Temat: kinematic - Prolib Integro

Skocz do pozycji: 1.

Tytuł:: The Development of Mechanism with Hybrid Kinematic Structure Prototype
Autorzy:: Poppeová, V.
Uríček, J.
Bulej, V.
Šindler, P.
Tematy:: parallel kinematic structure
hybrid kinematic structures
parallel kinematic machines
parallel kinematic robots; Pokaż więcej
Data publikacji:: 2009
Powiązania:: https://bibliotekanauki.pl/articles/971211.pdf Link otwiera się w nowym oknie
Źródło:: Journal of Machine Engineering; 2009, 9, 3; 102-109
1895-7595
2391-8071
Pojawia się w:: Journal of Machine Engineering
Opis:: This paper deals with the development of mechanism with hybrid kinematic structure called trivariant and its subsystems. Hybrid machines are characterized by connecting advantages of both type mechanisms together - high dynamics of parallel mechanisms for positioning and high flexibility and high mobility range of serial mechanisms for orientation. At our department was built the small-scale mechanism prototype used for testing, functional verification, for education and training. There was created the simulation software and control system based on standard PC for this prototype. Our prototype can be applied like small CNC milling machine but it is possible to modify it also for the manipulation with objects like robot device.
Dostawca treści:: Biblioteka Nauki

Artykuł

na półce

Skocz do pozycji: 2.

Tytuł:: Kinematic synthesis of spatial linkages with spherical pairs
Autorzy:: Kosbolov, S.
Zhauyt, A.
Tematy:: mechanism
four-link
kinematic pairs
kinematic chains
synthesis; Pokaż więcej
Data publikacji:: 2016
Powiązania:: https://bibliotekanauki.pl/articles/949116.pdf Link otwiera się w nowym oknie
Źródło:: Journal of Theoretical and Applied Mechanics; 2016, 54, 1; 75-85
1429-2955
Pojawia się w:: Journal of Theoretical and Applied Mechanics
Opis:: A solution to the problem of synthesizing an initial three-dimensional kinematic chain with spherical and rotary kinematic pairs is presented. It is shown that this chain can be used as a structural module for structural-kinematic synthesis of motion of a three-dimensional four-link generating lever mechanisms by preset positions of the input and output links.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Inverse kinematics model for a 18 degrees of freedom robot
Autorzy:: Ortega-Palacios, Miguel Angel
Palomino-Merino, Amparo Dora
Reyes-Cortes, Fernando
Tematy:: bioloid premium robot
forward kinematics
inverse kinematic
kinematic chain; Pokaż więcej
Data publikacji:: 2023
Powiązania:: https://bibliotekanauki.pl/articles/27314227.pdf Link otwiera się w nowym oknie
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2023, 17, 1; 21--29
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Opis:: The study of humanoid robots is still a challenge for the scientific community, although there are several related works in this area, several limitations have been found in the literature that drive the need to develop an inverse kinematic modeling of biped robots. This paper presents a research proposal for the Bioloid Premium robot. The objective is to propose a complete solution to the inverse kinematics model for a 18 DOF (Degrees Of Freedom) biped robot. This model will serve as a starting point to obtain the dynamic model of the robot in a subsequent work. The proposed methodology can be extended to other biped robots.
Dostawca treści:: Biblioteka Nauki

Artykuł

na półce

Skocz do pozycji: 4.

Tytuł:: Machining performance optimization of Parallel Kinematic Machines tools with regard to their anisotropic behaviour
Autorzy:: Pateloup, S.
Bonnemains, T.
Chanal, H.
Bouzgarrou, B. C.
Duc, E.
Ray, P.
Tematy:: parallel kinematic machine too
kinematic model
static model
tool path optimization; Pokaż więcej
Data publikacji:: 2008
Powiązania:: https://bibliotekanauki.pl/articles/1429122.pdf Link otwiera się w nowym oknie
Źródło:: Journal of Machine Engineering; 2008, 8, 4; 13-24
1895-7595
2391-8071
Pojawia się w:: Journal of Machine Engineering
Opis:: Today, Parallel Kinematic Machines tools (PKMs) appear in automotive and aeronautic industries. These machines allow a benefit of productivity due to their higher kinematics performances than Serial Kinematic Machines tools (SKMs). However, their machining accuracy is lower. Moreover, the compensation of the defects which penalizes the machined parts quality is difficult due to their anisotropic behaviour. Thus, this article deals with the development of methods improving the machined parts quality and the productivity. In order to improve parts quality, the static behaviour of the machine structure is considered with a model taking into account joints and legs compliances. Then, it allows determining a static workspace. About the productivity, the improvement of kinematics performances is performed through an optimization work of the non productive tool path between cutting operations. The computed tool path must verify a minimum time constraint and avoid collisions between the tool and the machined part. All the methods are illustrated with the PKM Tripteor X7 developed by PCI.
Dostawca treści:: Biblioteka Nauki

Artykuł

na półce

Skocz do pozycji: 5.

