Kinematic Performance Research Articles

A general method for the manipulability analysis of serial robot manipulators

Manipulability quantification and evaluation of robot manipulators plays an important role in robotic mechanism design, motion planning, and control. In this article, a general methodology of using manipulability polytopes to characterize the manipulator’s capability to generate velocities, forces, and accelerations at the end-effector is proposed. This methodology can be used to determine the kinematic, mechanical, and dynamic manipulability of both redundant and nonredundant serial manipulators, where influences of gravity, joint velocities and accelerations, and end-effector payload on the dynamic manipulability are incorporated into the derivation of the manipulability polytopes. Since the manipulability polytope is the feasible region defined by all the joint constraints, the proposed method is suitable for solving the problems including both symmetric and asymmetric joint constraints. Furthermore, a systematic architecture and detailed procedures for performance computation with respect to different types of manipulability of serial robot manipulators are presented. Two typical application examples, respectively, for two and three degree-of-freedom planar manipulators are given to illustrate the correctness and capability of the proposed methodology.

Design and kinematical performance analysis of a novel reconfigurable parallel mechanism with three remote center-of-motion modes

In view of the demands for variability and safety in surgical procedures, this paper presents a novel reconfigurable parallel mechanism (RPM) capable of performing three remote center-of-motion (RCM) modes: 1R1T, 2R1T, and 3R1T. One of the RCM modes can transform into two distinct configurations from the switch configuration, in which one configuration offers a rotational degree-of-freedom (DOF) and a translational DOF in the YOZ plane, and the other configuration provides identical DOFs in the XOZ plane. A novel device is introduced for switching between the active and passive modes of the revolute joint, which serves as the basis for the RPM reconfiguration process. Utilizing screw theory, the mobility and actuation scheme of the RPM in each configuration are analyzed. Inverse kinematic analysis and Jacobian matrices are then carried out. Subsequently, kinematical performances, such as singularity, workspace, and dexterity, are studied. All results indicate that the proposed RPM has the ability to switch motion modes without requiring reassembly and can effectively meet the diverse demands of surgical procedures based on specific minimally invasive surgery (MIS) requirements.

Kinematic and dynamic performances of artificial swarm systems: Aggregation, collision avoidance and compact formation

A novel control method for the artificial swarm system is proposed in this paper. To reflect the biological swarm performance (aggregation), a kinematic model of the artificial swarm system is established by introducing a special potential function. Then, the dynamic model is further obtained to satisfy more accurate dynamic swarm performances — collision avoidance and compact formation. The former can be realized by diffeomorphism transformation approach and a safety zone is guaranteed accordingly. As for the compact formation, we creatively convert it into a constraint-following problem between leader and followers. Based on the dynamic model, a novel control consisting of two parts is designed, including the model-based control and the adaptive robust control. On one hand, the trajectory tracking problem of the artificial swarm system is solved. On the other hand, the uncertainties in the artificial swarm system can be compensated perfectly. The deterministic performance, uniform boundedness and uniform ultimate boundedness, is guaranteed. The effectiveness of the collaborative control is verified by the proof based on Lyapunov approach and simulations of the artificial swarm system.

Comparison of kinematic performance and analysis of the effect of punching speed of rear hook of college boxers of different sexes

ABSTRACT The paper aims to compare the kinematic performance of the rear hooks of college boxers of different sexes and analyse the influence of the kinematic indexes on punching speed. Thirteen kinematic indexes were selected to analyse the rear hook of male (n = 20) and female (n = 20) college boxers through a three-dimensional framework and high-speed camera. Additionally, a stepwise multiple linear regression equation was established to analyse the influence of these parameters on the maximum punching speed. The results revealed that the rear hook punching speed of college male boxers was 26% faster than that of female boxers. Also, there were statistically significant differences in the maximum angular velocity of the shoulder joint, hip joint angle, and knee joint angle (p < 0.01). In addition, the differences between their X- and Y-axis centre of gravity positions were statistically significant (p < 0.01). Moreover, the multiple regression analysis revealed that the maximum shoulder velocity was the most influential factor in the maximum punching speed of the rear hooks for both male and female boxers. This study provides recommendations for the daily training of college boxers and their coaches, to develop targeted training interventions for the rear hook.

