Kinematic Analysis of Spatial Mechanisms Using Train Components

1981 ◽  
Vol 103 (4) ◽  
pp. 823-830 ◽  
Author(s):  
M. O. M. Osman ◽  
B. M. Bahgat ◽  
R. V. Dukkipati
Keyword(s):  
Mathematical Programming ◽  
Constitutive Equations ◽  
Kinematic Analysis ◽  
Numerical Examples ◽  
Spatial Mechanisms

A useful method for the kinematic analysis of spatial mechanisms is presented. For the purpose of kinematic analysis, the mechanism is treated as a consist of a number of master train components. For each master train component, geometric constitutive equations for use in kinematic analysis of mechanisms are developed. The kinematic analysis of all train components consisting the mechanism are performed as parts of the master components using a mathematical programming procedure. The analysis is followed in sequence from one train component to another as they form the entire mechanism. Numerical examples are presented to illustrate the proposed technique.

Kinematic Analysis of Spatial Mechanisms by Means of Screw Coordinates. Part 2—Analysis of Spatial Mechanisms

1971 ◽  
Vol 93 (1) ◽  
pp. 67-73 ◽  
Author(s):  
M. S. C. Yuan ◽  
F. Freudenstein ◽  
L. S. Woo
Keyword(s):  
Computer Program ◽  
Kinematic Analysis ◽  
Static Force ◽  
Single Degree Of Freedom ◽  
Numerical Examples ◽  
Spatial Mechanism ◽  
Single Degree ◽  
Spatial Mechanisms ◽  
Torque Analysis ◽  
Basic Concepts

The basic concepts of screw coordinates described in Part I are applied to the numerical kinematic analysis of spatial mechanisms. The techniques are illustrated with reference to the displacement, velocity, and static-force-and-torque analysis of a general, single-degree-of-freedom spatial mechanism: a seven-link mechanism with screw pairs (H)7. By specialization the associated computer program is capable of analyzing many other single-loop spatial mechanisms. Numerical examples illustrate the results.

Kinematics and Dynamics of a Parallel Manipulator With Woven Joints

1993 ◽  
Author(s):  
Hyunsok Pang
Keyword(s):  
Lagrange Multipliers ◽  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Inverse Dynamics ◽  
Numerical Technique ◽  
Vector Analysis ◽  
Kinematics And Dynamics ◽  
Governing Equations ◽  
Numerical Examples

Abstract Presented is an analysis of the kinematics and the inverse dynamics of a proposed three DOF parallel manipulator resembling the Stewart platform in a general form. In the kinematic analysis, the inverse kinematics, velocity and acceleration analyses are performed, respectively, using vector analysis and general homogeneous transformations. An algorithm to solve the inverse dynamics of the proposed parallel manipulator is then presented using a Lagrangin technique. In this case, it is found that one should introduce and subsequently eliminate Lagrange multipliers in order to arrive at the governing equations. Numerical examples are finally carried out to examine the validity of the approach and the accuracy of the numerical technique employed. The trajectory of motion of the manipulator is also performed using a cubic spline.

Thermo-Elastoviscoplastic Buckling Behavior of Plates

1994 ◽  
Vol 61 (1) ◽  
pp. 169-175 ◽  
Author(s):  
G. J. Simitses ◽  
Y. Song
Keyword(s):  
Finite Element ◽  
Constitutive Equations ◽  
Material Models ◽  
Inelastic Buckling ◽  
Finite Element Approach ◽  
Numerical Examples ◽  
Initial Imperfections ◽  
Rate Dependent ◽  
Buckling Behavior ◽  
Element Approach

The thermo-elastoviscoplastic buckling behavior of plates is investigated. The analysis is based on nonlinear kinematic relations and nonlinear rate-dependent unified constitutive equations which include both Bodner-Partom’s and Walker’s material models. A finite element approach is employed to predict the inelastic buckling behavior. Numerical examples are given to demonstrate the effects of several parameters, which include temperature, small initial imperfections, and the thickness of the plate. Comparisons of buckling responses for the two models, Bodner-Partom’s and Walker’s, are also presented.

scholarly journals Logarithmic Spin, Logarithmic Rate and Material Frame-Indifferent Generalized Plasticity

2016 ◽  
Vol 08 (05) ◽  
pp. 1650060 ◽  
Author(s):  
D. Soldatos ◽  
S. P. Triantafyllou
Keyword(s):  
Constitutive Equations ◽  
Integration Scheme ◽  
Spatial Form ◽  
Numerical Examples ◽  
Material Frame Indifference ◽  
Generalized Plasticity ◽  
Analysis On Manifolds ◽  
Computational Implementation ◽  
Material Frame ◽  
Rate Type

In this work, we present a new rate type formulation of large deformation generalized plasticity which is based on the consistent use of the logarithmic rate concept. For this purpose, the basic constitutive equations are initially established in a local rotationally neutralized configuration which is defined by the logarithmic spin. These are then rephrased in their spatial form, by employing some standard concepts from the tensor analysis on manifolds. Such an approach, besides being compatible with the notion of (hyper)elasticity, offers three basic advantages, namely: (i) The principle of material frame-indifference is trivially satisfied. (ii) The structure of the infinitesimal theory remains essentially unaltered. (iii) The formulation does not preclude anisotropic response. A general integration scheme for the computational implementation of generalized plasticity models which are based on the logarithmic rate is also discussed. The performance of the scheme is tested by two representative numerical examples.

