Search results for "KINEMATICS"
showing 10 items of 481 documents
Integrated Design Optimization of a 5-DOF Assistive Light-weight Anthropomorphic Arm
2011
An integrated dimensional and drive train optimization method was developed for light-weight robotic arm design. The method deals with the determination of optimal link lengths and the optimal selection of motors and gearboxes from commercially available components. Constraints are formulated on the basis of kinematic performance and dynamic requirements, whereas the main objective is to minimize the weight. The design of a human-like arm, which is 10 kg in weight with a load capacity of 5 kg, is described. An integrated dimensional and drive train optimizationmethod was developed for light-weight robotic armdesign. The method deals with the determination of optimallink lengths and the opti…
Layer-wise and equivalent single layer models for smart multilayered plates
2014
Layer-wise and equivalent single layer plate models for magneto-electro-elastic multiphysics laminates are presented in a unified framework. They are based on variable kinematics and quasi-static behavior of the electromagnetic fields. The electromagnetic state of each single layer is preliminary determined by solving the corresponding governing equations coupled with the proper interface continuity and external boundary conditions. By so doing, the electromagnetic state is condensed into the plate kinematics and the layer governing equations are inferred by the principle of virtual displacements. This approach identifies effective mechanical layers, which are kinematically equivalent to th…
Numerical Simulations of the Hydrodynamics of the Abdominal Aorta Aneurysm (AAA) Using a Smoothed Particle Hydrodynamics Code with Deformable Wall Pr…
2018
We present some preliminary results of the numerical simulations of the hydrodynamic characteristics of an abdominal aorta aneurysm (AAA) patient specific test case. Images of the AAA lumen have been acquired in 10 discrete time-steps through a stabilized cardiac cycle by electrocardiogram-gated computer tomography angiography, and are used to approximate the in vivo, time dependent kinematic fields of the (internal) arterial wall. The flow field is simulated by a Smoothed Particle SPH numerical model, where the kinematics of the boundary of the computational domain (the internal aortic vessel) is the one computed by the above procedure. The outputs of the SPH model, i.e., pressure and flow…
Study on the application of CAM techniques on CNC lathes with Y axis and driven tools
2021
Abstract CNC lathes with Y axes and driven tools are machine-tools with complex kinematic. Using CAM techniques to program these machines is a cumbersome process and could easily lead to collisions. Collisions may occur not only between tools and workpiece but also between the mobile elements of the CNC lathe. While CAM software package can identify the first type of collisions, for the second type supplementary measures must be taken. This work presents the build of a kinematic model of such a CNC lathe and how can the CAM techniques be improved by using this model.
Considerations regarding the use of technological equipment for indexed and continuous multi-axes machining
2017
CNC machine-tools are becoming more and more complex, with regards of kinematic capabilities, driving systems, HMI interfaces and controllers. Consequently, the prices of these machines are also increasing, being directly linked with the machine characteristics. Multi-axes kinematic is nowadays seen as the possibility of controlling the motion of the machine elements not only on translational axes, but also on rotational ones. There are mainly two types of CNC milling machines with multi-axes kinematic: indexed 3+1 and/or 3+2 axes and continuous 4 and/or 5 axes machines. This work will present some aspects regarding indexed multi-axis and continuous multi-axes machining.
Metal Cutting Operations and Terminology
2008
This chapter presents a general description of the machining processes and machining operations using various classification criteria. The classification of machining processes is based on the energy source used and the type of generating mechanisms, whereas the classification of machining operations utilizes characteristic motions describing their kinematics. Some examples of turning, milling, hole making, broaching and threading operations are provided. Kinematics of typical cutting operations and appropriate standardized cutting parameters are described. The geometry of cutting tools in the tool-in-hand and tool-in-use systems, including relevant tool angles, is characterized.
Building 3D Geometric and Kinematic Models of Five-Axis Machine-Tools for Manufacturing Prosthetic Devices
2015
The paper presents the process of building and testing a geometric and kinematic model of a five-axis machining center, which can be used for accurate cutting processes simulation of complex parts. After building the model, it was be tested by simulating the machining process of a hip joint prosthetic device. The prosthetic device was chosen because of its complex shape and because it was obtained by a 3D scanning process, which means that the part was reconstructed using meshes, instead of surfaces, which makes the toolpath control more difficult.
Instrumentation in sports biomechanics
2007
La biomecánica deportiv emplea una serie de herramientas y técnicas de instrumentación paara el análisis de las diferentes disciplinas físico-deportivas, así como también para el desarrollo de nuevos materiales y equipamiento deportivo. Sin embargo, estas herramientas empleadas actualmente, poseen su cuerpo de conocimientos teóricos en los conocidos como "precursores de la biomecánica". Aristóteles, Da Vinci, Galileo, Descartes, Borelli, Newton, etc... El documento, presenta diferentes técnicas instrumentales desarrolladas para evaluar y aportar información relevante en la ejecución físico-deportiva, así como contribuir en la disminución de la epidemiología deportiva. Entre las principales …
Kinematic Solutions of a 7 DOF Robotic Arm Using Redundancy Circle and Fuzzy Models
2014
In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, Fuzzy Logic implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.
A multilayer anisotropic plate model with warping functions for the study of vibrations reformulated from Woodcock's work
2013
Abstract In this paper, a suitable model for static and dynamic analysis of inhomogeneous anisotropic multilayered plates is described. This model takes into account the variations of the transverse shear strains through the thickness of the plate by means of warping functions. Warping functions are determined by enforcing kinematic and static assumptions at the interfaces. This model leads to: a 10×10 stiffness matrix coupling to each other the membrane strains, the bending and torsion curvatures, and the x and y-derivatives of the transverse shear strains; and a classical 2×2 transverse shear stiffness matrix. This model has been proven to be very efficient, especially when high ratios be…