Kinematic Modeling and Optimization of a Clustered Tensegrity Mobile Robot

Abstract Clustered tensegrity mechanisms have elicited extensive attention in recent research due to their easy control system and high stiffness-to-mass ratio. However, modeling and analyzing these mechanisms are still challenging due to the clustering of cables and redundant structural parameters. This article proposes an energy-based kinematic modeling method for a modular clustered tensegrity mobile robot. The design of the clustered tensegrity robot is inspired by the biomechanics of worms, allowing it to achieve two locomotion modes resembling earthworm-like and inchworm-like movements using two motors. Moreover, the clustered and modular structure enables the robot to increase the number of modules as needed without increasing the number of actuators. This feature enhances the robot's terrain adaptability without adding complexity to the control system. The article establishes kinematic models using the energy method and clarifies the motion law of nodes on the sliding cables of the robot, considering multiple structural parameters for both locomotion modes. Based on these models, the article reveals the mapping relationships among various structural parameters (i.e., cable-hole gap, cable-hole friction, stiffness and original length of elastic cables, and ground–robot friction) and locomotion performance (i.e., morphology, displacement, and velocity) of the robot. Furthermore, structural parameter optimization is performed to enhance the kinematic performance of the robot in both locomotion modes simultaneously. To validate the proposed kinematic modeling method, a prototype with two modules is developed, and experiments are conducted to assess the robot's locomotion performance. These experiments demonstrate the effectiveness and rationality of the proposed method.

Kinematic and stiffness modelling and performance evaluation of a new PRS-PRU-PUR overconstrained parallel mechanism

Kinematic and stiffness modelling and performance evaluation of a new PRS-PRU-PUR overconstrained parallel mechanism

The Use of Elastic Resistance Bands to Reduce Dynamic Knee Valgus in Squat-Based Movements: A Narrative Review.

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Effect of Repeated, On-Field Sprints on Kinematic Variables in Wheelchair Rugby Players.

The aim of the study was to evaluate the influence of repeated sprints on kinematic performance and propulsion variables during the acceleration and constant peak velocity phases in wheelchair rugby players classified as defensive (low point in defensive [LP-D]) or offensive players (high point in offensive [HP-O]). Twenty-two players (13 LP-D and 9 HP-O) performed 6 × 20-m repeated sprint field tests. We calculated peak wheelchair velocities, propulsion phase times, deceleration phase times, cycle times, and left-right velocity asymmetry of the best and last sprints during the acceleration and constant peak velocity phases, the rate of decline in performance variables between the best and the last sprint and a fatigue index. Peak velocities during the acceleration and constant peak velocity phases and mean velocity over the whole sprint were significantly higher during the best than last sprint. Peak velocities were higher during the acceleration and constant peak velocity phases for the best and last sprint for HP-O. The rate of decline in peak velocity during the constant peak velocity phase was higher for LP-D. Fatigue index and rate of decline in velocities and sprint time were higher for LP-D. Performance variables and the rate of decline in performance variables depended on functional capacity and wheelchair type.

Dimensional optimisation and an inverse kinematic solution method of a safety-enhanced remote centre of motion manipulator.

With the expansion of minimally invasive surgery (MIS) applications in surgery, the remote centre of motion (RCM) manipulator requires a more flexible workspace to meet different operation requirements. Thus, the mechanical structure and motion control of the RCM manipulator play important roles. A multi-objective genetic algorithm was exploited to maximise the kinematic performance and obtain a compact structure of the RCM manipulator. An inverse kinematic solution method is proposed to meet task accuracy and kinematic singularity avoidance constraints for safety motion control. Simulation results demonstrate that there are significant improvements in the reachable workspace inside the abdominal cavity, the flexibility of the workspace, kinematic performance, and compactness of the RCM manipulator. Experiments verify the feasibility of the prototype and the validity of the proposed inverse kinematic solution method. This enhances the adaptability and safety of the RCM manipulator and provides potential prospects for MIS application.