Tytuł:: Kinematic synthesis of linkage mechanisms using burmester points at the given dwell duration of the output link
Autorzy:: Kharzhevskyi, V. O.
Tematy:: kinematic synthesis
dwell linkages
path generating
kinematic geometry
Burmester points
coupler curves; Pokaż więcej
Data publikacji:: 2017
Powiązania:: https://bibliotekanauki.pl/articles/102783.pdf Link otwiera się w nowym oknie
Źródło:: Advances in Science and Technology. Research Journal; 2017, 11, 2; 139-145
2299-8624
Pojawia się w:: Advances in Science and Technology. Research Journal
Opis:: The paper is dedicated to the kinematic synthesis of dwell linkage mechanisms on the basis of the four-bar linkage. As known, to obtain the dwell of the output link, linkage mechanisms can be used and they have a number of advantages in comparison with other types of mechanisms. Using the kinematic geometry methods, special points of the mechanism’s coupler plane can be found. One of these points is Burmester point and it enables to synthesize four-bar linkages which coupler point traces the curve, a part of which is approximately close to the arc of the circle. By joining the additional structural group, dwell linkage mechanism can be designed. But the problem is to find such parameters of the mechanism which allow designing dwell linkages with a given duration of the dwell. Using the presented numerical and analytical method, this problem was solved; the samples of reference diagrams for the synthesis are also presented in the article. The method enables to carry out kinematic synthesis of dwell mechanisms, taking into account a number of other parameters, such as the length of the links, maximum displacement of the output link, dwell exactitude etc.
Dostawca treści:: Biblioteka Nauki

Artykuł

na półce

Skocz do pozycji: 6.

Tytuł:: Studium czynności ruchowych końcówki operacyjnej telemanipulatora kardiochirurgicznego
The motions study of thoracoskope tool of cardiosurgical telemanipulator
Autorzy:: Tejszerska, D
Ilewicz, G
Tematy:: telemanipulator kardiochirurgiczny
analiza kinematyczna
parametry kinematyczne
cardiosurgical telemanipulator
kinematic analysis
kinematic parameters; Pokaż więcej
Data publikacji:: 2010
Powiązania:: https://bibliotekanauki.pl/articles/98952.pdf Link otwiera się w nowym oknie
Źródło:: Aktualne Problemy Biomechaniki; 2010, 4; 225-230
1898-763X
Pojawia się w:: Aktualne Problemy Biomechaniki
Opis:: W pracy przedstawiono analizę kinematyki torakoskopowej końcówki operacyjnej telemanipulatora kardiochirurgicznego. Zidentyfikowano optymalne wartości prędkości dla ruchów niezwiązanych z interakcją narzędzia i serca. Stosowano różniczkowanie numeryczne z wygładzaniem wielomianowym Savitzkiego-Golaya w celu eliminacji negatywnego wpływu zakłócenia na jego efekt.
The analysis of kinematics of thoracoscope tool of cardiosurgical telemanipulator is presented in the paper. The optimal values of velocities for motion that aren’t bound up with interaction tool and tissue were identified. The numerical differentiation with Savitzky-Golay smoothing was applied to elimination negative influence of noises for its effect.
Dostawca treści:: Biblioteka Nauki

Artykuł

na półce

Skocz do pozycji: 7.

Tytuł:: Digital analysis of the dog’s gait as a tool for early diagnosis of locomotor dysfunction – case study
Cyfrowa analiza chodu psa jako narzędzie wczesnej diagnostyki zaburzen aparatu ruchu
Autorzy:: Olejniczak, A.
Bogusławska-Tryk, M.
Walasik, K.
Bogucka, J.
Tematy:: dog
motion
kinematic analysis
digital kinematic analysis
physiotherapy
locomotor dysfunction
early diagnosis; Pokaż więcej
Data publikacji:: 2022
Powiązania:: https://bibliotekanauki.pl/articles/29433607.pdf Link otwiera się w nowym oknie
Źródło:: Acta Scientiarum Polonorum. Zootechnica; 2022, 21, 2; 27-34
1644-0714
Pojawia się w:: Acta Scientiarum Polonorum. Zootechnica
Dostawca treści:: Biblioteka Nauki

Artykuł

na półce

Skocz do pozycji: 8.

