The network of Himalayan roadways and highways connects some remote regions of valleys or hill slopes,which is vital for India’s socio-economic growth.Due to natural and artificial factors,frequency of slope instabil...The network of Himalayan roadways and highways connects some remote regions of valleys or hill slopes,which is vital for India’s socio-economic growth.Due to natural and artificial factors,frequency of slope instabilities along the networks has been increasing over last few decades.Assessment of stability of natural and artificial slopes due to construction of these connecting road networks is significant in safely executing these roads throughout the year.Several rock mass classification methods are generally used to assess the strength and deformability of rock mass.This study assesses slope stability along the NH-1A of Ramban district of North Western Himalayas.Various structurally and non-structurally controlled rock mass classification systems have been applied to assess the stability conditions of 14 slopes.For evaluating the stability of these slopes,kinematic analysis was performed along with geological strength index(GSI),rock mass rating(RMR),continuous slope mass rating(CoSMR),slope mass rating(SMR),and Q-slope in the present study.The SMR gives three slopes as completely unstable while CoSMR suggests four slopes as completely unstable.The stability of all slopes was also analyzed using a design chart under dynamic and static conditions by slope stability rating(SSR)for the factor of safety(FoS)of 1.2 and 1 respectively.Q-slope with probability of failure(PoF)1%gives two slopes as stable slopes.Stable slope angle has been determined based on the Q-slope safe angle equation and SSR design chart based on the FoS.The value ranges given by different empirical classifications were RMR(37-74),GSI(27.3-58.5),SMR(11-59),and CoSMR(3.39-74.56).Good relationship was found among RMR&SSR and RMR&GSI with correlation coefficient(R 2)value of 0.815 and 0.6866,respectively.Lastly,a comparative stability of all these slopes based on the above classification has been performed to identify the most critical slope along this road.展开更多
This paper presents a kinematic analysis of the locomotion of a gecko,and experimental verification of the kinematic model.Kinematic analysis is important for parameter design,dynamic analysis,and optimization in biom...This paper presents a kinematic analysis of the locomotion of a gecko,and experimental verification of the kinematic model.Kinematic analysis is important for parameter design,dynamic analysis,and optimization in biomimetic robot research. The proposed kinematic analysis can simulate,without iteration,the locomotion of gecko satisfying the constraint conditions that maintain the position of the contacted feet on the surface.So the method has an advantage for analyzing the climbing motion of the quadruped mechanism in a real time application.The kinematic model of a gecko consists of four legs based on 7-degrees of freedom spherical-revolute-spherical joints and two revolute joints in the waist.The motion of the kinematic model is simulated based on measurement data of each joint.The motion of the kinematic model simulates the investigated real gecko's motion by using the experimental results.The analysis solves the forward kinematics by considering the model as a combination of closed and open serial mechanisms under the condition that maintains the contact positions of the attached feet on the ground. The motions of each joint are validated by comparing with the experimental results.In addition to the measured gait,three other gaits are simulated based on the kinematic model.The maximum strides of each gait are calculated by workspace analysis.The result can be used in biomimetic robot design and motion planning.展开更多
The ro ad n etw o rk in th e H im alayan terrain , connecting re m o te areas e ith e r in th e valleys o r on th e hillslopes, plays a pivotal role in socio-econom ic d e v elo p m en t ofIn d ia. The planning, d ev ...The ro ad n etw o rk in th e H im alayan terrain , connecting re m o te areas e ith e r in th e valleys o r on th e hillslopes, plays a pivotal role in socio-econom ic d e v elo p m en t ofIn d ia. The planning, d ev elo p m en t an d evenm ain ten an ce o f ro ad an d rail netw o rk s in such precarious terrain s are alw ays a challenging task becauseo f com plexities p osed by topography, geological stru ctu res, varied lithology an d neotectonics. Increasingp o p u latio n an d c o n stru ctio n o f roads have led to destab ilisatio n o f slopes, th u s leading to m ass w astingand m ovem ent, fu rth e r aggravation d u e to recen t events o f cloud bu rsts and u n p re c e d e n te d flash floods.V ulnerability analysis o f slopes is an im p o rta n t co m p o n e n t for th e "Landslide H azard A ssessm ent" and"Slope Mass C h aracterisation" guide p lan n ers to p red ict an d choose suitable w ays for c o n stru ctio n ofroads and o th e r en g in eerin g stru ctu res. The pro b lem o f landslides along th e n ational highw ay-58 (NH-58) from Rishikesh to D evprayag is a co m m o n scene. The slopes along th e NH-58 b e tw e e n Jonk andRishikesh w ere investigated, w h ich experienced v ery heavy traffic especially from M arch to A ugust dueto pilgrim age to K edarnath shrine. On th e basis o f slope m ass rating (SMR) investigation, th e area falls instable class, an d landslide susceptibility score (LSS) values also indicate th a t th e slopes u n d e r investigationfall in low to m o d erate v ulnerability to landslide. More atte n tio n s should be paid to th e slopes toachieve g reater safe an d econom ic b enefits along th e highw ay.展开更多
The objective of this paper is to quantify the local stabilities of the neck and upper extremities (right/left shoulders and right/left elbows), and investigate differences between linear and nonlinear measurements ...The objective of this paper is to quantify the local stabilities of the neck and upper extremities (right/left shoulders and right/left elbows), and investigate differences between linear and nonlinear measurements of the associated joint motions and differences in the local stability between the upper and lower extremities. This attempt involves the calculation of a nonlinear parameter, Lyapunov Exponent (LE), and a linear parameter, Range of Motion (ROM), during treadmill walking in conj unction with a large population of healthy subjects. Joint motions of subjects were captured using a three-dimensional motion-capture system. Then mathematical chaos theory and the Rosenstein algorithm were employed to calculate LE of joints as the extent of logarithmic divergence between the neighboring state-space trajectories of flexion-extension angles. LEs computed over twenty males and twenty females were 0.037~0.023 for the neck, 0.043+0.021 for the right shoulder, 0.045i0.030 for the left shoulder, 0.032i0.021 for the right elbow, and 0.034~0.026 for the left elbow. Although statistically significant difference in the ROM was observed between all pairs of the neck and upper extremity joints, differences in the LE between all pairs of the joints as well as between males and females were not statistically significant. Between the upper and lower extremities, LEs of the neck, shoulder, and elbow were significantly smaller than those of the hip (-0.064) and the knee (-0,062). These results indicate that a statistical difference in the local stability between the upper extremity joints is not significant. However, the different result between the ROM and LE gives a strong rationale for applying both linear and nonlinear tools together to the evaluation of joint movement. The LEs of the joints calculated from a large population of healthy subjects could provide normative values for the associated joints and can be used to evaluate the recovery progress of patients with joint related diseases.展开更多