Static-to-kinematic modeling and experimental validation of tendon-driven quasi continuum manipulators with nonconstant subsegment stiffness

Continuum robots with high flexibility and compliance have the capability to operate in confined and cluttered environments. To enhance the load capacity while maintaining robot dexterity, we propose a novel non-constant subsegment stiffness structure for tendon-driven quasi continuum robots (TDQCRs) comprising rigid-flexible coupling subsegments. Aiming at real-time control applications, we present a novel static-to-kinematic modeling approach to gain a comprehensive understanding of the TDQCR model. The analytical subsegment-based kinematics for the multisection manipulator is derived based on screw theory and product of exponentials formula, and the static model considering gravity loading, actuation loading, and robot constitutive laws is established. Additionally, the effect of tension attenuation caused by routing channel friction is considered in the robot statics, resulting in improved model accuracy. The root-mean-square error between the outputs of the static model and the experimental system is less than 1.63% of the arm length (0.5 m). By employing the proposed static model, a mapping of bending angles between the configuration space and the subsegment space is established. Furthermore, motion control experiments are conducted on our TDQCR system, and the results demonstrate the effectiveness of the static-to-kinematic model.

Static and kinematic PPP-AR performance of low-cost GNSS receiver in monitoring displacements

Recently, low-cost GNSS receivers have played a significant role in displacement monitoring studies due to the increasing availability of mass-market applications. In this work, the performance of static and kinematic PPP-AR using a low-cost u-blox ZED-F9P GNSS receiver in monitoring displacements is investigated by comparing it with a geodetic-grade GNSS receiver using a displacement simulation apparatus. The capability to determine the horizontal displacement direction is also investigated for both receivers. The results showed that one-sigma horizontal / vertical RMSEs computed from the true displacements and computed displacements are 1.4 / 5.6 mm and 2.6 / 8.4 mm for the geodetic and u-blox receivers, respectively, using 24-h data with static GPS + GLONASS PPP-AR. It is found that GLONASS contribution to GPS-only static PPP is more evident for the u-blox receiver compared with the geodetic one. RMSEs are found to be higher as observation times are decreased. The post-processed kinematic test results showed that minimum 10 / 20 and 20 / 30 mm horizontal / vertical dynamic displacements can be visually detected as an offset from the daily time series for the geodetic and u-blox receivers, respectively.

An analytical approach based on Dixon resultant for the inverse kinematics of 6R robot manipulators with offset wrists

6-revolute (6R) robot manipulators with offset wrists are widely applied in industrial scenarios. However, the autonomous and highly-precise manipulations of these robots are restricted for online industrial uses due to the lack of effective inverse kinematic methods. The inverse kinematic problem for 6R robot manipulators with offset wrists is addressed with a novel kinematic modelling and elimination approach in this study. To begin, kinematic models with non-redundant equations for joint variables are established An improved Dixon elimination approach is then introduced for inverse kinematic calculation to reduce the high computational cost and get rid of the singularity issues. The core is to efficiently extract the linear terms from variable sequences, such that the number of terms can be reduced in the polynomial equations. By further examining the characteristics of offset wrists, the fourth and fifth joint variables are eliminated from kinematic formulas, without increasing the polynomial degrees. The formulas are demonstrated to produce a polynomial with a single joint variable and a minimum degree using the elimination approach. Finally, experiments are carried out to verify the computing performance of the inverse kinematic problem. The main focus of this study is to develop a systematic and automatic procedure for solving the inverse kinematic problem for 6R robot manipulators with offset wrists and producing highly precise and efficient solutions by means of a novel modelling and elimination method.

