Kinematic Analysis of Mechanisms by the Complex Conjugate Exponential Method

1975 ◽  
Vol 97 (3) ◽  
pp. 795-799 ◽  
Author(s):  
J. A. Smith
Keyword(s):  
Angular Velocity ◽  
Closed Form ◽  
Kinematic Analysis ◽  
Angular Position ◽  
Angular Acceleration ◽  
Dynamic State ◽  
Complex Conjugate ◽  
Iterative Techniques ◽  
Numerical Example ◽  
Exponential Method

Generalized closed-form expressions are presented for the analysis of angular and path position and dynamic state properties of an n link mechanism with single or multiple prescribed input specifications. The complex conjugate concept is extensively used to formulate these explicit expressions. A numerical example of a six-bar mechanism is presented, and the closed-form expressions are used to calculate—without graphical, numerical, or iterative techniques—the angular position, angular velocity, and angular acceleration of each link.

Kinematic Analysis of the Crank Mechanism with Rotating Cylinder Using MSC Adams/View

2015 ◽  
Vol 816 ◽  
pp. 213-223
Author(s):  
Peter Frankovský ◽  
Darina Hroncová
Keyword(s):  
Angular Velocity ◽  
Kinematic Analysis ◽  
Graphical Representation ◽  
Functional Model ◽  
Angular Acceleration ◽  
Rotating Cylinder ◽  
Displacement Velocity ◽  
Kinematics Analysis ◽  
Mechanism Kinematic ◽  
Crank Mechanism

The aim of this article is to develop a functional model of the crank mechanism with a rotating cylinder in MSC Adams/View software and its complete kinematics analysis. We analyze the movement of the members of the mechanism. Kinematic analysis was performed analytically and graphically. Finally, the work presents the results with graphical representation of parameters such as displacement, velocity and acceleration as well as angular velocity and angular acceleration in Adams/View.

scholarly journals Research on the Optimization the Structural Parameters of Mechanical Treadmill

2015 ◽  
Vol 9 (1) ◽  
pp. 938-943
Author(s):  
Linzhen Wu
Keyword(s):  
Angular Velocity ◽  
Optimization Model ◽  
Kinematic Analysis ◽  
Optimization Design ◽  
Structural Parameters ◽  
Angular Displacement ◽  
Angular Acceleration ◽  
Simulation Software ◽  
Mechanical Transmission ◽  
Amplitude Variation

This paper proposed a three-dimensional model of treadmill, structural diagram of mechanical transmission, structural optimization model and kinematic analysis model, deriving the values of connecting rods as 0.425 m, 1.673 m and 0.662 m by solving the optimization model. It further conducts a kinematic analysis on treadmill using this set of parameters and kinematic simulation software “Motion”, providing simulation curves of angular displacement, angular velocity and angular acceleration of the main moving parts such as the connecting rods, pedals and handrail handles. The simulation curves indicate that when the rotation speed of the wheels is 10 r/min, the connecting rods, pedals and handrail handles move smoothly and change almost sinusoidally; the displacement of handles ranges in-700∼200 mm, the speed ranges in-400∼400 mm/s, the acceleration ranges in -400∼500 mm/s2, the angular change of pedals is -5°∼30°, the amplitude variation of angular velocity is <25°/s and the amplitude variation of angular acceleration is <28°/s2. The above mentioned calculated prospects of the treadmill provide some reference for carrying out a quick optimization design of the treadmill.

Closed-form kinematic solution of a non-parallel cable reeving crane system

2003 ◽  
Vol 217 (2) ◽  
pp. 257-269 ◽  
Author(s):  
D-H Kim ◽  
J-W Lee ◽  
K-T Park ◽  
J-H Oh
Keyword(s):  
Angular Velocity ◽  
Closed Form ◽  
Angular Position ◽  
Reference Points ◽  
Container Crane ◽  
Exact Position ◽  
Velocity Information ◽  
Position Sensitive ◽  
Kinematic Solution

This paper presents the closed-form kinematic solutions, position and velocity of a non-parallel cable reeving crane system. These solutions are necessary in order to control a container crane that is widely used in cargo terminals. One PSD (position sensitive device) sensor and two IR (infrared) emissive beacons are used to find the angular position and angular velocity information of two reference points of a moving spreader. The sensor and beacons are mounted on trolley and reference points of spreader respectively. By using this information, the exact position and velocity of the spreader are determined analytically. These results can be used in the anti-sway and anti-skew control of a container crane.

Kinematic Analysis Planar Mechanism of a Pump Using MSC Adams

2014 ◽  
Vol 611 ◽  
pp. 98-106 ◽  
Author(s):  
Patrik Šarga ◽  
Darina Hroncová
Keyword(s):  
Numerical Methods ◽  
Angular Velocity ◽  
Kinematic Analysis ◽  
Angular Acceleration ◽  
Displacement Velocity ◽  
Basic Operation ◽  
Kinematic Parameters ◽  
Planar Mechanism ◽  
Pump Mechanism ◽  
Analysis Of Motion

The aim of the paper is to present the application of MSC Adams/View for kinematic analysis of motion of a pump mechanism. The first section describes the program Adams and its modules Adams/View, work with this module and its basic operation. In the following section there is the kinematics solved using numerical methods. This work deals with the assembly of the models in Adams/View, simulations, plotting of the trajectory of the mechanisms points, and kinematic parameters of mechanism members. The software shows displacement, velocity and acceleration, angular velocity and angular acceleration. Finally, the paper presents the results with graphic representation of parameters such as displacement, velocity and acceleration.

