Variable Kinematics Research Articles

Design and analysis of a novel deployable grasping manipulator for space object capture

As a part of on-orbit services, the research on on-orbit capture has been receiving significant attention, given the increasing complexity of space activities and the growing number of spacecraft in orbit. The development of a high-adaptability and reliable capture manipulator is crucial due to the uncertainties involved in capturing space objects. Current manipulators face limitations in their capture principles and mechanical reliability, making it challenging to meet the requirements of modern space activities. To tackle this challenge, this paper proposes a novel deployable grasping manipulator, with the scissors-bending metamorphic cell as its core component. Just by introducing two variable kinematic pairs and several links into a typical scissors cell, deployment and envelope-bending with one degree of freedom (DoF) driving can be achieved. The cell metamorphic behaviors are analyzed through kinematic modeling, and its structural design is determined using the proposed bending radius and singularity design method. The integrated grasping manipulator is developed with a limb-reconfigurable design., A three-limb prototype is established for simulation and gravity-free grasping test, demonstrating its advantages of simple control, high kinematic reliability, grasping adaptability, and stability.

Variable kinematics finite plate elements for the buckling analysis of sandwich composite panels

This paper extends sublaminate-based variable kinematics plate finite elements towards the buckling analysis of composite structures. Robust locking-free 4-node and 8-node interpolations are used to build the finite element matrices in terms of fundamental nuclei, invariant with respect to the employed kinematic model of the composite plate. Geometric nonlinearities are accounted for in the von Kármán sense. The classical linearized stability analysis is mainly conducted for sandwich panels, for which different kinematic assumptions are employed for the skins and the core. Global buckling of the sandwich panel as well as short-wavelength wrinkling of the skins are investigated by referring to a variety of case studies, including homogeneous and laminated skins as well as isotropic and orthotropic cores. Convergence studies are performed to establish the minimum number of elements for the local instabilities to be grasped. The proposed computational framework requires a simple 2D mesh and is capable of providing quasi-3D response patterns. This is as demonstrated by numerous case studies that address the transition from global to local buckling, the onset of wrinkling in flat sandwich panels with anisotropic skins under various loading conditions as well as the local face sheet instability occurring in sandwich panels working in bending. It is concluded that he proposed FEM-based tool is computationally efficient and can be advantageously employed in pre-sizing design phases without resorting to full 3D models.

A mechanical analysis of variable angle-tow composite plates through variable kinematics models based on Carrera’s unified formulation

Variable Angle-Tow (VAT) laminates offer a promising alternative to straight fiber composites. By varying fibers orientation within the structure plane, ambitious design and performance goals can be achieved. However, the wider design space results in a more complex problem with more parameters to consider. Carrera’s Unified Formulation (CUF) has been used in previous works performing buckling, vibrational and stress analyses of VAT plates. Usually, one-dimensional (1D) CUF beam models are used, while two-dimensional (2D) plate models are obtained as a particular case of shells by considering a null curvature. In most cases, a linear law is considered to describe the variation of fibers orientation in the main plane of the structure. The purpose of this article is to extend the CUF 2D plate finite elements family to the mechanical analysis of composite laminated plate structures with curvilinear fibers. The main contribute consists in the development of a CUF FE model within the Reissner’s Mixed Variational Theorem (RMVT) context for an improved calculation of the out-of-plane stress components. Results show that RMVT can predict in-plane stresses and satisfy the though-the-thickness transverse stresses continuity due to inter-layer equilibrium. The accuracy of RMVT-based models is also investigated using two different approximation points distributions along the plates thickness.

Use of the 3D Equilibrium Equations in the Free-Edge Analyses for Laminated Structures with the Variable Kinematics Approach

This paper compares out-of-plane stresses evaluated with Hooke’s Law and the stress recovery technique, focusing on the free edges of composite plates and shells. The Carrera Unified Formulation and the finite element method are adopted to derive the governing equations. Lagrange polynomials are implemented in the equivalent single-layer, layer-wise, and variable kinematics approaches. The latter is used to refine structural models locally and reduce computational overheads. Laminated plates and shells subjected to uniaxial tension are considered. The out-of-plane stresses are compared with references from the existing literature for most cases. The results demonstrate that the stress recovery technique effectively calculates stresses and improves the accuracy of equivalent single-layer models. Furthermore, layer-wise models are needed for accurate results near the free-edge zone. Finally, variable kinematics theories are helpful in accurately detecting local phenomena along the structure’s thickness.

Going against the flow: bumblebees prefer to fly upwind and display more variable kinematics when flying downwind.

