Kinematic Analysis and Synthesis of Mechanisms

Mallik, Asok K.; Ghosh, Amitabha; Dittrich, Günter

doi:10.1201/9780429327278

Cited by 23 publications

(13 citation statements)

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“…Kinematic analysis of planar mechanisms is quite lengthy, cumbersome and time consuming. That is why most of the textbooks on mechanisms 62–82 widely introduce graphical methods, and some of them include common analytical approaches 67,76,77,80–82 mainly and mostly applied to very simple mechanisms such as four-bar or slider-crank mechanism due to the limit of the capacity and efficiency of these methods. Uicker et al.…”

Section: Introductionmentioning

confidence: 99%

A unified analytical parametric method for kinematic analysis of planar mechanisms

Abhary

2021

International Journal of Mechanical Engineering Education

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This paper describes a method for unified parametric kinematic analysis of those planar mechanisms whose geometry can be defined with a set of independent vectorial loops, i.e. solvable independently; this covers a wide range of planar mechanisms. The method is developed by employing the well-known vectorial illustration, and vectorial-loop equations solved with the aid of complex polar algebra leading to a total of only nine unified/generic one-unknown parametric equations consisting of five equations for position analysis and two equations for velocity and acceleration analysis each. Then, the kinematics of joints and mass centers are manifested as resultants of a few known vectors. This method is needless of relative-velocities, relative-accelerations, instantaneous centers of rotation and Kennedy’s Theorem dominantly used in the literature, especially textbooks. The efficiency of the method is demonstrated by its application to a complex mechanism through only eight unified equations, and simultaneously compared to the solution using the textbook common (Raven’s) method which required the derivation of 67 extra equations to get the same results. This reveals the fact that the method is not only a powerful tool for mechanical designers but a most powerful and efficient method for teaching and learning the kinematics of planar mechanisms.

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Section: Introductionmentioning

confidence: 99%

A unified analytical parametric method for kinematic analysis of planar mechanisms

Abhary

2021

International Journal of Mechanical Engineering Education

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“…Ocean waves are commonly regarded as regular in frequency domain analysis, such as the Airy wave and the Stokes wave, which are both harmonic-like with the highest velocity at equilibrium and minimum velocity at the pole, which suits the transmission properties of the cam. 45 The cam acts as the first acceleration device and converts linear to rotary motion, as shown in Fig. 4(a-II).…”

Section: Design Of the Wave Energy Harvesting Systemmentioning

confidence: 99%

A wave energy harvesting system for applications in deep-sea exploration

Kong

Zhang

et al. 2023

Sustainable Energy Fuels

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“…The finger joint has only one degree of freedom, so it can only perform flexion and extension. The wrist movements have two degrees of freedom; the wrist mainly performs flexion and extension movements to change the overall direction of the hand [13]. The human foot consists mainly of the thigh, knee, calf, ankle, and foot.…”

Section: Composition and Analysis Of Bipedal Handling Robotsmentioning

confidence: 99%

“…Considering the main lifting factors of handling, the fingertips must not touch the ground when the hand is perpendicular to the horizontal line of the ground (designed parameters are shown in Fig. 1) [12][13][14][15][16]. The bipedal handling robot system designed in this paper can be divided into the control system, drive system (braking system), monitoring and sensing system, support skeleton, deceleration system, and shock absorption system, where the support skeleton mainly consists of four parts: head, hand, body, and foot (as shown in Fig.…”

Section: Composition and Analysis Of Bipedal Handling Robotsmentioning

confidence: 99%

Kinematics Analysis and Simulation of Biped Transportation Robot in Stair Climbing Scene

2023

Teh. vjesn.

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Difficult and labour-intensive transportation up and down the steps is a challenge in small spaces. This work focused on the smooth performance requirements about each joint structure of robot foot. We have made research on the hand and foot structure of the transport part, which simplifies its posture calculation in the designed bipedal transport robot model. Methods for determination of each joint angle of the hand and foot are presented, including the use of standard D-H method to establish a mathematical model and perform forward and inverse kinematic analysis to derive the angles of each joint, where the matrix was coded by Python software to ensure the accuracy of the calculated results. The joints angles are assigned by the Step function, and the motion of the bipedal robot in the case of single access is simulated by the inverse kinematic derivation formula. Simulation results show that the structure of the robot's joints meets the requirement of maintaining the stability of the robot when going up and down the stairs.

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Kinematic Analysis and Synthesis of Mechanisms

Cited by 23 publications

References 0 publications

A unified analytical parametric method for kinematic analysis of planar mechanisms

A unified analytical parametric method for kinematic analysis of planar mechanisms

A wave energy harvesting system for applications in deep-sea exploration

Kinematics Analysis and Simulation of Biped Transportation Robot in Stair Climbing Scene

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