Kinematic Modeling Analysis Research Articles

Kinematic Analysis and Virtual Design of the Cutter of Seedling Vegetable Harvester

[Purpose] To solve problems in design of the cutter for seedling vegetable harvesters, a cutter with a double-eccentric circle cam mechanism has been built. [Method] A mathematical model for kinematic analysis of cutters driven by a double-eccentric circle cam mechanism has been established. Under the model, Matlab has been employed to make kinematic analysis on displacement, speed and acceleration. Also, SolidWorks software has been adopted for virtual design of parts and assemblies of the cutter. [Results] The cutter has been applied to the seedling vegetable harvester for the experimental purpose and turned out to operate reliably and produce uniform height and leveling shearing fracture. [Results] This design will provide theoretical basis and practical reference for relevant researches.

Differential Speed Steering Control for Four-Wheel Independent Driving Electric Vehicle

The increasing prospect of electric drive vehicles has led many different control schemes to apply on the driving system. Differential speed steering which do not use traditional steering mechanism is studied on a four-wheel-driving vehicle. By comparison with the traditional Ackerman-steered vehicle, differential-steered method shown its advantage on the simple structure. However, since the steering performance is coupling with the velocities of all wheels, the strategy of differential speed control is a technological challenge. With the analysis of kinematic model of the vehicle, the relation between the turning behavior and the wheel parameters are investigated. A steering speed control is proposed to get a steady turning performance. The control strategy is implemented in a simulation to verify its rationality.

Analyzing complex rock slope deformation at Stampa, western Norway, by integrating geomorphology, kinematics and numerical modeling

The unstable rock slope, Stampa, above the village of Flåm, Norway, shows signs of both active and postglacial gravitational deformation over an area of 11km2. Detailed structural field mapping, annual differential Global Navigation Satellite System (GNSS) surveys, as well as geomorphic analysis of high-resolution digital elevation models based on airborne and terrestrial laser scanning indicate that slope deformation is complex and spatially variable. Numerical modeling was used to investigate the influence of former rockslide activity and to better understand the failure mechanism. Field observations, kinematic analysis and numerical modeling indicate a strong structural control of the unstable area. Based on the integration of the above analyses, we propose that the failure mechanism is dominated by (1) a toppling component, (2) subsiding bilinear wedge failure and (3) planar sliding along the foliation at the toe of the unstable slope. Using differential GNSS, 18 points were measured annually over a period of up to 6years. Two of these points have an average yearly movement of around 10mm/year. They are located at the frontal cliff on almost completely detached blocks with volumes smaller than 300,000m3. Large fractures indicate deep-seated gravitational deformation of volumes reaching several 100million m3, but the movement rates in these areas are below 2mm/year. Two different lobes of prehistoric rock slope failures were dated with terrestrial cosmogenic nuclides. While the northern lobe gave an average age of 4,300years BP, the southern one resulted in two different ages (2,400 and 12,000years BP), which represent most likely multiple rockfall events. This reflects the currently observable deformation style with unstable blocks in the northern part in between Joasete and Furekamben and no distinct blocks but a high rockfall activity around Ramnanosi in the south. With a relative susceptibility analysis it is concluded that small collapses of blocks along the frontal cliff will be more frequent. Larger collapses of free-standing blocks along the cliff with volumes >100,000m3, thus large enough to reach the fjord, cannot be ruled out. A larger collapse involving several million m3 is presently considered of very low likelihood.

Analysis and Development of Walking Algorithm Kinematic Model for 5-Degree of Freedom Bipedal Robot

A design of walking diagram and the calculation of a bipedal robot have been developed. The bipedal robot was designed and constructed with several kinds of servo bracket for the legs, two feet and a hip. Each of the bipedal robot leg was 5-degrees of freedom, three pitches (hip joint, knee joint and ankle joint) and two rolls (hip joint and ankle joint). The walking algorithm of this bipedal robot was based on the triangle formulation of cosine law to get the angle value at each joint. The hip height, height of the swinging leg and the step distance are derived based on linear equation. This paper discussed the kinematic model analysis and the development of the walking diagram of the bipedal robot. Kinematics equations were derived, the joint angles were simulated and coded into Arduino board to be executed to the robot.

