Kinematic Analysis Of Mechanism Research Articles

Kinematics analysis of transmission mechanism of electronic jacquard machine based on virtual prototype and vector method

Aiming at the problem that the electronic transmission mechanism of the electronic jacquard machine is difficult to design, a kinematic analysis of the mechanical transmission mechanism of the electronic jacquard machine is proposed to clarify the kinematic performance of the electronic transmission mechanism. Based on the vector method, the kinematics mathematical model of the mechanical transmission mechanism of the electronic jacquard machine was established, and the matrix of the displacement, velocity and acceleration curve of the pulling blade was obtained. After the parameters are selected, the correctness of the mathematical model is verified through virtual prototype modeling and simulation. Through simulation analysis and verification, it is found that the numerical calculation results of the solution matrix are consistent with the simulation results of the virtual prototype model, and the peak error does not exceed 0.42%, which provides a certain theoretical basis for the study of electronic jacquard transmission mechanism.

Kinematic and dynamic analysis of a planar tensegrity-based mechanism

Tensegrity-based mechanisms are proposed to be used in the field of robotics due to their advantages such as deployable, easily tunable, redundant, and easily modelled. In this work, the kinematic and dynamic analysis of a planar tensegrity-based mechanism was researched. At first, the forward and inverse kinematic analysis of the mechanism was studied by using the energy method. Then, stiffness of the mechanism was investigated. Afterwards, the dynamic model was developed and the numerical simulation was conducted. The results indicate that the stiffness of the mechanism is always a maximum when the mechanism is in equilibrium and it decreases with an increase in the external load. The dynamic model lays the foundation for the control of the mechanism.

Исследование кинематики ромбического механизма

Designing modern mechanisms and machines is a very complex and iterative process. One of its first stages is the kinematic analysis of mechanisms followed by structural, dynamic, kinetostatic, etc. The scheme of an asymmetric rhombic mechanism with a developed drive arm of the working group is investigated. The kinematics of the characteristic links points of this mechanism is considered: their kinematic pairs and centers of mass. The kinematics of points and links of this mechanism is considered. The main dependencies for determining the analogs of the velocities and accelerations of points and links of the mechanism are presented. To solve the kinematics tasks the Zinoviev’s method of vector contours was used. The results of the kinematic analysis can be used for dynamic and kinetostatic research of the asymmetric rhombic mechanism with a developed drive arm of the working group, as well as for optimization synthesis of its design.

A Project Based Learning Approach in Teaching Mechanism Kinematic Analysis

A Project Based Learning Approach in Teaching Mechanism Kinematic Analysis

Analytical Analysis of Horse Riding Machine Based on Ergonomics

Abstract Horse riding machine is a typical fitness equipment, and widely used in various fitness places, which can make people feel more comfortable when using a riding machine, a 3D modeling of the riding machine based on ergonomics is established by using SolidWorks software. Then the position, velocity and acceleration equations of the saddle, pedal and armrest are established by the kinematic analysis of mechanism, then analytical analysis are conducted to determine the optimal length of each component, i.e., the length of AB pole is L1=95mm, the length of BC pole is L2=255mm, the length of BE pole is L3=310mm, the length of DE pole is L4=270mm, the length of EF pole is L5=100mm, and the length of FG pole is L6=400mm.