Foraging insects fly over long distances through complex aerial environments, and many can maintain constant ground speeds in wind, allowing them to gauge flight distance. Although insects encounter winds from all directions in the wild, most lab-based studies have employed still air or headwinds (i.e. upwind flight); additionally, insects are typically compelled to fly in a single, fixed environment, so we know little about their preferences for different flight conditions. We used automated video collection and analysis methods and a two-choice flight tunnel paradigm to examine thousands of foraging flights performed by hundreds of bumblebees flying upwind and downwind. In contrast to the preference for flying with a tailwind (i.e. downwind) displayed by migrating insects, we found that bees prefer to fly upwind. Bees maintained constant ground speeds when flying upwind or downwind in flow velocities from 0 to 2 m s-1 by adjusting their body angle, pitching down to raise their air speed above flow velocity when flying upwind, and pitching up to slow down to negative air speeds (flying backwards relative to the flow) when flying downwind. Bees flying downwind displayed higher variability in body angle, air speed and ground speed. Taken together, bees' preference for upwind flight and their increased kinematic variability when flying downwind suggest that tailwinds may impose a significant, underexplored flight challenge to bees. Our study demonstrates the types of questions that can be addressed with newer approaches to biomechanics research; by allowing bees to choose the conditions they prefer to traverse and automating filming and analysis to examine massive amounts of data, we were able to identify significant patterns emerging from variable locomotory behaviors, and gain valuable insight into the biomechanics of flight in natural environments.

The constant/variable kinematics adjustment of the crosshead and the mold’s stability management in injection molding

During the clamping process in an injection-molding machine, the mold’s movement is directly driven by the velocity of the crosshead. The form of the adjustment on the crosshead’s kinematics can influence the final dynamics of the mold, which can contribute to the stability of the clamping duration further. This article is aimed at investigating the kinematics analysis and the stability management strategy of the mold in the early design stage for the clamping mechanism. The two different velocity-controlled forms of the crosshead, constant and variable kinematics adjustments, are applied and compared in the clamping analysis. Three factors of the crosshead, the maximum velocity, the acceleration/deceleration stage adjustment, and the multi acceleration/deceleration process, are validated for the stability control of the mold’s motion in the injection molding process. The results show an extra “fast” process is detected in the constant condition when compared to the variable crosshead’s kinematics adjustment. Furthermore, by the reasonable adjustment of the maximum velocity and two special positions of the crosshead during the acceleration and deceleration stages, the maximum acceleration fluctuation of the mold is decreased by more than 50%, allowing the mold to move more steadily.

Influence of Honing Parameters on the Quality of the Machined Parts and Innovations in Honing Processes

The article presents a literature review dealing with the effect of the honing parameters on the quality of the machined parts, as well as with the recent innovations in honing processes. First, an overview about the honing and the plateau-honing processes is presented, considering the main parameters that can be varied during machining. Then, the influence of the honing parameters on surface finish, shape deviation and material removal rate is presented. Finally, some special and innovative applications of the honing process are described. For example, honing with variable kinematics allows obtaining oil grooves that are not rectilinear but curvilinear, in order to reduce the temperature of the part during machining and thus achieving better surface finish and lower shape deviation. Automation of the honing machines is useful to improve both the production and the verification process. Another innovation consists of using 3D printed tools in honing processes, which will help to obtain abrasive tools with complex shapes, for example by means of powder bed fusion processes.

Finite plate elements with variable kinematics based on sublaminate generalized unified formulation

The Sublaminate Generalized Unified Formulation (SGUF) is extended for the first time to the framework of Finite Element Method (FEM) for both displacement-based and mixed (RMVT) formulation. The variable kinematics approach allows to choose different plate models according to the desired level of accuracy. Furthermore, the mixed ESL/LW approach of SGUF makes the model particularly convenient for sandwich structures analysis. A substitute interpolation for the first-order transverse shear strain field, referred to as QC4 interpolation, makes the developed four-node FE locking free and insensitive to mesh distortion. The complete expression of finite element matrices for the PVD-based and RMVT-based elements is provided. The possibility of exactly satisfying transverse stress boundary conditions for RMVT-based elements is also investigated for the first time. The flexibility and accuracy of the computational approach is demonstrated on linear static problems of sandwich plates and beams ranging from global bending response to local indentation problems. In particular, it is demonstrated that the proposed approach is capable of recovering full three-dimensional response with a 2D FE mesh and with less degrees of freedom than the conventional models available in commercial FE packages.

