Kinematic Mechanism Research Articles

Unmanned Agricultural Machine Operation System in Farmland Based on Improved Fuzzy Adaptive Priority-Driven Control Algorithm

Autonomous driving technology for agricultural machinery can maximise crop yield, reduce labour costs, and alleviate labour intensity. In response to the current low degree of automation and low tracking accuracy of driving paths in agricultural equipment, this research proposes an unmanned agricultural machinery operating system based on an improved fuzzy adaptive PD control algorithm. Firstly, mechanical kinematic models and fuzzy adaptive control algorithms are introduced to achieve autonomous driving, and parameter settings and speed adjustments are made while considering errors. Secondly, in the autonomous driving operation system, taking a certain rice machine as an example, perception information, trajectory design, dynamic control, operation supervision, and remote control design are carried out. The experimental results show that the improved fuzzy algorithm exhibits smaller deviation results in driving path tracking, with an average error between the actual path and the expected path of less than 0.001 m. In different testing scenarios, compared with the actual control results, the maximum deviation of the control system platform in straight sections is less than 2.8 m, which is more stable. More than 95% of the lateral deviation results in the road sections are within 0.11 m. And the tracking distance error of the proposed method in the straight and curved segments is relatively small, far smaller than other comparative algorithms. The unmanned agricultural machinery operation system proposed in this study can significantly improve the efficiency and accuracy of agricultural machinery work, promote the development of intelligent and modern agricultural machinery, and provide reference value and important contributions to social and economic development as well as the progress and promotion of related technologies.

Geometric mechanics of kiri-origami-based bifurcated mechanical metamaterials.

We explore a new design strategy of leveraging kinematic bifurcation in creating origami/kirigami-based three-dimensional (3D) hierarchical, reconfigurable, mechanical metamaterials with tunable mechanical responses. We start from constructing three basic, thick, panel-based structural units composed of 4, 6 and 8 rigidly rotatable cubes in close-looped connections. They are modelled, respectively, as 4R, 6R and 8R (R stands for revolute joint) spatial looped kinematic mechanisms, and are used to create a library of reconfigurable hierarchical building blocks that exhibit kinematic bifurcations. We analytically investigate their reconfiguration kinematics and predict the occurrence and locations of kinematic bifurcations through a trial-correction modelling method. These building blocks are tessellated in 3D to create various 3D bifurcated hierarchical mechanical metamaterials that preserve the kinematic bifurcations in their building blocks to reconfigure into different 3D architectures. By combining the kinematics and considering the elastic torsional energy stored in the folds, we develop the geometric mechanics to predict their tunable anisotropic Poisson's ratios and stiffnesses. We find that kinematic bifurcation can significantly effect mechanical responses, including changing the sign of Poisson's ratios from negative to positive beyond bifurcation, tuning the anisotropy, and overcoming the polarity of structural stiffness and enhancing the number of deformation paths with more reconfigured shapes.This article is part of the theme issue 'Origami/Kirigami-inspired structures: from fundamentals to applications'.

A Numerical Integrator for Kinetostatic Folding of Protein Molecules Modeled as Robots with Hyper Degrees of Freedom

The kinetostatic compliance method (KCM) models protein molecules as nanomechanisms consisting of numerous rigid peptide plane linkages. These linkages articulate with respect to each other through changes in the molecule dihedral angles, resulting in a kinematic mechanism with hyper degrees of freedom. Within the KCM framework, nonlinear interatomic forces drive protein folding by guiding the molecule’s dihedral angle vector towards its lowest energy state in a kinetostatic manner. This paper proposes a numerical integrator that is well suited to KCM-based protein folding and overcomes the limitations of traditional explicit Euler methods with fixed step size. Our proposed integration scheme is based on pseudo-transient continuation with an adaptive step size updating rule that can efficiently compute protein folding pathways, namely, the transient three-dimensional configurations of protein molecules during folding. Numerical simulations utilizing the KCM approach on protein backbones confirm the effectiveness of the proposed integrator.

Didactical proposal for the study of rigid body kinematics using analytical, video-tracking, and simulated cases of a four-bar mechanism

This work used three methods (analytical, simulated, and video-tracking) to analyze the kinematics of a four-bar mechanism. The results obtained were shared and implemented in an engineering dynamics course at the university level to assess the impact of this exercise on motivation and understanding of the course topic. A survey was used to evaluate the exercise. The survey results showed that for the students, the implementation of different methods to tackle the same problem improved their understanding of the concepts and gave them other options for analyzing a mechanical system.