COMPUTER SIMULATION AND ANALYTICAL SOLUTION OF FOUR BAR MECHANISM

Urgency of the research. The use of computers in technical practice leads to the extension of the possibility of solving mathematical models. This makes it possible to gradually automate complex calculations of equations of mathematical models. It is necessary to input the relevant inputs of the mathematical model, to build a simulation computer model and to monitor and evaluate the output results using a computer's output device. Target setting. The possibilities of modeling a four-bar linkage mechanism by classical analytical methods and methodsusing computer modeling are presented in this paper.The problem is to describe the creation of a computer model and to show the mathematical model and its solution in the classical ways. Actual scientific researches and issues analysis. The inspiration for the creation of the article was the study of the mechanisms in the work [1-3] and the study of other resources available in library and journal materials, as well as prepared study materials for students of Technical university Kosice. Uninvestigated parts of general matters defining. The question of building a real mechanism model. The possibilities to building a real model, based on the result of simulation. The research objective. The aim of this paper is to develop a functional model of the mechanism in ADAMS/View and Matlab and its complete kinematic analysis.The statement of basic materials.The task was to create a computer model in MSC Adams and Matlab and to perform a four-bar linkage mechanism kinematic analysis. At the same time the classical procedure of analytical methods of kinematic analysis was described. Kinematic сharacteristics of driven members and their selected points were determined. The movement of the parts of the mechanism in its significant points was analyzed. The results of the solution were shown in both programs in graphical form. Kinematic analysis was performed by both vector and graphical methods. Finally, the results with a graphical representation of parameters such as angular displacement, angular velocity and angular acceleration of mechanism members are presented in this work. The results of these solutions are created in the form of graphs. To ensure that the results do not differ from the model real, a good computer model gradually was created by its verification and modification, which is one of the advantages of MSC Adams. The practical applicability of the mathematical model was limited by the existence of an analytical solution. Conclusions. The development of computer technology has expanded the limit of solvability of mathematical models and made it possible to gradually automate the calculation of equations of mathematical models. In a computer model the auto-mated calculation can be treated as a real object sample. In various variations of calculation, we can monitor and measure the behavior of an object under different conditions, under the influence of different inputs. Graphical and vector methods were used for classical analytical methods. MSC Adams and Matlab were used for the automated calculations.

Kinematics analysis of the swash plate mechanism

The swash plate mechanism is one of the most exploited mechanisms from technical applications due to its constrictive simplicity. The kinematical analysis supposes establishing the motion of the plunger as function of the motion of the plate and of the constructive characteristics of the mechanism. The work presents the kinematical analysis of the mechanism performed by two methods. In the first way, the mechanism is replaced by a mechanism with lower pairs to which the Hartenberg-Denavit procedure is applied. In the second way, the definition conditions of the pair of first class, plunger-plate, are used. The results are obviously identical for the two methods but for the second approach, the labour required for the analysis is significantly reduced. The main outcome of the paper refers to the scheme of kinematical solving of a mechanism. The type of pairs should be a criterion and for the higher pairs, the use of direct condition of the structural definition is recommended.

Forward kinematic analysis of a 3-RRRS mechanism with subordinate driving variables using a computer-aided geometric method

The 3-RRRS mechanism (RRRS refers to kinematic pairs of a branched chain consisting of three R pairs (Rotational pairs) and one S pair (Spherical pair), successively) is used between a moving platform and a static platform, through which six-dimensional motion of the moving platform relative to the static platform can be achieved. Selecting six independently drivable joints from nine active joints makes it problematic to deal analytically with the kinematics of the 3-RRRS mechanism. In this article, a novel computer-aided geometric method for kinematic analysis is developed. This method can automatically detect the independently drivable joints for arbitrary kinematic chains. This method can be easily implemented compared to the analytical method of the forward kinematics. Based on the constraint relationship of the 3-RRRS mechanism, a general 3-RRRS mechanism digital model is built in the SolidWorks Application Program Interface embedded Visual Basic environment, in which the platform sizes and active driving angles are driven by the parameterized model, to make the moving platform move to the corresponding pose. After the pose of the moving platform is confirmed, the coordinate system is built in a preliminary sketch. The parameters are measured by the SolidWorks measuring functions, and the pose of the moving platform is obtained by combining homogeneous matrices. Using the computer-aided geometric method, the detailed kinematics formula is not required. The accuracy and efficiency of the computer-aided geometric method were assessed with some examples of kinematic analysis for the 3-RRRS mechanism. The results showed that the proposed method obtained competitive precision and calculation time to the analytical method and is beneficial as a convenient solving process. By using Visual Basic programming, a reachable poses analysis of the mechanism can be merged into the kinematics analysis system of the computer-aided geometric method. The computer-aided geometric method could be widely applied to kinematics analysis of mechanisms.