A Variable Kinematic Multifield Model for the Lamb Wave Propagation Analysis in Smart Panels.

The present paper assessed the use of variable kinematic two-dimensional elements in the dynamic analysis of Lamb waves propagation in an isotropic plate with piezo-patches. The multi-field finite element model used in this work was based on the Carrera Unified Formulation which offers a versatile application enabling the model to apply the desired order theory. The used variable kinematic model allowed for the kinematic model to vary in space, thereby providing the possibility to implement a classical plate model in collaboration with a refined kinematic model in selected areas where higher order kinematics are needed. The propagation of the symmetric () and the antisymmetric () fundamental lamb waves in an isotropic strip was considered in both mechanical and piezo-elastic plate models. The convergence of the models was discussed for different kinematics approaches, under different mesh refinement, and under different time steps. The results were compared to the exact solution proposed in the literature in order to assess and further determine the effects of the different parameters used when dynamically modeling a Lamb wave propagating in such material. It was shown that the higher order kinematic models delivered a higher accuracy of the propagating wave evaluated using the corresponding Time Of Flight (TOF). Upon using the appropriate mesh refinement of 2000 elements and sufficient time steps of 4000 steps, the error between the TOF obtained analytically and numerically using a high order kinematics was found to be less than 1% for both types of fundamental Lamb waves and . Node-dependent kinematics models were also exploited in wave propagation to decrease the computational cost and to study their effect on the accuracy of the obtained results. The obtained results show, in both the mechanical and the piezo-electric models, that a reduction in the computational cost of up to 50% can be easily attained using such models while maintaining an error inferior to 1%.

A geometrically nonlinear variable-kinematics continuum shell element for the analyses of laminated composites

To facilitate further gains in structural efficiency, the use of composite materials in engineering structures is on the rise. Simultaneously, a drive for thinner components is leading to structural behaviour that is governed by elastic nonlinearities such as large deflections and instabilities. For efficient and reliable design, numerical models must predict the nonlinear displacements, as well as the corresponding stress and strain responses, both accurately and at minimal computational cost. In this work, we present a novel tensor-based variable kinematics continuum shell (VKCS) formulation that is geometrically nonlinear in a total Lagrangian sense. The key contribution is the development and validation of a nonlinear continuum shell model that is completely general in terms of its geometric and kinematic descriptions. The governing equations are derived and presented in tensorial form, which enables a straightforward spatial mapping for models with complex curvatures. The ‘variable-kinematics’ capability means that the element field variables can be refined in a hierarchical and orthotropic manner, i.e. the in-plane and through-thickness displacements can be independently discretised using any polynomial functions with arbitrary orders of expansion. With this feature, the model configurations can be tailored for specific nonlinear problems, whilst also achieving fast solution convergence rate through the use of higher-order basis functions. For validation, the VKCS model has been benchmarked against existing nonlinear problems in the literature that feature large displacements with complex equilibrium paths. In addition, we have proposed two new benchmarks to investigate the 3D Cauchy stress in a snapped shallow roof, and the postbuckling behaviour of a wind turbine blade section. The VKCS formulation is shown to be a versatile tool that allows the user to easily switch between a multitude of model configurations, and can thus accommodate the varying fidelity of analyses required across different design stages. Furthermore, our benchmarks have demonstrated that the variable-kinematics model requires fewer degrees of freedom and run time to track complex 3D stresses when compared to conventional low-order continuum elements. • A novel hierarchical finite element formulation for analysis of laminated structures. • Easily switch between model configurations required across different design stages. • Shell element with completely general geometric and kinematic discretisation. • 3D stress tracking in snapped roof and post-buckling analysis of wind turbine blades.

Influence of School Backpack Load as a Variable Affecting Gait Kinematics among Seven-Year-Old Children.

This article investigates schoolchildren’s ability to carry an additional load using a backpack (BP). According to scientific research, there is no precise limit to the maximum backpack load, which varies from 10% to 15% of body weight (BW). The purpose of this study was, therefore, to evaluate the influence of an additional external load carried using a backpack on gait kinematics among seven-year-old children in Poland, including assessment of the gender differences. The study was conducted among 26 (13 boys and 13 girls) primary school children aged seven years. The children walked at their preferred speed, under four conditions: with no load (0% BW) and with 10%, 15% and 20% BW. Spatiotemporal parameters were measured using the 2 m Footscan® platform system and photocell Sectro timing system. The children walked more slowly under an additional load. Their step length and single support time decreased. Their base of support, step time and double support time increased. There was no significant effect on their stride length or gait cycle time. The gait kinematic changes were most evident between 10% BW and greater loading. The results highlight how children’s gait is affected by carrying additional external loads, which should not exceed 10% BW. That limit is appropriate for both genders.