Kinematic Analysis and Simulation of MID Laser Direct Structuring Equipment

Molded Interconnect Devices (MID) is an innovative technology in the field of mechatronics which abandons the conventional circuit boards and integrates the mechanical and electronic functions directly on the 3D injection molded thermoplastics. The Laser Direct Structuring (LDS) is the most efficient and advanced technology for the manufacrure of MID. In this paper, LDS technology and equipment have been introduced. Then through kinematic modeling analysis of the LDS equipment, getting the forward and inverse solution of laser focus position in the 3D space. And the LDS equipment processing path has been planned based on the kinematic analysis. Finally the simulation system of LDS has been developed based on Open CASCADE in order to inprove the processing efficiency and quality of MID.

SIMULATION ANALYSIS AND OPTIMIZATION DESIGN OF FRONT SUSPENSION BASED ON ADAMS

It uses ADAMS software to establish the double wishbone suspension kinematics analysis model to analyze the rules of front wheel alignment parameter changing with wheel run-out and evaluate the rationality of the suspension system data. For the problem of too much side slippage and serious abrasion of front wheel of suspension, it carries out optimization computing for the suspension based on the target of minimizing the front wheel side slippage during wheel run-out. And the optimization result improves the suspension system performance in a certain extent.DOI: http://dx.doi.org/10.5755/j01.mech.18.3.1873

Design and Analysis of a Multifingered Robot Hand

With the advent of new control techniques and development of microactuators, manipulator designers have gained inpetus todevelop manipulators and the related devicesthat is more flexible, responsive, smart and anthropomorphic.Taking cue from the work of a number of researchersover a couple of decades, the present work is a systematic attempt to develop a five fingered anthropomorphic robotic hand with 25 DoFs. The hand closely follows the anatomy of a typical human hand. The paper presents the structure of the proposed hand and its model for kinematic analysis. The kinematic analysis has been carried out using conventional method using MATLab software. The result obtained through the analysis confirmed that the robot hand conforms to the objective. DOI: http://dx.doi.org/10.11591/ijra.v1i2.360 Full Text: PDF

Validation of a one degree‐of‐freedom spherical model for kinematics analysis of the human ankle joint

Background During passive motion, the human tibiotalar (ankle) joint behaves as a single degree-of-freedom (1DOF) system [1,2]. In these conditions, fibres within the ligaments remain nearly isometric throughout the flexion arc and articular surfaces nearly rigid. Relevant theoretical models are showing that the ligaments and the articular surfaces act together as mechanisms to control the passive joint kinematics [3-5]. Kinematic measurements and corresponding model predictions also

ADAMS-Based Double Wishbone Suspension Motion Simulation and Optimization

It uses ADAMS software to establish the double wishbone suspension kinematics analysis model to analyze the rules of front wheel alignment parameter changing with wheel run-out and evaluate the rationality of the suspension system data. For the problem of too much side slippage and serious abrasion of front wheel of suspension, it carries out optimization computing for the suspension based on the target of minimizing the front wheel side slippage during wheel run-out. And the optimization result improves the suspension system performance in a certain extent.

Kinematics Analysis and Numerical Method of Mcpherson Suspension

This paper presents a numerical method for kinematics analysis of Mcpherson suspension based on displacement matrix method. A mathematical model for kinematics analysis of Mcpherson suspension is established and the kinematical properties of Mcpherson suspension are analyzed using this method. The numerical method for solving this problem is discussed and the relevant program is developed. This method simplifies the solving process of kinematics properties analysis of Mcpherson suspension and is efficient especially for computer-based solving process.

Kinematics Analysis and Numerical Method for Multi-Link Suspension

This paper presents a numerical method for kinematics analysis of Multi-link suspension based on displacement matrix method. A mathematical model for kinematics analysis of multi-link suspension is established and the kinematical properties of multi-link suspension are analyzed using this method. The numerical method for solving this problem is discussed and the relevant program is developed. This method simplifies the solving process of kinematics properties analysis of multi-link suspension and is efficient especially for computer-based solving process.

Evaluation of a three-dimensional kinematic model for canine gait analysis

Evaluation of a three-dimensional kinematic model for canine gait analysis

A customized model for 3D human segmental kinematic coupling analysis by optoelectronic stereophotogrammetry