Drag anchor is widely applied in offshore engineering for offshore mooring systems.The prediction of the invisible trajectory during its drag-in installation is challenging for anchor design in determining the anchor ...Drag anchor is widely applied in offshore engineering for offshore mooring systems.The prediction of the invisible trajectory during its drag-in installation is challenging for anchor design in determining the anchor final position for ensuring sufficient holding capacity.The yield envelope method based on deep anchor failure for kinematic analysis was proposed as a promising trajectory prediction method for drag anchor.However,there is a lack of analysis on the effects of the parameters applied in the kinematic analysis.The current work studies the effects of the yield envelope parameters,anchor line bearing capacity factor and the anchor/soil interface friction.It is found that the accuracy of the yield envelope parameters has large impact on the prediction results based on deep yield envelopes.Analyses of cases with smooth fluke predict deeper embedment depth than that from analyses of cases with rough fluke.The decrease of the capacity factor results in the increase of the anchor embedment depth,the anchor line load,the anchor chain angle and the stable value of the normalized horizontal load component for the same drag length,while the stable value of the normalized vertical load component decreases when the capacity factor decreases.This illustrates the importance in applying reasonable parameters and improving the method for more reliable prediction of the anchor trajectory.展开更多
Rock slope kinematic analysis and rock mass classifications has been conducted at the 17^(th) km to 26^(th) km of USAID(United States Agency for International Development)highway in Indonesia.This research aimed to ex...Rock slope kinematic analysis and rock mass classifications has been conducted at the 17^(th) km to 26^(th) km of USAID(United States Agency for International Development)highway in Indonesia.This research aimed to examine the type of rock slope failures and the quality of rock mass as well.The scan-line method was performed in six slopes by using a geological compass to determine rock mass structure on the rock slope,and the condition of joints such as persistence,aperture,roughness,infilling material,weathering and groundwater conditions.Slope kinematic analysis was performed employing a stereographic projection.The rock slope quality and stability were investigated based on RMR(rock mass rating)and SMR(slope mass rating)parameters.The rock slope kinematic analysis revealed that planar failure was likely to occur in Slope 1,3,and 4,the wedge failure in Slope 1 and 6,and toppling failure in Slope 2,5,and 6.The RMR rating is ranging from 57 to 64 and can be categorized as Fair to Good rock.The SMR rating revealed that the failure probability of Slope 3 was 90%,while it was from 40%to 60%for others.Despite the uniform RMR for all slopes,the SMR was significantly different.The detailed quantitative consideration of orientation of joint sets and geometry of the slope contributed to such differences in outcomes.展开更多
The displacement, velocity and acceleration analysis of the general spatial 7R mechanism is discussed in this paper, fused on the method proposed in Ref. [2], an input-output algebra equation of the 16th degree in the...The displacement, velocity and acceleration analysis of the general spatial 7R mechanism is discussed in this paper, fused on the method proposed in Ref. [2], an input-output algebra equation of the 16th degree in the tan-half-angle of the output angular displacement is derived. The derivation process and computation are considerably simple. A program written in Allanguage is used to derive the coefficients of displacement equations: therefore the amount of manual work is greatly decreased. The results are verified by a numerical example. The researches of this paper and Ref. [5]found a base for establishing an expert system of spatial mechanism analysis in the future.展开更多
A method for automatically establishing a mathematical model of kinematic analysis to a planar mechanism with multiple joint and prismatic pair is presented. The breadth ( or depth ) first search spanning tree can b...A method for automatically establishing a mathematical model of kinematic analysis to a planar mechanism with multiple joint and prismatic pair is presented. The breadth ( or depth ) first search spanning tree can be obtained based on an adjacency matrix of the mechanism. Then the kinematic chain (or mechanism)'s basic loops can be obtained. On the basis of these basic loops, a mathematical model of kinematic analysis can be established and solved automatically. In the sense of a calculative mechanism, structural analysis of the kinematic chain relates to the kinematic analysis of a mechanism. Thus, an effective way is supplied to the given mechanism's kinematic analysis for automatic modeling and solving, and a method is supplied to the structural type to optimize kinematic synthesis.展开更多
Planar sliding is one of the frequently observed types of failure in rock slopes.Kinematic analysis is a classic and widely used method to examine the potential failure modes in rock masses.The accuracy of planar slid...Planar sliding is one of the frequently observed types of failure in rock slopes.Kinematic analysis is a classic and widely used method to examine the potential failure modes in rock masses.The accuracy of planar sliding kinematic analysis is significantly influenced by the value assigned to the lateral limit angleγlim.However,the assignment ofγlim is currently used generally based on an empirical criterion.This study aims to propose an approach for determining the value ofγlim in deterministic and probabilistic kinematic planar sliding analysis.A new perspective is presented to reveal thatγlim essentially influences the probability of forming a potential planar sliding block.The procedure to calculate this probability is introduced using the block theory method.It is found that the probability is correlated with the number of discontinuity sets presented in rock masses.Thus,different values ofγlim for rock masses with different sets of discontinuities are recommended in both probabilistic and deterministic planar sliding kinematic analyses;whereas a fixed value ofγlim is commonly assigned to different types of rock masses in traditional method.Finally,an engineering case was used to compare the proposed and traditional kinematic analysis methods.The error rates of the traditional method vary from 45%to 119%,while that of the proposed method ranges between 1%and 17%.Therefore,it is likely that the proposed method is superior to the traditional one.展开更多