Early post-breakup kinematic adjustments of continental–oceanic transform fault zones: Cape Range, Coromandal and Romanche transform margin case study

Abstract A comparison of transform margins that started their evolution as continental transforms shows differences in their tectonic style, which can be attributed to the variable kinematic adjustments they underwent during the post-breakup continental-oceanic stage of their development. Three end-member examples are presented in detail. The Cape Range transform fault zone (Western Australia) retained its strike-slip character during its entire continental-oceanic stage, as documented by the transform-perpendicular system of spreading-related magnetic stripe anomalies. The Coromandal transform fault zone (Eastern India) adjusted its kinematics to a transtensional one during its continental-oceanic stage, as indicated by the transform-oblique system of magnetic stripe anomalies and extensional component of movement indicated by a narrow zone of crustal thinning. The Romanche transform fault zone (Equatorial Africa) adjusted its kinematics to transpressional, as documented by the changing geometries of magnetic stripe anomalies and transpressional folding during its continental-oceanic development stage. Based on the recognition of the aforementioned adjustments, we suggest a new categorization of transforms into (1) those that experience transpressional adjustment, (2) those that experience transtensional adjustment and (3) those that do not experience any adjustment during their continental-oceanic development stage.

Potential for Anthropogenic Fin Damage to Affect Individual Responses to Prey in Bluegill Sunfish (Lepomis macrochirus): A New Hypothesis for Kinematic Studies.

In fishes, damage to important morphological structures such as fins through natural damage and anthropogenic factors can have cascading effects on prey capture performance and individual fitness. Bluegill sunfish (Lepomis macrochirus) are a common freshwater species in North America, are a model organism for performance studies, and often experience natural injuries. We opportunistically sampled two populations of fish in the lab to generate a hypothesis for the effect of sub-lethal fin damage resulting from the capture technique on kinematic performance during prey capture in bluegill. We found no statistical differences in mean prey capture kinematics or predator accuracy, but damaged fish used more variable kinematics and more readily struck at non-prey items. We suggest that a reduction in stability and individual consistency occurs as a result of fin damage. This difference could have consequences for higher-order ecological interactions such as competitive ability, despite a lack of apparent performance cost at the individual level, and deserves consideration in future studies of prey capture performance in fish.

Control of the machine tools with variable kinematics

Control of the machine tools with variable kinematics

3D 가변 선회 모델 및 기구학적 구속조건을 사용한 기동표적 추적

본 논문에서는 관측자가 얻을 수 있는 시선각(LOS) 측정값을 사용하여 관심표적의 상태변수를 추정하는 연구를 수행하였다. 관심상태변수는 표적의 위치, 속도 및 가속도로 설정하였다. 시선각 측정값은 필터에 표적운동모델 적용을 어렵게 하는 비선형성이 강한 측정값이다. 이러한 문제해결을 위해 가측정치 공식(Pseudomeasurement equation)을 사용하여 시선각 측정값 수식을 변경한 후 3D 가변선회(3D Variable Turn) 표적운동모델을 적용하였다. 또한 필터의 성능을 위해 기구학적구속조건(Kinematic Constraint)을 적용하였다. 필터는 초기조건에 강건한 특성을 가진 Bias Compensation Pseudomeasurement Filter (BCPMF)를 사용하였다. 병렬 계산의 이점을 위해 Two Stage Kalman Filter 형태를 추가적으로 적용하였다. 이 기법들을 사용하여 TBCPMF 3DVT-KC 필터를 제안하였고 시뮬레이션을 통해 성능을 확인하였다.

In Vivo Knee Kinematics: How Important Are the Roles of Femoral Geometry and the Cruciate Ligaments?