Numerical Solutions for Kinematics of Multi-bar Mechanisms Using Graph Theory and Computer Simulations

Numerical Solutions for Kinematics of Multi-bar Mechanisms Using Graph Theory and Computer Simulations

Rotational movement of Chinese dance based on the analysis of kinematic mechanics

Rotational movement of Chinese dance based on the analysis of kinematic mechanics

Kinematic analysis and advanced control of a vectored thruster based on 3RRUR parallel manipulator for micro-size AUVs

Abstract Autonomous underwater vehicles (AUVs) have played a pivotal role in advancing ocean exploration and exploitation. However, traditional AUVs face limitations when executing missions at minimal or near-zero forward velocities due to the ineffectiveness of their control surfaces, considerably constraining their potential applications. To address this challenge, this paper introduces an innovative vectored thruster system based on a 3RRUR parallel manipulator tailored for micro-sized AUVs. The incorporation of a vectored thruster enhances the performance of micro-sized AUVs when operating at minimal and low forward speeds. A comprehensive exploration of the kinematics of the thrust-vectoring mechanism has been undertaken through theoretical analysis and experimental validation. The findings from theoretical analysis and experimental confirmation unequivocally affirm the feasibility of the devised thrust-vectoring mechanism. The precise control of the vector device is studied using Physics-informed Neural Network and Model Predictive Control (PINN-MPC). Through the adoption of this pioneering thrust-vectoring mechanism rooted in the 3RRUR parallel manipulator, AUVs can efficiently and effectively generate the requisite motion for thrust-vectoring propulsion, overcoming the limitations of traditional AUVs and expanding their potential applications across various domains.

Kinematic, Neuromuscular and Bicep Femoris In Vivo Mechanics during the Nordic Hamstring Exercise and Variations of the Nordic Hamstring Exercise

The Nordic hamstring exercise (NHE) is effective at decreasing hamstring strain injury risk. Limited information is available on the in vivo mechanics of the bicep femoris long head (BFLH) during the NHE. Therefore, the purpose of this study was to observe kinematic, neuromuscular and in-vivo mechanics of the BFLH during the NHE. Thirteen participants (24.7 ± 3.7 years, 79.56 ± 7.89 kg, 177.40 ± 12.54 cm) performed three repetitions of the NHE at three horizontal planes (0°, 20° and −20°). Dynamic ultrasound of the dominant limb BFLH, surface electromyography (sEMG) of the contralateral hamstrings and sagittal plane motion data were simultaneously collected. Repeated measures analysis of variance with Bonferroni post hoc corrections were used on the in vivo mechanics and the kinematic and sEMG changes in performance of the NHE. Likely differences in ultrasound waveforms for the BFLH were determined. Significant and meaningful differences in kinematics and in vivo mechanics between NHE variations were observed. Non-significant differences were observed in sEMG measures between variations. Changes to the NHE performance angle manipulates the lever arm, increasing or decreasing the amount of force required by the hamstrings at any given muscle length, potentially changing the adaptive response when training at different planes and providing logical progressions ore regressions of the NHE. All NHE variations result in a similar magnitude of fascicle lengthening, which may indicate similar positive adaptations from the utilization of any variation.

Intrinsically Multi-Stable Spatial Linkages.

Multi-stable structures can be reconfigured with fewer, lightweight, and less accurate actuators. This is because the attraction domain in the multi-stable energy landscape provides both reconfiguration guidance and shape accuracy. Additionally, such structures can generate impulsive motion due to structural instability. Most multi-stable units are planar structures, while spatial linkages can generate complex 3D motion and hold a more promising potential for applications. This study proposes a generalized approach to design a type of intrinsically multi-stable spatial (IMSS) linkages with multiple prescriptible configurations, which are structurally compatible, and naturally stable at these states. It reveals that all over-constrained mechanisms can be transformed into multi-stable structures with the same design method. Single-loop bi-stable 4R and quadra-stable 6R spatial linkages modules with intrinsic non-symmetric stable states, which are transformed from fundamental kinematic linkage mechanisms unit such as Bennett and Bricard linkages, are designed to illustrate the basic idea and the superiority over the ordinary methods. Multi-loop assembly by these IMSS linkage modules shows potential for practical applications that are required for the deployability and impulsivity of reconfiguration. Two preliminary design cases of a deployable tube and an impulsive gripper are experimentally presented to validate this applicability. Further promisingly, this design method of IMSS linkages paves the way for morphing platforms with lightweight actuation, high shape accuracy, high stiffness, and prescribed impulsive 3Dmotion.

