepted that the complexity of functional systems may mitigate performance trade-offs. However, data supporting this theory are hard to find because they need to be based on a functional system with different complexity levels in closely related species. The Pomacentridae (damselfishes) provide an excellent opportunity to test this hypothesis because most of the species have two mouth-closing systems: the first using the adductor mandibulae, as in all teleost fishes, and the second relying on the ceratomandibular (cmd) ligament, a synapomorphic trait of the family. Interestingly, some pomacentrids have secondarily lost the cmd ligament during evolution and therefore have a less complex mouth-closing system. Using dissection, kinematic analysis, and mathematical modeling, we demonstrated that the possession of two mouth-closing systems enabled grazing damselfishes to have a forceful and extremely fast bite. This combination challenges a major functional trade-off in fish jaw dynamics, as systems better suited for force transmission are usually less suited for speed transmission, and vice versa. The combination of grazing behavior, small and robust lower jaws (conferring high biting force), and an ultrafast bite is unusual within actinopterygians. These attributes and their associated performance seem to be required conditions to colonize the ecological niche of farming, that is, the maintenance of small filamentous algae crops serving as both food and storage.