Tytuł:: Multivariate analysis of the kinematics of an upper limb rehabilitation robot
Autorzy:: Sobiech, Mariusz
Michnik, Andrzej
Chuchnowska, Iwona
Karpiel, Ilona
Wolański, Wojciech
Tematy:: rehabilitation robot
therapy
upper limb exoskeleton
kinematic chain of exoskeleton
kinematic analysis; Pokaż więcej
Data publikacji:: 2024
Powiązania:: https://bibliotekanauki.pl/articles/55622225.pdf Link otwiera się w nowym oknie
Źródło:: Acta of Bioengineering and Biomechanics; 2024, 26, 1; 55-66
1509-409X
2450-6303
Pojawia się w:: Acta of Bioengineering and Biomechanics
Opis:: The purpose of this work is to present a multivariate analysis of the kinematics of an upper limb rehabilitation robot. Comparing multiple concepts of kinematic chains makes it possible to identify advantages and disadvantages and, as a consequence, choosing the optimal solution to create a physical device. Such actions shall contribute towards automation of the rehabilitation process, bringing benefits to both therapists and patients in comparison with conventional rehabilitation. Methods: Multivariate analysis of kinematics was performed on the basis of three concepts of the kinematic chain of an exoskeleton, enabling the rehabilitation of both right and left upper limb within the area of the shoulder joint, elbow joint and wrist. The kinematic chain allows the performance of simple and complex movements. Results: The results of the conducted multivariate kinematic analysis define specific movements and angular ranges, which may be performed while applying one of the proposed concepts of the robot design. The results made it possible to determine the optimum solution to the kinematic diagram and construction design, which best satisfy the expectations for effective rehabilitation. Conclusions: The analysis of the kinematic diagram concept of the exoskeleton should be done in relation to its design (construction form). Considering the obtained parameters, it is necessary to find an optimum concept and wisely manoeuvre the values, in order to avoid a situation in which one significant parameter influences another, equally important one. It is noteworthy that the introduction of changes into particular segments of the kinematic chain often has a significant impact on other segments.
Dostawca treści:: Biblioteka Nauki

Artykuł

na półce

Skocz do pozycji: 9.

Tytuł:: High speed electromechanical energy storage
Autorzy:: Rowiński, A.
Irzycki, A.
Snopkiewicz, K.
Tematy:: kinematic energy storage
electric motors; Pokaż więcej
Data publikacji:: 2012
Powiązania:: https://bibliotekanauki.pl/articles/246662.pdf Link otwiera się w nowym oknie
Źródło:: Journal of KONES; 2012, 19, 2; 459-464
1231-4005
2354-0133
Pojawia się w:: Journal of KONES
Opis:: Kinematical, electromechanical energy accumulator is a facility that converts supplied electrical energy to the kinetic one, stored in the rotating inertial system. Electric driving motors can operate both as a propulsion units, providing torque to the rotor shaft, and as generators in the course of braking. The prototype is designed to operate in a vacuum; the energy accumulator is located in a sealed pressurized vessel connected to the apparatus, which can generate vacuum pressure down to 1 Pa. The accumulator is destined for storage energy of 7.2 MJ at a speed of up to 20,000 1 / min. The energy accumulator is equipped with inert weight in the form of metal disc, connected to a composite band. In the course of operation, the rotor assembly is suspended in noncontact manner in housing assembly while the main body is fastened to the inner ring of the pressure vessel. The rotor consists of a shaft on which are mounted: a metal disc together with a band made of carbon fibre, inset into inert weight using epoxy resin; four disc rotors of two electric motors; two disks which are magnetic armature for electromagnetic bearings operating along the shaft axis; bushings of both sleeve bearings; fixing sleeves, washers and lock nuts to fix particular elements on the shaft. During normal operation the rotor is positioned in the radial direction through two electromagnetic bearings, top and bottom, located at both ends of shaft and operating in the differential arrangement, and in the axial direction - by a system of two eight-pole electromagnetic bearings. In the idle state rotor is based on the spherical tip of the mobile support and on the raceway of slide bearing located in the top cover. The prototype facility is designed to carry out performance tests, both under normal conditions of pressure and temperature and in vacuum environment, of: electromagnetic bearings, start-up/emergency devices, functional integration of all components and air tightness of tubing inside the tank. Measurement of radial and axial clearances between the rotor elements and housing for full speed range will be completed also.
Dostawca treści:: Biblioteka Nauki

Artykuł

na półce

Skocz do pozycji: 10.

Tytuł:: Kinematyka odwrotna tripoda z napędem mimośrodowym
The inverse kinematic of a tripod with cam movement actuators
Autorzy:: Zbrowski, A.
Zagroba, K.
Tematy:: precyzyjny mechanizm pozycjonujący
model kinematyczny
kinematyka równoległa
tripod
precision positioning mechanism
kinematic model
parallel kinematic; Pokaż więcej
Data publikacji:: 2007
Powiązania:: https://bibliotekanauki.pl/articles/257771.pdf Link otwiera się w nowym oknie
Źródło:: Problemy Eksploatacji; 2007, 4; 275-282
1232-9312
Pojawia się w:: Problemy Eksploatacji
Opis:: W artykule przedstawiono rozwiązanie zadania kinematyki odwrotnej w manipulatorze typu tripod o strukturze równoległej. Mechanizm posiada zamknięcie siłowe za pomocą sprężyny. Równania kinematyki są nieliniowe ze względu na zastosowanie mimośrodów jako elementów napędowych w aktuatorach.
The analysis of an inverse kinematic model of the tripod manipulator with parallel architecture was presented in the article. The mechanism is locked by a spring. Kinematics equations are non-linear because of the cam actuators. The presented model was used in the control of precision manipulator tripod.
Dostawca treści:: Biblioteka Nauki

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