The study of three-dimensional human kinematics has significant impacts on medical and healthcare technology innovations. As a non-invasive technology, optoelectronic stereophotogrammetry is widely used for in-vivo locomotor evaluations. However, relatively high testing difficulties, poor testing accuracies, and high analysis complexities prohibit its further employment. The objective of this study is to explore an improved modeling technique for quantitative measurement and analysis of human locomotion. Firstly, a 3D whole body model of 17 rigid segments was developed to describe human locomotion. Subsequently, a novel infrared reflective marker cluster for 17 body segments was constructed to calibrate and record the 3D segmental position and orientation of each functional body region simultaneously with high spatial accuracy. In addition, the novel calibration procedure and the conception of kinematic coupling of human locomotion were proposed to investigate the segmental functional characteristics of human motion. Eight healthy male subjects were evaluated with walking and running experiments using the Qualisys motion capture system. The experimental results demonstrated the followings: (i) The kinematic coupling of the upper limbs and the lower limbs both showed the significant characteristics of joint motion, while the torso motion of human possessed remarkable features of segmental motion; (ii) flexion/extension was the main motion feature in sagittal plane, while the lateral bending in coronal plane and the axial rotation in transverse plane were subsidiary motions during an entire walking cycle regarding to all the segments of the human body; (iii) compared with conventional methods, the improved techniques have a competitive advantage in the convenient measurement and accurate analysis of the segmental dynamic functional characteristics during human locomotion. The modeling technique proposed in this paper has great potentials in rehabilitation engineering as well as ergonomics and biomimetic engineering.

Evaluation of a three-dimensional kinematic model for canine gait analysis

To evaluate a 3-D kinematic model of the hind limb developed by use of a joint coordinate system in dogs. 6 clinically normal adult mixed-breed dogs. 17 retroreflective markers were affixed to the skin on the right hind limb of each dog. Eight infrared cameras were arranged around a gait platform to record marker locations as dogs were recorded moving through the calibrated space 5 times during a walk and trot at velocities of 0.9 to 1.2 m/s and 1.7 to 2.1 m/s, respectively. Local and global coordinate systems were established, and a segmental rigid-body model of the canine hind limb was produced. Dynamic 3-D joint kinematic measurements were collected for the hip, stifle, and tarsal joints. Sagittal (flexion-extension), transverse (internal-external rotation), and frontal (abduction-adduction) plane kinematic measurements were acquired during each trial for the hip, stifle, and tarsal joints. The joint coordinate system allowed acquisition of 3-D kinematic measurements of the hip, stifle, and tarsal joints of the canine hind limb. Methods were described to model 3-D joint motion of the canine hind limb.

Kinematic FE homogenized limit analysis model for masonry curved structures strengthened by near surface mounted FRP bars

Abstract Masonry curved structures, as for instance arches, domes and vaults, are very diffused in historical and existing structures and usually require seismic upgrading and/or rehabilitation. Where FRP external strips cannot be applied for some reasons, the utilization of FRP bars embedded near the external surface becomes a very interesting and effective alternative. In this paper, a kinematic Finite Element limit analysis model to predict collapse loads and failure mechanisms of masonry curved structures reinforced with near surface mounted FRP bars regularly distributed is presented. Reinforced masonry homogenized failure surfaces are obtained by means of a compatible identification procedure, where a central brick is supposed interacting with its neighbors by means of finite thickness mortar joints, filler epoxy resin and FRP rods. In the model, it is required only that the curved structure results from a periodic disposition of bricks, mortar and FRP bars. Therefore, any pattern (multi-leaf, multi-head and single leaf) may be potentially investigated with the procedure proposed. In the framework of the kinematic theorem of limit analysis, a simple constrained minimization problem is obtained on the unit cell, suitable to estimate – with a very limited computational effort – reinforced masonry homogenized failure surfaces. A FE strategy is adopted to solve the homogenization problem at a cell level, modeling joints, bricks, filler and FRP rods by means of 8-noded infinitely resistant parallelepiped elements. A possible jump of velocities is assumed at the interfaces between contiguous elements, where plastic dissipation occurs. For mortar and bricks interfaces, a frictional behavior with possible limited tensile and compressive strength is assumed, whereas for epoxy resin and FRP bars some formulas available in the literature are adopted in order to take into account in an approximate but effective way, the delamination of the bar from the epoxy and the failure of the filler at the interface with the joint. In order to validate the model proposed, two numerical examples are analyzed, consisting of a circular masonry arch and a hemispherical dome. For both the examples presented, comparisons with experimental evidences, where available, and alternative non-linear FE procedures are reported. Reliable predictions of collapse loads and failure mechanisms are obtained with the model proposed for all the cases analyzed, meaning that the approach may be used by practitioners for a fast and reliable evaluation of the effectiveness of a strengthening intervention.