The kinematic equivalent model of an existing ankle-rehabilitation robot is inconsistent with the anatomical structure of the human ankle,which influences the rehabilitation effect.Therefore,this study equates the hum...The kinematic equivalent model of an existing ankle-rehabilitation robot is inconsistent with the anatomical structure of the human ankle,which influences the rehabilitation effect.Therefore,this study equates the human ankle to the UR model and proposes a novel three degrees of freedom(3-DOF)generalized spherical parallel mechanism for ankle rehabilitation.The parallel mechanism has two spherical centers corresponding to the rotation centers of tibiotalar and subtalar joints.Using screw theory,the mobility of the parallel mechanism,which meets the requirements of the human ankle,is analyzed.The inverse kinematics are presented,and singularities are identified based on the Jacobian matrix.The workspaces of the parallel mechanism are obtained through the search method and compared with the motion range of the human ankle,which shows that the parallel mechanism can meet the motion demand of ankle rehabilitation.Additionally,based on the motion-force transmissibility,the performance atlases are plotted in the parameter optimal design space,and the optimum parameter is obtained according to the demands of practical applications.The results show that the parallel mechanism can meet the motion requirements of ankle rehabilitation and has excellent kinematic performance in its rehabilitation range,which provides a theoretical basis for the prototype design and experimental verification.展开更多
Parallel mechanisms are widely used in various fields of engineering and industrial applications such as machine tools, flight simulators, earthquake simulators, medical equipment, etc. Parallel mechanisms are restric...Parallel mechanisms are widely used in various fields of engineering and industrial applications such as machine tools, flight simulators, earthquake simulators, medical equipment, etc. Parallel mechanisms are restricted to some limitations such as irregular workspace, existence of singular points and complexity of control systems which should be studied and analyzed for effective and efficient use. In this research, a new machine tool with parallel mechanism which has three translational degrees of freedom is studied and the workspace and singular points are determined by deriving analytical equations and then utilizing of Matlab software. To do so, forward and inverse kinematics of the mechanism are obtained and workspace and singular points are calculated using a search algorithm. Afterward in order to validate the results, the proposed mechanism is simulated in automatic dynamics analysis of mechanical systems (ADAMS) software. Moreover, in order to investigate the quality of robot performance and dexterity of the mechanism in its workspace, global dexterity index (GDI) of the robot is calculated using Jacobean matrix at different positions of the mobile platform.展开更多
Common methods, such as Denavit-Hartenberg (D-H) method, cannot be simply used in kinematic analysis of special robots with hybrid hinge as it is difficult to obtain the main parameters of this method. Hence, a homo...Common methods, such as Denavit-Hartenberg (D-H) method, cannot be simply used in kinematic analysis of special robots with hybrid hinge as it is difficult to obtain the main parameters of this method. Hence, a homogeneous transformation theory is presented to solve this problem. Firstly, the kinematics characteristic of this special structure is analyzed on the basis of the closed-chain theory. In such a theory, closed chains can be transformed to open chains, which makes it easier to analyze this structure. Thus, it will become much easier to establish kinematics equations and get the solutions. Then, the robot model can be built in the Simmechanics (a tool box of MATLAB) with these equation solutions. It is necessary to design a graphical user interface (GUI) for robot simulation. After that, the model robot and real robot will respectively move to some spatial points under the same circumstances. At last, all data of kinematic analysis will be verified based on comparison between data got from simulation and real robot.展开更多
Hu and Schmidhalter (2008) conducted a study with wheat seedlings growing in saline and non-stressed (control) conditions with the aim of identifying and quantifying the cellular basis for the reduction in leaf gr...Hu and Schmidhalter (2008) conducted a study with wheat seedlings growing in saline and non-stressed (control) conditions with the aim of identifying and quantifying the cellular basis for the reduction in leaf growth. We applaud their goals as salinity is an important issue for plant ecology and food production; however, we have concerns about the methodology used and the subsequent conclusJons that are drawn.展开更多
In the present study,the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research objective.In this paper,kinematics of the hybrid manipulator,including the forward and inverse position,are ana...In the present study,the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research objective.In this paper,kinematics of the hybrid manipulator,including the forward and inverse position,are analyzed.Then,the workspace is checked based on the inverse position solution to evaluate whether the workspace of the hybrid manipulator meets the requirements,and the actual workspace of the hybrid robot is analyzed.After that,the force analysis of the over-constrained parallel mechanism is carried out,and an ADAMS-ANSYS rigid-flexible hybrid body model is established to verify the simulation.Based on the obtained results from the force analysis,the manipulator structure is designed.Then,the structure optimization is carried out to improve the robot stiffness.Finally,calibration and workspace verification experiments are performed on the prototype,cutting experiment of an S-shaped aluminum alloy workpiece is completed,and the experiment verifies the machining ability of the prototype.This work conducts kinematics,workspace,force analyses,structural optimization design and experiments on the over-constrained hybrid manipulator R(2RPR)R/SP+RR,providing design basis and technical support for the development of the novel hybrid manipulator in practical engineering.展开更多