Kinetostatics of Deployable Concrete Formworks

Abstract To reform the traditional concrete formwork, an overconstrained deployable frame is designed. It is composed of closed-loop deployable units formed by scissor-form elements and orthogonal telescoping rods. Using the reciprocal screw theory, the mobility of the deployable frame is studied, and it has one degree of freedom (DoF). To analyze the kinematic performance of the frame in the deployment and folding processes and the static characteristics under external loads at different deployed states, a general approach to analyzing the kinematics and statics by modeling in screw form is proposed. The velocities of joints could be solved in screw coordinates, the position and acceleration of joints could be obtained via a first-order numerical integration and a first-order numerical differential interpolation, respectively. Then, the position information for each joint can be forwarded onto the static equilibrium equations. Through the static analysis at each deployed state, the inner forces in each rod and the active control forces are derived. Kinematics and statics are associated by using velocities as the global variable, which allows a unified analysis of mechanisms. This method is computationally highly efficient and also fits for kinematic and static analysis of different kinds of multi-rigid-body mechanisms.

Joint Moment Responses to Different Modes of Augmented Visual Feedback of Joint Kinematics during Two-Legged Squat Training

This study examined the effects of different modes of augmented visual feedback of joint kinematics on the emerging joint moment patterns during the two-legged squat maneuver. Training with augmented visual feedback supports improved kinematic performance of maneuvers related to sports or daily activities. Despite being representative of intrinsic motor actions, joint moments are not traditionally evaluated with kinematic feedback training. Furthermore, stabilizing joint moment patterns with physical training is beneficial to rehabilitating joint-level function (e.g., targeted strengthening and conditioning of muscles articulating that joint). Participants were presented with different modes of augmented visual feedback to track a target squat-motion trajectory. The feedback modes varied along features of complexity (i.e., number of segment trajectories shown) and body representation (i.e., trajectories shown as sinusoids versus dynamic stick-figure avatars). Our results indicated that mean values and variability (trial-to-trial standard deviations) of joint moments are significantly (p &lt; 0.05) altered depending on the visual feedback features being applied, the specific joint (ankle, knee, hip), and the squat movement phase (early, middle, or late time window). This study should incentivize more optimal delivery of visual guidance during rehabilitative training with computerized interfaces (e.g., virtual reality).

Distributed Formation Control for Manipulator End Effectors

This paper addresses the problem of achieving and maintaining the 2D/3D formation shape of networked manipulator end-effectors. We firstly present a distributed formation controller for manipulators whose system parameters are perfectly known. The formation control objective is achieved by assigning virtual springs between end-effectors and by adding damping terms at joints, which provides a clear physical interpretation of the proposed solution. Subsequently, we extend it to the case where manipulator kinematic and system parameters are not exactly known. An extra integrator and an adaptive estimator are introduced for gravitational compensation and stabilization, respectively. Simulation results with planar manipulators and with seven degree-of-freedom humanoid manipulator arms are presented to illustrate the effectiveness of the proposed approach.

On the Certification of the Kinematics of 3-DOF Spherical Parallel Manipulators

This paper aims to study a specific kind of parallel robot: Spherical Parallel Manipulators (SPM) that are capable of unlimited rolling. A focus is made on the kinematics of such mechanisms, especially taking into account uncertainties (e.g. on conception &amp; fabrication parameters, measures) and their propagations. Such considerations are crucial if we want to control our robot correctly without any undesirable behavior in its workspace (e.g. effects of singularities). In this paper, we will consider two different approaches to study the kinematics and the singularities of the robot of interest: symbolic and semi-numerical. By doing so, we can compute a singularity-free zone in the work- and joint spaces, considering given uncertainties on the parameters. In this zone, we can use any control law to inertially stabilize the upper platform of the robot.

