Kinematic Analysis Procedure Research Articles (Page 1)

Gantry robots are still used in wide application areas, especially pick and place applications. However, their kinematic modeling is associated with transforming positions and velocitiesin several base frames to each other. Generally, there are two types of kinematics as regards position, forward (direct) kinematics and inverse kinematics. Forward kinematics deals with determing the position (spot/location) and orientation of the end-effector while given the joint variables. Thus, the inverse kinematics is associated with finding the joint variables while given the position and orientation of the end-effector. Hence, this research presents a study in the field of forward and inverse kinematics modeling on the aforementioned robot through an attempt to provide a better solution enhancing kinematics simplicity. In this study, mathematical functions and equations were used, including the likes of algebra, trigonometry, geometry and a knowledge of motion mechanics was also applied. This study used a two-method kinematic analysis procedure for the forward kinematics. The results shows a range of values for the displacements and orientation of the links. Two experimental procedures gave a maximum difference of 0.03rad/s and 0.47rad using the first setup and 0.001rad/s and 0.016rad using the second setup, in the displacement and orientation of the links respectively. The inverse kinematics gave a displacent result of A(5mm), B(8.61mm), and C(7mm) and orientation of A' (71.53^0), B(90.11^0) and C' (125.61^0).

Closed-form solutions for collapse mechanisms of tunnel crown in saturated non-uniform rock surrounds

Determination of slurry density required for stability of slurry-supported trenches excavated in partially submerged soils

Revisiting crown stability of tunnels deeply buried in non-uniform rock surrounds

Abstract An improved probabilistic kinematic analysis procedure is suggested incorporating the six steps listed in the paper. The variability of the shear strength and discontinuity orientation is taken into account in the probabilistic kinematic analysis. The correlation that exists between the dip angle and dip direction is incorporated in modeling discontinuity orientation by treating it as a bivariate random variable. A part of an open pit mine in the United States was investigated by performing deterministic and probabilistic kinematic analyses. Field and laboratory investigations were conducted to obtain the needed geological and geotechnical data for the analyses. Important differences were obtained between the probabilistic and deterministic kinematic analyses results mainly because of the variability of the discontinuity orientations. The results confirmed that the designed value of the maximum safe slope angle (MSSA) for a particular region in the open pit mine calculated according to the determi...

Review and kinematics of Rzeppa-type homokinetic joints with straight crossed tracks

Thousands of road and railway masonry arch bridges are still in service in the Italian and European transportation network, and many of them are located in highly seismic areas. In this work, a kinematic analysis procedure is developed to assess the transverse seismic capacity of multi-span masonry bridges with slender piers, as they may be vulnerable to transverse seismic action. The procedure can calculate the limit horizontal load multiplier of overall collapse mechanisms involving transverse deformation of deck and piers. The procedure is then adopted in a parametric study describing the typical ranges of the main parameters influencing bridge transverse capacity. Parametric analysis yielded a set of iso-acceleration envelope curves which supply the resistant seismic acceleration of a bridge as a function of simple geometric parameters. The resulting graphs can thus be used for preliminary seismic assessments.

A generalized procedure is presented for the development of a pair matrix that describes kinematic joints formed by contact between three-dimensional surfaces. The pair matrix is useful in the matrix-based kinematic analysis procedure put forth by Sheth and Uicker (1971) previously. Any two surfaces may make up the joint as long as the surfaces can be described parametrically, and contact takes place at one point. The corresponding pair matrix is a function of five pair variables.

Kinematic analysis of combined roller-chain and planar mechanisms

An inverse kinematic analysis procedure for flexible open-loop mechanisms

The vector-network technique is a methodical approach to formulating equations of motion for unconstrained dynamic systems, utilizing concepts from graph theory and vectorial mechanics; it is ideally suited to computer applications. In this paper, the vector-network theory is significantly improved and extended to include constrained mechanical systems with both open and closed kinematic chains. A new formulation procedure is developed in which new kinematic constraint elements are incorporated. The formulation is based on a modified tree/cotree classification, which deviates significantly from previous work, and reduces the number of equations of motions to be solved. The dynamic equations of motion are derived, with generalized accelerations and a subset of the reaction forces as solution variables, and a general kinematic analysis procedure is also developed, similar to that of the dynamic formulation. Although this paper restricts most discussions to two-dimensional (planar) systems, the new method is equally applicable to 3-dimensional systems.

On the kinematic guidance of 3R-S open-loop robot manipulators

Kinematics and statics of a coupled epicyclic spur-gear train