As the support mechanism of space-borne antennas,space deployable antenna mechanism belongs to complex multi-closed-loop coupling mechanism,configuration design and dynamic analysis are more difficult than general par...As the support mechanism of space-borne antennas,space deployable antenna mechanism belongs to complex multi-closed-loop coupling mechanism,configuration design and dynamic analysis are more difficult than general parallel mechanism.In this paper,an unequal-length scissors mechanism(ULSM)is proposed by changing the position of the internal rotational joint through a basic scissors mechanism.A scissors hoop-rib truss deployable antenna mechanism(SHRTDAM)is constructed by replacing the parabolic rib with the ULSM.Kinematic analysis of SHRTDAM is conducted,and the degree of freedom(DOF)of the whole antenna mechanism is analyzed based on screw theory,the result showed that it has only one DOF.Velocity and acceleration characteristics of SHRTDAM are obtained by the screw derivative and rotation transformation.Based on Lagrange equation,dynamic model of this mechanism is established,the torque required to drive the mechanism is simulated and verified by Adams and MATLAB software.In addition,a ground experiment prototype of 1.5-m diameter was fabricated and a deployment test is conducted,which demonstrated the mobility and deployment performance of the whole mechanism.The mechanism proposed in this paper can provide a good reference for the design and analysis of large aperture space deployable antennas.展开更多
Currently, virtual assembly technology has attracted increasing attention due to considerations of solving assembly problems in virtual environment before actual assembly in manufactory. Previous studies on kinematic ...Currently, virtual assembly technology has attracted increasing attention due to considerations of solving assembly problems in virtual environment before actual assembly in manufactory. Previous studies on kinematic analysis of mechanism only aim at analyzing motion law of single mechanism, but can not simulate the multi-mechanisms motion process at the same time, let alone simulating the automatic assembly process of products in a whole assembly workshop. In order to simulate the assembly process of products in an assembly workshop and provide effective data for analyzing mechanical performance after finishing assembly simulation in virtual environment, this study investigates the kinematics analysis of mechanisms based on virtual assembly. Firstly, in view of the same function of the kinematic pairs and the assembly constraints on restricting the motion of components (subassembly or part), the method of identifying kinematic pairs automatically based on assembly constraints is presented. The information of kinematic pairs can be obtained through calculating the constraint degree of the assembly constraints. Secondly, the incidence matrix eliminating element method is proposed in order to search the information and establish the models of mechanisms automatically after finishing assembly simulation in virtual environment. Both methods have important significance for reducing the workload of pretreatment and promoting the level of automation of kinematics analysis. Finally, the method of kinematics analysis of mechanisms is presented. Based on Descartes coordinates, three types of kinematics equations are formed. The parameters, like displacement, velocity, and acceleration, can be obtained by solving these equations. All these data are important to analyze mechanical performance. All the methods are implemented and validated in the prototype system virtual assembly process planning(VAPP). The mechanism models are established and simulated in the VAPP system, and the result curves are shown accurately. The proposed kinematics analysis of mechanisms based on virtual assembly provides an effective method for simulating product assembly process automatically and analyzing mechanical performance after finishing assembly simulation.展开更多
Advanced mathematical tools are used to conduct research on the kinematics analysis of hybrid mechanisms,and the generalized analysis method and concise kinematics transfer matrix are obtained.In this study,first,acco...Advanced mathematical tools are used to conduct research on the kinematics analysis of hybrid mechanisms,and the generalized analysis method and concise kinematics transfer matrix are obtained.In this study,first,according to the kinematics analysis of serial mechanisms,the basic principles of Lie groups and Lie algebras are briefly explained in dealing with the spatial switching and differential operations of screw vectors.Then,based on the standard ideas of Lie operations,the method for kinematics analysis of parallel mechanisms is derived,and Jacobian matrix and Hessian matrix are formulated recursively and in a closed form.Then,according to the mapping relationship between the parallel joints and corresponding equivalent series joints,a forward kinematics analysis method and two inverse kinematics analysis methods of hybrid mechanisms are examined.A case study is performed to verify the calculated matrices wherein a humanoid hybrid robotic arm with a parallel-series-parallel configuration is considered as an example.The results of a simulation experiment indicate that the obtained formulas are exact and the proposed method for kinematics analysis of hybrid mechanisms is practically feasible.展开更多
A double-tracked robot is designed from mechanical and control perspectives,which consists of two segments connected with a swing joint. As the angle between the two segments of the robot platform can be changed,the r...A double-tracked robot is designed from mechanical and control perspectives,which consists of two segments connected with a swing joint. As the angle between the two segments of the robot platform can be changed,the robot can move like a four-tracked robot on many terrains. The center of gravity( CG) kinematics model is established,which plays an important role in the process of traveling over obstacles and climbing up stairs. Using this model,the CG change situation and the maximal height of the climbable obstacle are obtained. Then the relationship between the robot pitch angle and the height of the obstacle is established. Finally,a reasonable system structure for the robot is designed and its kinematics analysis for obstacle-surmounting capability is conducted through experiments.展开更多