Advanced modeling of higher-order kinematic hardening in strain gradient crystal plasticity based on discrete dislocation dynamics

An extensive study of size effects on the small-scale behavior of crystalline materials is carried out through discrete dislocation dynamics (DDD) simulations, intended to enrich strain gradient crystal plasticity (SGCP) theories. These simulations include cyclic shearing and tension-compression tests on two-dimensional (2D) constrained crystalline plates, with single- and double-slip systems. The results show significant material strengthening and pronounced kinematic hardening effects. DDD modeling allows for a detailed examination of the physical origin of the strengthening. The stress–strain responses show a two-stage behavior, starting with a micro-plasticity regime with a steep hardening slope leading to strengthening, and followed by a well-established hardening stage. The scaling exponent between the apparent (higher-order) yield stress and the geometrical size h varies depending on the test type. Scaling relationships of h−0.2 and h−0.3 are obtained for respectively constrained shearing and constrained tension-compression, aligning with some experimental observations. Notably, the DDD simulations reveal the occurrence of the uncommon type III (KIII) kinematic hardening of Asaro in both single- and double-slip cases, emphasizing the relevance of this hardening type in the realm of small-scale plasticity. Inspired by insights from DDD, two advanced SGCP models incorporating alternative descriptions of higher-order kinematic hardening mechanisms are proposed. The first model uses a Prager-type higher-order kinematic hardening formulation, and the second employs a Chaboche-type (multi-kinematic) formulation. Comparison of these models with DDD simulation results underscores their ability to effectively capture the observed strengthening and hardening effects. The multi-kinematic model, through the use of quadratic and non-quadratic higher-order potentials, shows a notably better qualitative congruence with DDD findings. This represents a significant step towards accurate modeling of small-scale material behaviors. However, it is noted that the proposed models still have limitations, especially in matching the DDD scaling exponents, with both models producing h−1 scaling relationships (i.e., Orowan relationship for precipitate size effects). This indicates the need for further improvements in gradient-enhanced theories in order to guarantee their suitability for practical engineering applications.

Dynamic Analysis of Planar Mechanism in Numerical Methods

In kinematic synthesis and analysis of planar mechanisms the designer must define a geometry and set of motions for a design task. Then it is logical to determine the forces or torques in order to create such motion in the system, which means finding out a convenient approach to solving for the forces and torques that result from our kinematic system in such a way as to provide the designed accelerations. This task is called dynamic force analysis (or kinetic analysis). Many numerical methods to determine the position, velocity, and acceleration of a planar mechanism are introduced and applied successfully, for example, using the transformation matrix. To solve fully kinetic problems for a planar mechanism, it is necessary to establish a simple and easy procedure that determines the forces or torques maintaining the motion in the system with the help of a computer. This paper will focus on how to determine the forces or torques acting on the planar mechanism by numerical method when acceleration and dynamic properties of the linkage are known. Some of the chosen examples shown here aim to demonstrate in detail the numerical solution for dynamic force analysis. The paper’s purpose is not to demonstrate novelty, but to propose a new approach that can be applied to machinery design projects for students. University students can consult the content of this paper to carry out kinematic and kinetic analysis of planar mechanisms using this numerical method, as opposed to the traditional vector drawing method that is widely used.

Kinematic synthesis and mechanism design of a six-bar jumping leg for elastic energy storage and release based on dead points

Small jumping robots widely adopt complex catapult mechanisms. This paper presents a novel jumping strategy using dead point instead of traditional catapult mechanisms, achieving efficient energy storage and release without increasing mechanical complexity. Single degree-of-freedom (DOF) planar six-bar linkages are widely used in bionic mechanism design due to their simple control and strong design flexibility. However, their complex configuration and numerous parameters make it challenging to carry out multi-objective and multi-constraint designs. In this paper, a design method of single DOF six-bar linkages based on dead-point constraints is proposed to design a frog-inspired leg mechanism. By enumerating the basic configuration atlas and using a stepwise closed-loop method, initial value screening is completed to improve the efficiency of objective function optimization. The dead-point constraints are simplified with graphical geometric properties. The resulting mechanism satisfies multiple objectives and constraints, including shape, motion posture and trajectory, demonstrating the feasibility of the method. Simulations and experiments confirmed the excellent jumping performance of the 147.1-g prototype, with a jump height of 8.55 times leg length and an energy-storing capacity of 35.39 J/kg.