Analysis of technical and operational characteristics of turning-and-shunting door opening mechanism of electric public transport

One of the most important problems occurring while designing public transport vehicles consists in providing an effective control of the door opening systems. The methods of carrying out the investigations presented in the paper include structural and kinematic analysis of the door opening mechanisms and simulation of their operation in applied software. The paper analyses the design and operational peculiarities of the turning-and-shunting mechanism of door opening of electric public transport. The corresponding design of the mechanism is proposed. It is suggested to be driven by pneumatic drive. The simplified diagram of the mechanism is constructed. Structural and kinematic analysis of the mechanism is performed, and the analytical dependencies for describing the motion of its links during the door opening/closing are derived. The main kinematic parameters of the studied mechanism are investigated on the basis of the derived analytical dependencies in MathCAD software, as well as by means of simulating the motion of the solid-state model of the mechanism designed in SolidWorks software. The conclusions about the agreement of the results of theoretical investigations performed on the basis of numerical solving the obtained motion equations and of the virtual experiment (motion simulation in SolidWorks software) are drawn. The analysis of energy efficiency of the investigated turning-and-shunting door opening mechanism of electric public transport is carried out. Prescribing the resistance force acting on the door leaf and calculating the corresponding door motion speed during its closing, the dependency of the nominal power supply of the mechanism drive as a function of corresponding generalized coordinates was deduced. Analyzing the obtained results, the authors have established that the necessary nominal power of the turning-and-shunting mechanism drive is almost twice larger than the necessary nominal power of the widely used leaning-and-shunting mechanism. Further investigations on the subject of the paper can be performed in the direction of developing different control systems providing safe and reliable operation of the considered door opening mechanism driven be electric and pneumatic actuators.

Kinematic Analysis of Mechanisms Based on Parametric Polynomial System: Basic Concept of a Method Using Gröbner Cover and Its Application to Planar Mechanisms

Many kinematic problems in mechanisms can be represented by polynomial systems. By algebraically analyzing the polynomial systems, we can obtain the kinematic properties of the mechanisms. Among these algebraic methods, approaches based on Gröbner bases are effective. Usually, the analyses are performed for specific mechanisms; however, we often encounter phenomena for which, even within the same class of mechanisms, the kinematic properties differ significantly. In this research, we consider the cases where the parameters are included in the polynomial systems. The parameters are used to express link lengths, displacements of active joints, hand positions, and so on. By analyzing a parametric polynomial system (PPS), we intend to comprehensively analyze the kinematic properties of mechanisms represented by these parameters. In the proposed method, we first express the kinematic constraints in the form of PPS. Subsequently, by calculating the Gröbner cover of the PPS, we obtain the segmentation of the parameter space and valid Gröbner bases for each segment. Finally, we interpret the meaning of the segments and their corresponding Gröbner bases. We analyzed planar four- and five-bar linkages and five-bar truss structures using the proposed method. We confirmed that it was possible to enumerate the assembly and working modes and to identify the geometrical conditions that enable overconstrained motions.

Configuration Synthesis of Generalized Mechanism Based on Screw Theory

A mechanism composed of generalized links and kinematic pairs is defined as the generalized mechanism, which is capable of transforming motions and forces. It is an expansion of traditional rigid mechanisms and can better reflect the material characteristics. The constraint screw systems of limbs were constructed according to the screw description of generalized links and kinematic pairs. By using screw reciprocal operations, the kinematics screw can be obtained. In addition, the analysis method of kinematic characteristics was established. After that, the inverse-kinematics configuration synthesis method was proposed by inversing the mechanism kinematics analysis. Given the specified motion, the constraint screw system of generalized mechanism was obtained. The constraint screw system can be further decomposed and computed to get the limb kinematics screw systems. Accordingly, the kinematic limbs of the generalized mechanism were obtained. By permutating the kinematic limbs, the desirable configurations of generalized mechanism were obtained.

Extraction of the Geometric Parameters of Human Low Limbs Based on Kinematics Analysis of Mechanism

Extraction of the Geometric Parameters of Human Low Limbs Based on Kinematics Analysis of Mechanism

Research into the process of mechanical formation of the upper part of a raw cotton bundle

The process of formation of the upper part of a raw cotton bundle was examined. We proposed a method for kinematic analysis of mechanisms of the cotton-processing machines, including a mechanical bundling press, and developed an algorithm for its computer implementation. The proposed method makes it possible to obtain equations for determining the kinematic parameters of a mechanism for the formation of the upper part of a cotton bundle at the assigned law of the motion of a drive link, which is the cam. We experimentally studied the possibility of forming the upper part of a bundle with the required density of cotton, which ensures stability of the formed bundle. Taking into account the influence of density of raw cotton in the bundle on the adhesion between waste and cotton, and based on the impact of this on the cleaning effect, we conducted theoretical and experimental research. The study performed allowed us to determine the density of raw cotton in a bundle depending on the time and height of the bundle, and to investigate the influence of waste adhesion on the ginning effect.