Two kinds of 2-dof parallel mechanisms are proposed in this paper which can be used as the actuator for the plane sprayer. The direct and inverse kinematics solutions of the two kinds of mechanisms are derived on the ...Two kinds of 2-dof parallel mechanisms are proposed in this paper which can be used as the actuator for the plane sprayer. The direct and inverse kinematics solutions of the two kinds of mechanisms are derived on the end operating point and two workspaces are analyzed and compared. The kinematics models of the end operating point of two mechanisms are simulated by Matlab examples obtaining variation of kinematics parameters of these two mechanisms. The research of this paper provides the basis for the selection of mechanism, trajectory planning of the end operating point on the sprayer and often some practical value for trajectory analysis and structure design of the plane sprayer.展开更多
In order to improve the reliability of the mechanical movement of the rotary electronic dobby, the kinematics analysis of the heald selection mechanism is carried out and the simulation is carried out with Matlab. Fir...In order to improve the reliability of the mechanical movement of the rotary electronic dobby, the kinematics analysis of the heald selection mechanism is carried out and the simulation is carried out with Matlab. Firstly, the operation mechanism of the heald selection mechanism is analyzed in detail. The conjugate cam is mapped. The cam profile curve is fitted with cubic spline interpolation. Secondly, based on the overall analysis method and the complex vector method, the kinematics analysis of the key components after the high pair low generation is performed, and the angular displacement and angular velocity of each component are calculated with the rotation of the active cam. Finally, the movement curve diagram is drawn with Matlab, which lays the foundation for the dynamic analysis and in-depth study of the selection mechanism in the future.展开更多
文摘The network of Himalayan roadways and highways connects some remote regions of valleys or hill slopes,which is vital for India’s socio-economic growth.Due to natural and artificial factors,frequency of slope instabilities along the networks has been increasing over last few decades.Assessment of stability of natural and artificial slopes due to construction of these connecting road networks is significant in safely executing these roads throughout the year.Several rock mass classification methods are generally used to assess the strength and deformability of rock mass.This study assesses slope stability along the NH-1A of Ramban district of North Western Himalayas.Various structurally and non-structurally controlled rock mass classification systems have been applied to assess the stability conditions of 14 slopes.For evaluating the stability of these slopes,kinematic analysis was performed along with geological strength index(GSI),rock mass rating(RMR),continuous slope mass rating(CoSMR),slope mass rating(SMR),and Q-slope in the present study.The SMR gives three slopes as completely unstable while CoSMR suggests four slopes as completely unstable.The stability of all slopes was also analyzed using a design chart under dynamic and static conditions by slope stability rating(SSR)for the factor of safety(FoS)of 1.2 and 1 respectively.Q-slope with probability of failure(PoF)1%gives two slopes as stable slopes.Stable slope angle has been determined based on the Q-slope safe angle equation and SSR design chart based on the FoS.The value ranges given by different empirical classifications were RMR(37-74),GSI(27.3-58.5),SMR(11-59),and CoSMR(3.39-74.56).Good relationship was found among RMR&SSR and RMR&GSI with correlation coefficient(R 2)value of 0.815 and 0.6866,respectively.Lastly,a comparative stability of all these slopes based on the above classification has been performed to identify the most critical slope along this road.
基金supported by the Brain Korea 21 Project and SNU-IAMD.
文摘This paper presents a kinematic analysis of the locomotion of a gecko,and experimental verification of the kinematic model.Kinematic analysis is important for parameter design,dynamic analysis,and optimization in biomimetic robot research. The proposed kinematic analysis can simulate,without iteration,the locomotion of gecko satisfying the constraint conditions that maintain the position of the contacted feet on the surface.So the method has an advantage for analyzing the climbing motion of the quadruped mechanism in a real time application.The kinematic model of a gecko consists of four legs based on 7-degrees of freedom spherical-revolute-spherical joints and two revolute joints in the waist.The motion of the kinematic model is simulated based on measurement data of each joint.The motion of the kinematic model simulates the investigated real gecko's motion by using the experimental results.The analysis solves the forward kinematics by considering the model as a combination of closed and open serial mechanisms under the condition that maintains the contact positions of the attached feet on the ground. The motions of each joint are validated by comparing with the experimental results.In addition to the measured gait,three other gaits are simulated based on the kinematic model.The maximum strides of each gait are calculated by workspace analysis.The result can be used in biomimetic robot design and motion planning.
基金the Chairman of Department of GeologyDepartment of Civil Engineering, Aligarh Muslim University, Aligarh, India for providing necessary facilities to carry out this work
文摘The ro ad n etw o rk in th e H im alayan terrain , connecting re m o te areas e ith e r in th e valleys o r on th e hillslopes, plays a pivotal role in socio-econom ic d e v elo p m en t ofIn d ia. The planning, d ev elo p m en t an d evenm ain ten an ce o f ro ad an d rail netw o rk s in such precarious terrain s are alw ays a challenging task becauseo f com plexities p osed by topography, geological stru ctu res, varied lithology an d neotectonics. Increasingp o p u latio n an d c o n stru ctio n o f roads have led to destab ilisatio n o f slopes, th u s leading to m ass w astingand m ovem ent, fu rth e r aggravation d u e to recen t events o f cloud bu rsts and u n p re c e d e n te d flash floods.V ulnerability analysis o f slopes is an im p o rta n t co m p o n e n t for th e "Landslide H azard A ssessm ent" and"Slope Mass C h aracterisation" guide p lan n ers to p red ict an d choose suitable w ays for c o n stru ctio n ofroads and o th e r en g in eerin g stru ctu res. The pro b lem o f landslides along th e n ational highw ay-58 (NH-58) from Rishikesh to D evprayag is a co m m o n scene. The slopes along th e NH-58 b e tw e e n Jonk andRishikesh w ere investigated, w h ich experienced v ery heavy traffic especially from M arch to A ugust dueto pilgrim age to K edarnath shrine. On th e basis o f slope m ass rating (SMR) investigation, th e area falls instable class, an d landslide susceptibility score (LSS) values also indicate th a t th e slopes u n d e r investigationfall in low to m o d erate v ulnerability to landslide. More atte n tio n s should be paid to th e slopes toachieve g reater safe an d econom ic b enefits along th e highw ay.