Research on the Optimal Trajectory Planning Method for the Dual-Attitude Adjustment Mechanism Based on an Improved Multi-Objective Salp Swarm Algorithm

In this study, an optimization method for the motion trajectory of attitude actuators was investigated in order to improve assembly efficiency in the automatic docking process of large components. The self-developed dual-attitude adjustment mechanism (2-PPPR) is used as the research object, and the structure is symmetrical. Based on the modified Denavit–Hartenberg (MDH) parameter description method, a kinematic model of the attitude mechanism is established, and its end trajectory is parametrically expressed using a five-order B-spline curve. Based on the constraints of the dynamics and kinematics of the dual-posture mechanism, the total posturing time, the degree of urgency of each joint, and the degree of difficulty of the mechanism’s posturing are selected as the optimization objectives. The Lévy flight and Cauchy variation algorithms are introduced into the salp swarm algorithm (SSA) to solve the parameters of the multi-objective trajectory optimization model. By combining the evaluation method of the multi-objective average optimal solution, the optimal trajectory of the dual-tuning mechanism and the motion trajectory of each joint are obtained. The simulation and experiment results show that the trajectory planning method proposed in this paper is effective and feasible and can ensure that the large-part dual-posture mechanism can complete the automatic docking task smoothly and efficiently.

Exhaustive Enumeration of Spatial Prime Structures

Prime structures are link chains with 0 DoF (degrees of freedom), not including subchains with 0 or fewer DoF, which are expected to be used in systematic kinematic and dynamic analyses of link mechanisms. This paper describes the exhaustive enumeration of spatial prime structures with three–five links. There will be more types of spatial prime structures than planar prime structures due to the variety in the DoF of kinematic pairs and the existence of prime structures with idle DoF. In the enumeration, the graphs which represent the connection of links and pairs are used. The vertices of the graphs represent the links of structures, and the edges represent the kinematic pairs. To consider the pair DoF, weights are set on edges. First, the numbers of pairs are calculated using Grübler’s equation. Second, the graphs corresponding to structures are enumerated, without considering pair DoF, and the isomorphic graphs and other inappropriate graphs are eliminated. Then, the combinations of pair DoF arrangement are enumerated, and the isomorphic graphs and graphs which correspond to non-prime structures are eliminated. Finally, prime structures with idle DoF are considered. As a result, 3, 13, and 97 kinds of spatial prime structures for 3, 4, and 5 links, respectively, are obtained.

New insights into the kinematics of fault-propagation folding from analogue models monitored using particle image velocimetry

This study aimed to understand the 2D kinematic processes associated with the development of fault-propagation folds in contractional systems. Analogue models were used to analyse the influence of, and the interplay among, various parameters, including: (1) the analogue material (quartz sand v. glass microspheres); (2) the mechanical stratigraphy (anisotropic models v. models with two different analogue-packs); and (3) the initial thickness of the analogue-pack. Each model was analysed using particle image velocimetry to quantify the spatial and temporal patterns of the strain rates during progressive deformation. The results showed that fault-propagation folding combines different kinematic mechanisms, such as flexural slip and basal thickening. Ramp initiation can occur in different ways: from the detachment, within the deformed layers or via a combination of these processes, as observed in outcrops of the Jaca–Pamplona Basin (southern Pyrenees) and the Big Bend National Park (western Texas, USA).

AERODYNAMIC FORCES IN INCREASING SPINDLE ACTIVITY

we implement "aerodynamic forces in increasing spindle activity" in the program "Compass-3D". the topic presents the methodology and results of the graphoanalytical study of the rotating finger kinematics of the multi-finger mechanism belonging to the multi-contour finger mechanism of the vertical spindle drum of the cotton harvester.