Kinematic analysis of multi-loop spatial mechanisms: The five-loop case

Meccanica ◽  
1991 ◽  
Vol 26 (2-3) ◽  
pp. 101-110 ◽  
Author(s):  
R. Garziera ◽  
E. T. Hajiyev ◽  
R. Riva
Keyword(s):  
Kinematic Analysis ◽  
Spatial Mechanisms

Kinematic Analysis of Spatial Mechanisms by Means of Constant-Distance Equations

1972 ◽  
Vol 1 (3) ◽  
pp. 129-134 ◽  
Author(s):  
M.O.M. Osman ◽  
D. Segev
Keyword(s):  
Computer Analysis ◽  
Digital Computer ◽  
Kinematic Analysis ◽  
Dimensional Synthesis ◽  
Mobility Analysis ◽  
Rigid Link ◽  
Spatial Mechanisms ◽  
Constant Distance ◽  
Complex Mechanisms

The concept and use of constant-distance equations for the kinematic analysis of linkages are presented. The procedure is based on the fact that a constant-distance equation is formulated, wherever the distance between two pair-centers of a rigid link remains constant throughout its motion. This results in a much simpler kinematic analysis of the linkage. To illustrate the procedure and the feasibility of the method, the cases of spatial RRRR– and RGCR-mechanisms with coupler points are considered. The technique is well suited to digital computer analysis of complex mechanisms; extensions to dimensional synthesis as well as to dynamic and mobility analysis are possible.

Novel Methods in the Displacement Analysis of Spatial Mechanisms

1994 ◽  
Author(s):  
Ian S. Fischer
Keyword(s):  
Iterative Methods ◽  
Coordinate Transformation ◽  
Kinematic Analysis ◽  
Displacement Analysis ◽  
Dual Number ◽  
Transformation Matrices ◽  
Spatial Mechanisms ◽  
Novel Methods

Abstract An aspect of dual-number coordinate-transformation matrices is used to establish iterative methods for determining the rotational and translational displacements in the kinematic analysis of complex spatial mechanisms.

Kinematics of a 6-DOF parallel manipulator with two limbs actuated by spherical motion generators

2021 ◽  
pp. 095440622110329
Author(s):  
Kun Wang ◽  
Xiaoyong Wu ◽  
Yujin Wang ◽  
Jun Ding ◽  
Shaoping Bai
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Practical Application ◽  
Numerical Examples ◽  
Position Analysis ◽  
Kinematic Study ◽  
Small Footprint ◽  
Dual Arm ◽  
Spherical Motion

Inspired by dual-arm-like manipulation, a novel 6-DOF parallel manipulator with two spherical-universal-revolute limbs is proposed. Compared with general 6-DOF parallel manipulators with six limbs, this new manipulator actuated by spherical motion generators has only two limbs, which brings advantages such as fewer active limbs for avoiding interference, larger reachable and orientational workspace for complex operating, more actuators integrated in active modules for decreasing installation errors and increasing compactness. In this paper, the kinematics of this novel parallel manipulator is solved and illustrated, covering its inverse and forward position analysis, workspace and singularities. The kinematic study reveals interesting features of this manipulator such as multiple working and assembly modes, small footprint and large workspace volume with high dexterity. Numerical examples of kinematic analysis are included. Practical application of the new manipulator is illustrated.

Kinematic Analysis of Spatial Mechanisms by Means of Screw Coordinates. Part 1—Screw Coordinates

1971 ◽  
Vol 93 (1) ◽  
pp. 61-66 ◽  
Author(s):  
M. S. C. Yuan ◽  
F. Freudenstein
Keyword(s):  
Numerical Methods ◽  
Motion Analysis ◽  
Kinematic Analysis ◽  
Rigid Bodies ◽  
Spatial Mechanisms ◽  
Computer Aided

The concept of screw coordinates is developed in terms of motor algebra, and applied to the kinematics and statics of rigid bodies, in particular to the computer-aided motion analysis of spatial mechanisms. The laws of the composition and transformation of screw coordinates and their application to the kinematics and statics of rigid bodies are developed. These results form the basis for the development of numerical methods for the kinematic analysis of spatial mechanisms.

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