Analytical and simulation model of fighter flight dynamics with a limiter for the permissible flight envelope when performing the split-S maneuver

The article substantiates the relevance to develop an analytical-simulation model of fighter flight dynamics with a limiter for the permissible flight envelope during the split-S maneuver. The structure of the analytical and simulation model of a fighter, consisting of a combination of a flight test bench, a model of fighter flight dynamics, a model of an astatic limiter for the permissible flight envelope and a model of pilot control actions based on the theory of fuzzy sets, is presented. The structure of the model of fighter flight dynamics with a limiter for the permissible flight envelope, consisting of a system of differential and algebraic equations, a model of an integrated control system, a geometry, mass and balance unit, a unit for calculating aerodynamic forces, a power plant unit, a bank of aerodynamic performance, a unit for calculating feedback on efforts from flight controls, is presented. The model differs from the known ones by the availability of the split-S simulation unit, which is designed for the split-S simulation and the multi-iteration split-S simulation with different initial conditions to determine the basic split-S parameters, the kinematic flight operation performance and to construct the split-S implementation area. The split-S simulation unit comprises the specified value functions, a pilot control actions model, a unit for processing simulation results, a unit for determining the basic split-S parameters, and a database of operating modes. The specified value functions determine the specified values of the kinematic aircraft movement parameters, which are used to implement control in various phase coordinates of the maneuver. The model makes it possible to obtain reliable values of the kinematic fighter movement parameters under the semi-natural simulation with the participation of the pilot and the simulation split-S maneuver modeling using the pilot control actions model.

Evaluation of real-time kinematic positioning performance of the BDS‑3 PPP service on B2b signal

Evaluation of real-time kinematic positioning performance of the BDS‑3 PPP service on B2b signal

M1 transcranial direct current stimulation augments laparoscopic surgical skill acquisition

The acquisition of basic surgical skills is a key component of medical education and trainees in laparoscopic surgery typically begin developing their skills using simulation box trainers. However, despite the advantages of simulation surgical training, access can be difficult for many trainees. One technique that has shown promise to enhance the deliberate practice of motor skills is transcranial electric stimulation (tES). The purpose of this study was to assess the impact of transcranial direct current stimulation (tDCS) on training induced improvements and retention of traditional time and kinematic based laparoscopic surgical skill metrics. Forty-nine medical students were randomly allocated to a neurostimulation or sham group and completed 5 training sessions of a bead transfer and threading laparoscopic task. Participants in both the sham and stimulation groups significantly improved their time and kinematic performance on both tasks following training. Although we did find that participants who received M1 tDCS saw greater performance benefits in response to training on a bead transfer task compared to those receiving sham stimulation no effect of neurostimulation was found for the threading task. This finding raises new questions regarding the effect that motor task complexity has on the efficacy of neurostimulation to augment training induced improvement and contributes to a growing body of research investigating the effects of neurostimulation on the sensory-motor performance of laparoscopic surgical skill.

Design, modeling and kinematic analysis of a multi-configuration dexterous hand with integrated high-dimensional sensors

PurposeThis study aims to introduce a multi-configuration, three-finger dexterous hand with integrated high-dimensional sensors and provides an analysis of its design, modeling and kinematics.Design/methodology/approachA mechanical design scheme of the three-finger dexterous hand with a reconfigurable palm is proposed based on the existing research on dexterous hands. The reconfigurable palm design enables the dexterous hand to achieve four grasping modes to adapt to multiple grasping tasks. To further enhance perception, two six-axis force and torque sensors are integrated into each finger. The forward and inverse kinematics equations of the dexterous hand are derived using the D-H method for kinematics modeling, thus providing a theoretical model for index analysis. The performance is evaluated using three widely applied indicators: workspace, interactivity of fingers and manipulability.FindingsThe results of kinematics analysis show that the proposed hand has excellent dexterity. Additionally, three different experiments are conducted based on the proposed hand. The performance of the dexterous hand is also verified by fingertip force, motion accuracy test, grasping and in-hand manipulation experiments based on Feix taxonomy. The results show that the dexterous hand has good grasping ability, reproducing 82% of the natural movement of the human hand in daily grasping activities and achieving in-hand manipulations such as translation and rotation.Originality/valueA novel three-finger dexterous hand with multi-configuration and integrated high-dimensional sensors is proposed. It performs better than the previously designed dexterous hand in actual experiments and kinematic performance analysis.