文摘The objective of this paper is to quantify the local stabilities of the neck and upper extremities (right/left shoulders and right/left elbows), and investigate differences between linear and nonlinear measurements of the associated joint motions and differences in the local stability between the upper and lower extremities. This attempt involves the calculation of a nonlinear parameter, Lyapunov Exponent (LE), and a linear parameter, Range of Motion (ROM), during treadmill walking in conj unction with a large population of healthy subjects. Joint motions of subjects were captured using a three-dimensional motion-capture system. Then mathematical chaos theory and the Rosenstein algorithm were employed to calculate LE of joints as the extent of logarithmic divergence between the neighboring state-space trajectories of flexion-extension angles. LEs computed over twenty males and twenty females were 0.037~0.023 for the neck, 0.043+0.021 for the right shoulder, 0.045i0.030 for the left shoulder, 0.032i0.021 for the right elbow, and 0.034~0.026 for the left elbow. Although statistically significant difference in the ROM was observed between all pairs of the neck and upper extremity joints, differences in the LE between all pairs of the joints as well as between males and females were not statistically significant. Between the upper and lower extremities, LEs of the neck, shoulder, and elbow were significantly smaller than those of the hip (-0.064) and the knee (-0,062). These results indicate that a statistical difference in the local stability between the upper extremity joints is not significant. However, the different result between the ROM and LE gives a strong rationale for applying both linear and nonlinear tools together to the evaluation of joint movement. The LEs of the joints calculated from a large population of healthy subjects could provide normative values for the associated joints and can be used to evaluate the recovery progress of patients with joint related diseases.
基金the National Natural Science Foundation of China(Grant Nos.51809165 and 51761135012).
文摘Drag anchor is widely applied in offshore engineering for offshore mooring systems.The prediction of the invisible trajectory during its drag-in installation is challenging for anchor design in determining the anchor final position for ensuring sufficient holding capacity.The yield envelope method based on deep anchor failure for kinematic analysis was proposed as a promising trajectory prediction method for drag anchor.However,there is a lack of analysis on the effects of the parameters applied in the kinematic analysis.The current work studies the effects of the yield envelope parameters,anchor line bearing capacity factor and the anchor/soil interface friction.It is found that the accuracy of the yield envelope parameters has large impact on the prediction results based on deep yield envelopes.Analyses of cases with smooth fluke predict deeper embedment depth than that from analyses of cases with rough fluke.The decrease of the capacity factor results in the increase of the anchor embedment depth,the anchor line load,the anchor chain angle and the stable value of the normalized horizontal load component for the same drag length,while the stable value of the normalized vertical load component decreases when the capacity factor decreases.This illustrates the importance in applying reasonable parameters and improving the method for more reliable prediction of the anchor trajectory.
文摘Rock slope kinematic analysis and rock mass classifications has been conducted at the 17^(th) km to 26^(th) km of USAID(United States Agency for International Development)highway in Indonesia.This research aimed to examine the type of rock slope failures and the quality of rock mass as well.The scan-line method was performed in six slopes by using a geological compass to determine rock mass structure on the rock slope,and the condition of joints such as persistence,aperture,roughness,infilling material,weathering and groundwater conditions.Slope kinematic analysis was performed employing a stereographic projection.The rock slope quality and stability were investigated based on RMR(rock mass rating)and SMR(slope mass rating)parameters.The rock slope kinematic analysis revealed that planar failure was likely to occur in Slope 1,3,and 4,the wedge failure in Slope 1 and 6,and toppling failure in Slope 2,5,and 6.The RMR rating is ranging from 57 to 64 and can be categorized as Fair to Good rock.The SMR rating revealed that the failure probability of Slope 3 was 90%,while it was from 40%to 60%for others.Despite the uniform RMR for all slopes,the SMR was significantly different.The detailed quantitative consideration of orientation of joint sets and geometry of the slope contributed to such differences in outcomes.
文摘The displacement, velocity and acceleration analysis of the general spatial 7R mechanism is discussed in this paper, fused on the method proposed in Ref. [2], an input-output algebra equation of the 16th degree in the tan-half-angle of the output angular displacement is derived. The derivation process and computation are considerably simple. A program written in Allanguage is used to derive the coefficients of displacement equations: therefore the amount of manual work is greatly decreased. The results are verified by a numerical example. The researches of this paper and Ref. [5]found a base for establishing an expert system of spatial mechanism analysis in the future.
基金supported by the Foundation for Docotors of Xiangtan University under Grant No. 08QDZ42the Project of Engineering Research Center of Ministry of Education under Grant No. 09-FZGJ04
文摘A method for automatically establishing a mathematical model of kinematic analysis to a planar mechanism with multiple joint and prismatic pair is presented. The breadth ( or depth ) first search spanning tree can be obtained based on an adjacency matrix of the mechanism. Then the kinematic chain (or mechanism)'s basic loops can be obtained. On the basis of these basic loops, a mathematical model of kinematic analysis can be established and solved automatically. In the sense of a calculative mechanism, structural analysis of the kinematic chain relates to the kinematic analysis of a mechanism. Thus, an effective way is supplied to the given mechanism's kinematic analysis for automatic modeling and solving, and a method is supplied to the structural type to optimize kinematic synthesis.
基金funded by National Natural Science Foundation,China(Grant Nos.41972264 and 42207214)Zhejiang Provincial Natural Science Foundation,China(Grant No.LR22E080002).
文摘Planar sliding is one of the frequently observed types of failure in rock slopes.Kinematic analysis is a classic and widely used method to examine the potential failure modes in rock masses.The accuracy of planar sliding kinematic analysis is significantly influenced by the value assigned to the lateral limit angleγlim.However,the assignment ofγlim is currently used generally based on an empirical criterion.This study aims to propose an approach for determining the value ofγlim in deterministic and probabilistic kinematic planar sliding analysis.A new perspective is presented to reveal thatγlim essentially influences the probability of forming a potential planar sliding block.The procedure to calculate this probability is introduced using the block theory method.It is found that the probability is correlated with the number of discontinuity sets presented in rock masses.Thus,different values ofγlim for rock masses with different sets of discontinuities are recommended in both probabilistic and deterministic planar sliding kinematic analyses;whereas a fixed value ofγlim is commonly assigned to different types of rock masses in traditional method.Finally,an engineering case was used to compare the proposed and traditional kinematic analysis methods.The error rates of the traditional method vary from 45%to 119%,while that of the proposed method ranges between 1%and 17%.Therefore,it is likely that the proposed method is superior to the traditional one.