BackgroundWhile posterior cruciate-retaining (PCR) implants are a more common total knee arthroplasty (TKA) design, newer bicruciate-retaining (BCR) TKAs are now being considered as an option for many patients, especially those that are younger. While PCR TKAs remove the ACL, the BCR TKA designs keep both cruciate ligaments intact, as it is believed that the resection of the ACL greatly affects the overall kinematic patterns of TKA designs. The objectives of this study are to assess the in vivo kinematics for subjects implanted with either a PCR or BCR TKA and to compare the in vivo kinematic patterns to the normal knee during flexion. These objectives were achieved with an emphasis on understanding the roles of the cruciate ligaments, as well as the role of changes in femoral geometry of nonimplanted anatomical femurs vs implanted subjects having a metal femoral component. MethodsTibiofemoral kinematics of 50 subjects having a PCR (40 subjects) or BCR (10 subjects) TKA were analyzed using fluoroscopy while performing a deep knee bend activity. The kinematics were compared to previously published normal knee data (10 subjects). Kinematics were determined during specific intervals of flexion where the ACL or PCL was most dominant. ResultsIn early flexion, subjects having a BCR TKA experienced more normal-like kinematic patterns, possibly attributed to the ACL. In mid-flexion, both TKA groups exhibited variable kinematic patterns, which could be due to the transitional cruciate ligament function period. In deeper flexion, both TKA functioned more similar to the normal knee, leading to the assumption that the PCL was properly balanced and functioning in the TKA groups. Interestingly, during late flexion (after 90°), the kinematic patterns for all three groups appeared to be statistically similar. ConclusionSubjects having a PCR TKA experienced greater weight-bearing flexion than the BCR TKA group. Subjects having a BCR TKA exhibited a more normal-like kinematic pattern in early and late flexion. The normal knee subjects achieved greater lateral condyle rollback and axial rotation compared to the TKA groups.

Dynamic response of viscoelastic multiple-core sandwich structures

This work focuses on the free and forced vibrations of sandwich beams and plates hosting an arbitrary number of damping cores. A fractional derivatives Zener-type model is adopted for representing the frequency-dependent viscoelastic behaviour, along with conventional series developments. The structural models are formulated within an established variable kinematics approach, which enables to investigate the role of specific assumptions and to identify the most accurate model at a least number of degrees of freedom. Approximate solutions are found by a computationally efficient Ritz method that allows to take into account any type of boundary conditions. Modal loss factors and damped eigenfrequencies are obtained from a complex eigenvalue problem, for which a modal strain energy approach or a complex eigensolution can be employed. Frequency responses can be computed by a direct approach or by elementary modal projection algorithms. Results are reported for conventional and innovative sandwich configurations. Different modelling and solution strategies are compared and the role of transverse normal deformation of the mechanically weak viscoelastic plies is particularly emphasised.

Numerical analysis of disbonding in sandwich structures using 1D finite elements

Structural theories based on 1D component-wise models are proposed to investigate the progressive disbonding in sandwich structures. The structural framework adopts the Carrera Unified Formulation to generate higher-order theories of structures via a variable kinematic approach. The component-wise approach, formulated within the Lagrange polynomial based CUF models, permits modelling of various components of a complex structure through 1D CUF models at reduced computational costs and 3D accuracy. The disbonding constitutive models are retrieved from well-established works in the literature and based on cohesive elements. The results verify the accuracy of 1D models with some 10–20% computational time as compared to 3D finite elements.

Sublaminate variable kinematics shell models for functionally graded sandwich panels: Bending and free vibration response

An advanced kinematic formulation is applied to multilayered cylindrical sandwich panels with continuously graded layers. Free vibration and bending problems are considered. The mean mechanical properties of the composite material are estimated by means of the extended rule of mixture or the Eshelby-Mori-Tanaka method. The displacement field is postulated by means of variable-kinematics sublaminate models, therefore the applicability is not restricted to monolithic panels, on the contrary, the approach is well suited for sandwich panels with marked thickness-wise heterogeneity. Due to the efficiency of the formulation, the effect of various design parameters, either geometrical or mechanical, can be easily explored. The validation is performed against benchmarks of increasing complexities, namely a single-layer square plate, a shell reinforced by randomly oriented nanotubes, sandwich panels with three distinct configurations. The importance of allowing kinematic descriptions of tunable accuracy within a unique framework is well demonstrated by the proposed assessments.

Large displacement models for composites based on Murakami's Zig-Zag Function, Green-Lagrange Strain Tensor, and Generalized Unified Formulation

Abstract Murakami's Zig-Zag Function in conjunction of Green-Lagrange Strain- and Second-Piola Kirchhoff Stress-tensors and Generalized Unified Formulation are introduced for the first time to present a class of Zig-Zag theories for composite structures. Transverse strain effects are retained and modeled, making the present approach also suitable for thick structures. Each displacement variable is independently represented with user-selected order of expansion. The stress recovery is achieved with a special procedure in which combination of deformation gradient and Second-Piola Kichhoff transverse stresses are integrated along the thickness of the undeformed geometry. Comparison with available data and commercial codes indicate the effectiveness of the proposed framework for variable kinematics Zig-Zag theories in the presence of large displacements.