Kinematic mechanics study of silicon wafers and glass particles oscillatory separation based on friction coefficient differences

In this paper, the static friction coefficient of different particle sizes silicon wafers, glass particles and separation platform are measured by the plane method. Based on the force analysis of particle oscillatory separation process, the kinetic equation of particle oscillatory separation process is established, and the influence of factors such as particle size and friction coefficient on the motion trajectory of particle oscillatory separation process is analyzed. The research results indicate that the range of static friction coefficients between silicon wafers, glass particles, and separation platforms is different, but there are also overlapping parts. The kinetic equation indicates that the motion speed of particle oscillatory separation process is affected by factors such as the friction coefficient between particles and separation platforms, the inclination angle of separation platforms, and the amplitude of separation platforms. During the oscillatory separation process of silicon wafer glass mixed particles, silicon wafer particles with friction coefficients of 0.33–0.39 will become silicon wafer products, glass particles with friction coefficients of 0.22–0.31 will become glass products, and silicon wafer glass particles with overlapping friction coefficients of 0.310.33 will become intermediate products. To achieve better separation of silicon wafer and glass particles in the oscillatory separation process, it is necessary to take control measures to reduce the friction coefficient between the separation platform and silicon wafer and glass particles as much as possible.

Establishment and analysis of a unified mathematical model of kinematics and dynamics of flexible parallel mechanisms

Abstract The conventional positive solution approach for determining the forward motion of the kinematic mechanism relies primarily on the outcomes of the inverse solution of motion, which is not universally applicable to flexible parallel mechanisms. Furthermore, the process of analyzing the natural frequency of parallel mechanisms is complex, cumbersome, and challenging. More importantly, the two models are independent, and there is no unified mathematical analysis model for flexible parallel mechanisms. Therefore, this paper establishes a unified mathematical model for kinematics and dynamics analysis of flexible parallel mechanisms through an improved multi-body system transfer matrix method. Taking the flexible 3-RPU planar mechanism and the space 2-RPU (2-UPS) space mechanism as examples, respectively, the forward motion solution of the mechanism was analyzed and its working space range and resonance frequency were solved. Finally, the calculation results are compared with the simulation results, and the feasibility and accuracy of the method are proved. Through this method, we can quickly solve the motion characteristics of the mechanism without relying on the results of the inverse solution of the mechanism, which provides suggestions for the precise control of flexible parallel mechanisms and also provides corresponding reference basis for the practical application of flexible parallel mechanisms.

Design and performance evaluation of a novel parallel kinematic micromanipulator

The targeted placement of selected carbon nanotubes is associated with low throughput rates. Hence, this paper presents a novel stage design for the fully automatic assembly of carbon nanotube field-effect transistors (CNTFETs) via mechanical dry transfer. It constitutes the core module of an assembly machine for the precise deployment of nanotubes onto a prefabricated wafer. The mechanical dry transfer approach allows high level of carbon nanotube selectivity with the aim of enabling a high-volume fabrication of ultra-clean devices. The previous production rate of such ultra-clean devices is less than one per hour, which offers a high potential for improvement. The stage consists of a parallel kinematic mechanism (PKM) with 3 degrees of freedom (X2Y2C1) carrying two additional stacked axes (Z1C2). The PKM is suspended on a vacuum preloaded aerostatic bearing, voice coil motors (VCM) and flexure hinges. Together with a combination of high precision and resolution touch probe measurement systems close to its tool center point (TCP), high accuracy and low settling time can be achieved. Based on realistic manufacturing tolerances, a sensitivity analysis of the mechanism’s pseudo rigid body model (PRBM) suggests a theoretical closed-loop error below 0.15μm over the entire XY workspace of 20mm×2.8mm. Measurements of positioning motions show that the settling time can be decreased by the compensation of friction resistances inside the internal bearings of the VCMs.

Dynamic model of single-DOF spherical mechanisms based on instantaneous pole axes and Eksergian's equation

Instantaneous pole axes (IPAs) fully describe instantaneous kinematics of spherical mechanisms. In single-degree-of-freedom (single-DOF) mechanisms, IPAs’ locations uniquely depend on the mechanism configuration. Such a property allows the deduction of instantaneous-motion characteristics by means of analytic techniques based on geometric features of the mechanism configuration. Moreover, these geometric/analytic approaches are extendable to mechanism's static analyses since the virtual work principle relates mechanism's statics to its instantaneous kinematics. Analytic approaches based on geometric reasoning are of interest in mechanism design and their further extension to dynamic analyses is appealing in that context. This work proposes a possible extension of IPA-based techniques to dynamic analyses of single-DOF spherical mechanisms by using Eksergian's equation. A novel general dynamic model for single-DOF spherical mechanisms is proposed, which is based on IPAs’ locations. Then, the effectiveness of the proposed model is applied to a relevant single-DOF spherical mechanism.