基金Supported by National Natural Science Foundation of China(Grant No.52075145)S&T Program of Hebei Province of China(Grant Nos.20281805Z,E2020103001)Central Government Guides Basic Research Projects of Local Science and Technology Development Funds of China(Grant No.206Z1801G).
文摘The kinematic equivalent model of an existing ankle-rehabilitation robot is inconsistent with the anatomical structure of the human ankle,which influences the rehabilitation effect.Therefore,this study equates the human ankle to the UR model and proposes a novel three degrees of freedom(3-DOF)generalized spherical parallel mechanism for ankle rehabilitation.The parallel mechanism has two spherical centers corresponding to the rotation centers of tibiotalar and subtalar joints.Using screw theory,the mobility of the parallel mechanism,which meets the requirements of the human ankle,is analyzed.The inverse kinematics are presented,and singularities are identified based on the Jacobian matrix.The workspaces of the parallel mechanism are obtained through the search method and compared with the motion range of the human ankle,which shows that the parallel mechanism can meet the motion demand of ankle rehabilitation.Additionally,based on the motion-force transmissibility,the performance atlases are plotted in the parameter optimal design space,and the optimum parameter is obtained according to the demands of practical applications.The results show that the parallel mechanism can meet the motion requirements of ankle rehabilitation and has excellent kinematic performance in its rehabilitation range,which provides a theoretical basis for the prototype design and experimental verification.
文摘Parallel mechanisms are widely used in various fields of engineering and industrial applications such as machine tools, flight simulators, earthquake simulators, medical equipment, etc. Parallel mechanisms are restricted to some limitations such as irregular workspace, existence of singular points and complexity of control systems which should be studied and analyzed for effective and efficient use. In this research, a new machine tool with parallel mechanism which has three translational degrees of freedom is studied and the workspace and singular points are determined by deriving analytical equations and then utilizing of Matlab software. To do so, forward and inverse kinematics of the mechanism are obtained and workspace and singular points are calculated using a search algorithm. Afterward in order to validate the results, the proposed mechanism is simulated in automatic dynamics analysis of mechanical systems (ADAMS) software. Moreover, in order to investigate the quality of robot performance and dexterity of the mechanism in its workspace, global dexterity index (GDI) of the robot is calculated using Jacobean matrix at different positions of the mobile platform.
基金supported by the Key Scientific and Technological Project of Shanghai Science and Technology Commission(Grant No.12111101004)
文摘Common methods, such as Denavit-Hartenberg (D-H) method, cannot be simply used in kinematic analysis of special robots with hybrid hinge as it is difficult to obtain the main parameters of this method. Hence, a homogeneous transformation theory is presented to solve this problem. Firstly, the kinematics characteristic of this special structure is analyzed on the basis of the closed-chain theory. In such a theory, closed chains can be transformed to open chains, which makes it easier to analyze this structure. Thus, it will become much easier to establish kinematics equations and get the solutions. Then, the robot model can be built in the Simmechanics (a tool box of MATLAB) with these equation solutions. It is necessary to design a graphical user interface (GUI) for robot simulation. After that, the model robot and real robot will respectively move to some spatial points under the same circumstances. At last, all data of kinematic analysis will be verified based on comparison between data got from simulation and real robot.
文摘Hu and Schmidhalter (2008) conducted a study with wheat seedlings growing in saline and non-stressed (control) conditions with the aim of identifying and quantifying the cellular basis for the reduction in leaf growth. We applaud their goals as salinity is an important issue for plant ecology and food production; however, we have concerns about the methodology used and the subsequent conclusJons that are drawn.
基金National Natural Science Foundation of China(Grant No.51875495)National Key R&D Program of China(Grant No.2017YFB1301901)Hebei Provincial Science and Technology Project of China(Grant No.206Z1805G).
文摘In the present study,the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research objective.In this paper,kinematics of the hybrid manipulator,including the forward and inverse position,are analyzed.Then,the workspace is checked based on the inverse position solution to evaluate whether the workspace of the hybrid manipulator meets the requirements,and the actual workspace of the hybrid robot is analyzed.After that,the force analysis of the over-constrained parallel mechanism is carried out,and an ADAMS-ANSYS rigid-flexible hybrid body model is established to verify the simulation.Based on the obtained results from the force analysis,the manipulator structure is designed.Then,the structure optimization is carried out to improve the robot stiffness.Finally,calibration and workspace verification experiments are performed on the prototype,cutting experiment of an S-shaped aluminum alloy workpiece is completed,and the experiment verifies the machining ability of the prototype.This work conducts kinematics,workspace,force analyses,structural optimization design and experiments on the over-constrained hybrid manipulator R(2RPR)R/SP+RR,providing design basis and technical support for the development of the novel hybrid manipulator in practical engineering.
基金supported by the National Natural Science Foundation of China(Grant Nos.52105035 and 52075467)the Natural Science Foundation of Hebei Province of China(Grant No.E2021203109)+1 种基金the State Key Laboratory of Robotics and Systems(HIT)(Grant No.SKLRS-2021-KF-15)the Industrial Robot Control and Reliability Technology Innovation Center of Hebei Province(Grant No.JXKF2105).