Representation of the kinematic topology of mechanisms for kinematic analysis

Abstract. The kinematic modeling of multi-loop mechanisms requires a systematic representation of the kinematic topology, i.e. the arrangement of links and joints. A linear graph, called the topological graph, is used to this end. Various forms of this graph have been introduced for application in mechanism kinematics and multibody dynamics aiming at matrix formulations of the governing equations. For the (higher-order) kinematic analysis of mechanisms a simple yet stringent representation of the topological information is often sufficient. This paper proposes a simple concept and notation for use in kinematic analysis. Upon a topological graph, an order relation of links and joints is introduced allowing for recursive computation of the mechanism configuration. An ordering is also introduced on the topologically independent fundamental cycles. The latter is indispensable for formulating generically independent loop closure constraints. These are presented for linkages with only lower pairs, as well as for mechanisms with one higher kinematic pair per fundamental cycle. The corresponding formulation is known as cut-body and cut-joint approach, respectively.

Kinematics and Dynamics Analysis of an Innovative Face-shovel Hydraulic Excavator in Mining

A new face-shovel hydraulic excavator is proposed, which can effectively increase the thrust and stroke of the bucket cylinder. By analyzing the degrees of freedom of the working device, the result shows that the degrees of freedom are two translations and one rotation on a plane, which can meet the requirements of face-shovel excavators. Based on the graphical modularization and loop algebra theory, a universal mechanical kinematics analysis flow diagram is established, with which the kinematics of the mechanism is investigated. By numerical analysis method, five numerical examples are given to verify the correctness of kinematics analysis. Comparative analyses of the results show that the algorithm is reliable and accurate. Based on Kane's method and the equivalent torque principle, the dynamics analyses of the new-type mechanism are conducted, and the dynamic mathematical model is deduced and established. Referring to dimension parameters of the caterpillar face-shovel excavator, the structural parameters of the new hydraulic face-shovel excavator are given. Based on Matlab, simulation researches are worked according to the dynamics equations, in the case of horizontal operation, respectively for no load and variable resistance. The analysis results show that the method is reliable. The research result will lay the foundation for the design and application of the novel mechanism.

Kinematical Simulation of 3-DOF Parallel Mechanism Based on ADAMS

Kinematics analysis of mechanism refers to analysis for pose、speed and acceleration of mobile platform of spatial 3-RPS parallel mechanism. In this paper, mathematical model of spatial 3-RPS parallel mechanism is primarily built, and the close loop equation is adopted for the positional posture analysis of the mobile platform, then the positional posture of mobile paltform is acquired. Finally, kinematical simulation will be acquired by software Adams, which makes sense in kinematical performance of spatial 3-RPS parallel mechanism.

The Mechanism and Transmission Design of Robotic Fish in Coal Mine

After coal mine flooding accident, the complexity mine environment caused rescue difficult, the paper proposed using robotic fish in the accident to do the detection. The basic configuration of the robotic fish was designed based on the fish propulsion mechanism, and the transmission mechanism was especially designed. Then, the mechanism kinematic analysis, and the mechanism motion curves were simulated using MATLAB, and a detail analysis of the transmission process of caudal fin system and the check of the motor torque were accomplished.

Kinematic Simulation of Serial Mechanism Based on ADAMS

Kinematics analysis of mechanism refers to analysis for pose、speed and acceleration of mechanism end manipulator. In this paper, the manipulator of MOTOMAN UP50 is firstly regarded as object, then setting up its pose equation by way of D-H, simulating its kinematics by software of Adams, the real time results of pose、speed and acceleration of robot in different conditions have been obtained. Therefore, it makes sense in kinematic performance of joint robot and prepares for further research of kinetic and controlling properties.

Computer Aid of Mechanism Behaviour

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.

Study of Wirebonding Loop Formation and Influencing Factors Based on Mechanical Mechanics

Mechanical dynamics and mechanical kinematics analysis of the loop deformation are researched. Because of the complex mechanical dynamics relationship between capillary trajectory and loop profile, its difficult to study the process of wirebonding. Lo has proposed a linkage-spring model to simulate the process. This paper simulated the loop profile through linkage-spring model, and validated it by experiments. After that, the Taguchi method has been developed to characterize the various looping parameters. The studies show that the kink height has a strong influence on the loop height and the sagging height, the wire length is a critical factor to the deformation of the wire near the first bond.