Minimally Invasive Spinal Surgery

Purpose Accurate three-dimensional (3D) models of lumbar vertebrae can enable image-based 3D kinematic analysis. The common approach to derive 3D models is by direct segmentation of CT or MRI datasets. However, these have the disadvantages that they are expensive, timeconsuming and/or induce high-radiation doses to the patient. In this study, we present a technique to automatically reconstruct a scaled 3D lumbar vertebral model from a single two-dimensional (2D) lateral fluoroscopic image. Methods Our technique is based on a hybrid 2D/3D deformable registration strategy combining a landmark-to-ray registration with a statistical shape model-based 2D/3D reconstruction scheme. Fig. 1 shows different stages of the reconstruction process. Four cadaveric lumbar spine segments (total twelve lumbar vertebrae) were used to validate the technique. To evaluate the reconstruction accuracy, the surface models reconstructed from the lateral fluoroscopic images were compared to the associated ground truth data derived from a 3D CT-scan reconstruction technique. For each case, a surface-based matching was first used to recover the scale and the rigid transformation between the reconstructed surface model Results Our technique could successfully reconstruct 3D surface models of all twelve vertebrae. After recovering the scale and the rigid transformation between the reconstructed surface models and the ground truth models, the average error of the 2D/3D surface model reconstruction over the twelve lumbar vertebrae was found to be 1.0 mm. The errors of reconstructing surface models of all twelve vertebrae are shown in Fig. 2. It was found that the mean errors of the reconstructed surface models in comparison to their associated ground truths after iterative scaled rigid registrations ranged from 0.7 mm to 1.3 mm and the rootmean squared (RMS) errors ranged from 1.0 mm to 1.7 mm. The average mean reconstruction error was found to be 1.0 mm. Conclusion An accurate, scaled 3D reconstruction of the lumbar vertebra can be obtained from a single lateral fluoroscopic image using a statistical shape model based 2D/3D reconstruction technique. Future work will focus on applying the reconstructed model for 3D kinematic analysis of lumbar vertebrae, an extension of our previously-reported imagebased kinematic analysis. The developed method also has potential applications in surgical planning and navigation.

Kinematic Analysis of Detection of Steel Ball Surface Defect Based on ADAMS

In the detection process of the ball detector, surface can not unfold effectively, which brings about that the camera can not capture the image which we want, resulting in a high rate of defect and at a low efficiency in the test with the ball detector. In order to solve this problem, the optimized design on the mechanical control parts of the expansion organization was carried out, besides, kinematics analysis model the expansion organization and a motor control timing schedule were created by ADAMS, enabling expansion process consistent with the mathematical modeling. To a certain extent the optimization results improve overall performance of the system, which plays a guiding role in the improvement of the system.

Piezo-Impact-Driven X-Y Stage and Precise Sample Holder for Accurate Microlens Alignment

This paper details the development of an inertia-driven X-Y microstage and simple gripper for a pick-up lens in Blu-ray disc alignment incorporating inertia-driven microsliders on V-shaped grooves and a micropart handler. The microslider is driven by impact generated by a mass connected with a piezo element. We made a kinematic model for theoretical analysis on the X-Y microstage and gave the microinertia X-Y stage a sophisticated design.The X stage is stacked on the Y stage to provide fine in-plane positioning. Practical applications include multiple lens component assembly in which the optical lens must be centered within a tolerance of less than 100 nm. Experiments confirmed successful achievement of this microlens positioning in the center of the reference lens axis as observed by the laser interference fringe.

Stitching Planning in Laparoscopic Surgery: Towards Robot-assisted Suturing

The work presented in this paper addresses the problem of the stitching task in laparoscopic surgery using a circular needle and a conventional four-degree-of-freedom needle holder. This task is particularly difficult for surgeons because of the kinematic constraints generated by the fulcrum in the abdominal wall of the patient. In order to assist the surgeons during suturing, we propose to compute possible paths for the needle through the tissues, which limit tissues deformation as much as possible while driving the needle towards the desired target. We propose a kinematic analysis and geometric modeling of the stitching task from which useful information can be obtained to assist the surgeon. The description of the task with appropriate state variables allows us to propose a simple practical method for computing optimal paths. Simulations show that the obtained paths are satisfactory even under difficult configurations and short computation times make the technique useful for intra-operative planning. The use of the stitching planning is shown for manual as well as for robot-assisted interventions in in vitro experiments.

Validation of a clinically useful kinematic model for upper limb motion analysis in hemiplegic cerebral palsy and brachial plexus palsy

Validation of a clinically useful kinematic model for upper limb motion analysis in hemiplegic cerebral palsy and brachial plexus palsy