文摘As the support mechanism of space-borne antennas,space deployable antenna mechanism belongs to complex multi-closed-loop coupling mechanism,configuration design and dynamic analysis are more difficult than general parallel mechanism.In this paper,an unequal-length scissors mechanism(ULSM)is proposed by changing the position of the internal rotational joint through a basic scissors mechanism.A scissors hoop-rib truss deployable antenna mechanism(SHRTDAM)is constructed by replacing the parabolic rib with the ULSM.Kinematic analysis of SHRTDAM is conducted,and the degree of freedom(DOF)of the whole antenna mechanism is analyzed based on screw theory,the result showed that it has only one DOF.Velocity and acceleration characteristics of SHRTDAM are obtained by the screw derivative and rotation transformation.Based on Lagrange equation,dynamic model of this mechanism is established,the torque required to drive the mechanism is simulated and verified by Adams and MATLAB software.In addition,a ground experiment prototype of 1.5-m diameter was fabricated and a deployment test is conducted,which demonstrated the mobility and deployment performance of the whole mechanism.The mechanism proposed in this paper can provide a good reference for the design and analysis of large aperture space deployable antennas.
基金supported by National Natural Science Foundation of China (Grant No. 50805009)National Defense Pre-Research Fund of China during the 11th Five-Year Plan Period (Grant No. 51318010205)
文摘Currently, virtual assembly technology has attracted increasing attention due to considerations of solving assembly problems in virtual environment before actual assembly in manufactory. Previous studies on kinematic analysis of mechanism only aim at analyzing motion law of single mechanism, but can not simulate the multi-mechanisms motion process at the same time, let alone simulating the automatic assembly process of products in a whole assembly workshop. In order to simulate the assembly process of products in an assembly workshop and provide effective data for analyzing mechanical performance after finishing assembly simulation in virtual environment, this study investigates the kinematics analysis of mechanisms based on virtual assembly. Firstly, in view of the same function of the kinematic pairs and the assembly constraints on restricting the motion of components (subassembly or part), the method of identifying kinematic pairs automatically based on assembly constraints is presented. The information of kinematic pairs can be obtained through calculating the constraint degree of the assembly constraints. Secondly, the incidence matrix eliminating element method is proposed in order to search the information and establish the models of mechanisms automatically after finishing assembly simulation in virtual environment. Both methods have important significance for reducing the workload of pretreatment and promoting the level of automation of kinematics analysis. Finally, the method of kinematics analysis of mechanisms is presented. Based on Descartes coordinates, three types of kinematics equations are formed. The parameters, like displacement, velocity, and acceleration, can be obtained by solving these equations. All these data are important to analyze mechanical performance. All the methods are implemented and validated in the prototype system virtual assembly process planning(VAPP). The mechanism models are established and simulated in the VAPP system, and the result curves are shown accurately. The proposed kinematics analysis of mechanisms based on virtual assembly provides an effective method for simulating product assembly process automatically and analyzing mechanical performance after finishing assembly simulation.
基金Supported by Zhejiang Province Foundation for Distinguished Young Scholars of China(Grant No.LR18E050003)National Natural Science Foundation of China(Grant Nos.51975523,51475424,51905481)Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems(Grant No.GZKF-201906).
文摘Advanced mathematical tools are used to conduct research on the kinematics analysis of hybrid mechanisms,and the generalized analysis method and concise kinematics transfer matrix are obtained.In this study,first,according to the kinematics analysis of serial mechanisms,the basic principles of Lie groups and Lie algebras are briefly explained in dealing with the spatial switching and differential operations of screw vectors.Then,based on the standard ideas of Lie operations,the method for kinematics analysis of parallel mechanisms is derived,and Jacobian matrix and Hessian matrix are formulated recursively and in a closed form.Then,according to the mapping relationship between the parallel joints and corresponding equivalent series joints,a forward kinematics analysis method and two inverse kinematics analysis methods of hybrid mechanisms are examined.A case study is performed to verify the calculated matrices wherein a humanoid hybrid robotic arm with a parallel-series-parallel configuration is considered as an example.The results of a simulation experiment indicate that the obtained formulas are exact and the proposed method for kinematics analysis of hybrid mechanisms is practically feasible.
基金Supported by the National Natural Science Foundation(61273344)Ph.D. Program Foundation of Ministry of Education of China(20121101110011)+1 种基金Fundamental Research Fund of Beijing Institute of Technology(20130242009)State Key Laboratory of Robotics and Systems(HIT)(SKLRS-2011-ZD-06,SKLRS-2013-MS-10)
文摘A double-tracked robot is designed from mechanical and control perspectives,which consists of two segments connected with a swing joint. As the angle between the two segments of the robot platform can be changed,the robot can move like a four-tracked robot on many terrains. The center of gravity( CG) kinematics model is established,which plays an important role in the process of traveling over obstacles and climbing up stairs. Using this model,the CG change situation and the maximal height of the climbable obstacle are obtained. Then the relationship between the robot pitch angle and the height of the obstacle is established. Finally,a reasonable system structure for the robot is designed and its kinematics analysis for obstacle-surmounting capability is conducted through experiments.
文摘Two kinds of 2-dof parallel mechanisms are proposed in this paper which can be used as the actuator for the plane sprayer. The direct and inverse kinematics solutions of the two kinds of mechanisms are derived on the end operating point and two workspaces are analyzed and compared. The kinematics models of the end operating point of two mechanisms are simulated by Matlab examples obtaining variation of kinematics parameters of these two mechanisms. The research of this paper provides the basis for the selection of mechanism, trajectory planning of the end operating point on the sprayer and often some practical value for trajectory analysis and structure design of the plane sprayer.
文摘In order to improve the reliability of the mechanical movement of the rotary electronic dobby, the kinematics analysis of the heald selection mechanism is carried out and the simulation is carried out with Matlab. Firstly, the operation mechanism of the heald selection mechanism is analyzed in detail. The conjugate cam is mapped. The cam profile curve is fitted with cubic spline interpolation. Secondly, based on the overall analysis method and the complex vector method, the kinematics analysis of the key components after the high pair low generation is performed, and the angular displacement and angular velocity of each component are calculated with the rotation of the active cam. Finally, the movement curve diagram is drawn with Matlab, which lays the foundation for the dynamic analysis and in-depth study of the selection mechanism in the future.