Direct Kinematic Analysis of a Hexapod Spider-Like Mobile Robot

2011 ◽  
Vol 403-408 ◽  
pp. 5053-5060 ◽  
Author(s):  
Mostafa Ghayour ◽  
Amir Zareei
Keyword(s):  
Angular Velocity ◽  
Mobile Robot ◽  
Time Variation ◽  
Kinematic Analysis ◽  
The Body ◽  
Specific Time ◽  
Centre Of Gravity ◽  
Joint Variable ◽  
Direct Kinematics ◽  
Robot Platform

In this paper, an appropriate mechanism for a hexapod spider-like mobile robot is introduced. Then regarding the motion of this kind of robot which is inspired from insects, direct kinematics of position and velocity of the centre of gravity (C.G.) of the body and noncontact legs are analysed. By planning and supposing a specific time variation for each joint variable, location and velocity of the C.G. of the robot platform and angular velocity of the body are obtained and the results are shown and analysed.

Closed-Form Displacement Relations of a Five-Link R-R-C-C-R Spatial Mechanism

1971 ◽  
Vol 93 (1) ◽  
pp. 221-226 ◽  
Author(s):  
A. H. Soni ◽  
P. R. Pamidi
Keyword(s):  
Closed Form ◽  
Polynomial Equation ◽  
Input Output ◽  
Degree Polynomial ◽  
Spatial Mechanism ◽  
Dual Number ◽  
Numerical Example

Using (3 × 3) matrices with dual-number elements, closed form displacement relationships are derived for a spatial five-link R-R-C-C-R mechanism. The input-output closed form displacement relationship is an eighth degree polynomial equation. A numerical example is presented.

Kinematics of rotation in place during defense turning in the crayfish Procambarus clarkii

2001 ◽  
Vol 204 (3) ◽  
pp. 471-486 ◽  
Author(s):  
N. Copp ◽  
M. Jamon
Keyword(s):  
Angular Velocity ◽  
Procambarus Clarkii ◽  
Angular Acceleration ◽  
The Body ◽  
Simple Variation ◽  
Freely Behaving ◽  
Leg Motion ◽  
Two Phases ◽  
Analysis System ◽  
Final Orientation

The kinematic patterns of defense turning behavior in freely behaving specimens of the crayfish Procambarus clarkii were investigated with the aid of a video-analysis system. Movements of the body and all pereiopods, except the chelipeds, were analyzed. Because this behavior approximates to a rotation in place, this analysis extends previous studies on straight and curve walking in crustaceans. Specimens of P. clarkii responded to a tactile stimulus on a walking leg by turning accurately to face the source of the stimulation. Angular velocity profiles of the movement of the animal's carapace suggest that defense turn responses are executed in two phases: an initial stereotyped phase, in which the body twists on its legs and undergoes a rapid angular acceleration, followed by a more erratic phase of generally decreasing angular velocity that leads to the final orientation. Comparisons of contralateral members of each pair of legs reveal that defense turns are affected by changes in step geometry, rather than by changes in the timing parameters of leg motion, although inner legs 3 and 4 tend to take more steps than their outer counterparts during the course of a response. During the initial phase, outer legs 3 and 4 exhibit larger stance amplitudes than their inner partners, and all the outer legs produce larger stance amplitudes than their inner counterparts during the second stage of the response. Also, the net vectors of the initial stances, particularly, are angled with respect to the body, with the power strokes of the inner legs produced during promotion and those of the outer legs produced during remotion. Unlike straight and curve walking in the crayfish, there is no discernible pattern of contralateral leg coordination during defense turns. Similarities and differences between defense turns and curve walking are discussed. It is apparent that rotation in place, as in defense turns, is not a simple variation on straight or curve walking but a distinct locomotor pattern.

Biomechanical Models for Radial Distance Determination by the Rat Vibrissal System

2007 ◽  
Vol 98 (4) ◽  
pp. 2439-2455 ◽  
Author(s):  
J. Alexander Birdwell ◽  
Joseph H. Solomon ◽  
Montakan Thajchayapong ◽  
Michael A. Taylor ◽  
Matthew Cheely ◽  
...  
Keyword(s):  
Angular Position ◽  
Three Dimensional ◽  
Radial Distance ◽  
Rate Of Change ◽  
Dynamic State ◽  
Rhythmic Movements ◽  
Tactile Information ◽  
Biomechanical Models ◽  
Object Distance ◽  
Dimensional Object

Rats use active, rhythmic movements of their whiskers to acquire tactile information about three-dimensional object features. There are no receptors along the length of the whisker; therefore all tactile information must be mechanically transduced back to receptors at the whisker base. This raises the question: how might the rat determine the radial contact position of an object along the whisker? We developed two complementary biomechanical models that show that the rat could determine radial object distance by monitoring the rate of change of moment (or equivalently, the rate of change of curvature) at the whisker base. The first model is used to explore the effects of taper and inherent whisker curvature on whisker deformation and used to predict the shapes of real rat whiskers during deflections at different radial distances. Predicted shapes closely matched experimental measurements. The second model describes the relationship between radial object distance and the rate of change of moment at the base of a tapered, inherently curved whisker. Together, these models can account for recent recordings showing that some trigeminal ganglion (Vg) neurons encode closer radial distances with increased firing rates. The models also suggest that four and only four physical variables at the whisker base—angular position, angular velocity, moment, and rate of change of moment—are needed to describe the dynamic state of a whisker. We interpret these results in the context of our evolving hypothesis that neural responses in Vg can be represented using a state-encoding scheme that includes combinations of these four variables.

Sign in / Sign up

Export Citation Format

Share Document