Papers by Keyword: Kinematic Analysis

Abstract: Existing open-source robotic hand designs rarely achieve full human-like functionality, limiting their accessibility and utility. Ale-HAND-ra addresses this gap with a cost-effective, open-source humanoid robotic hand featuring 20 degrees of freedom, developed using filament- and resin-based 3D printing for affordable production (total cost: \$161.54). Grounded in biomechanical analysis, its kinematic model enables precise finger movements and versatile grasping, validated through simulations and tests against human benchmarks. Employing a modular design with servomotors and low-cost materials, Ale-HAND-ra balances functionality and simplicity, achieving a 350-gram grip capacity. Released on GitHub, this prototype fosters collaboration for educational, prosthetic, and robotic applications.

Abstract: The assessment of the seismic safety level of masonry buildings is a current and important issue at the basis of the complex process of preservation of historical masonry buildings which constitute mostly the Italian and European towns. Nowadays, different approaches able to provide important information concerning the seismic safety level of masonry structures are available. Among these, fragility curves allow to have a prediction of potential damages during an earthquake of geographical areas characterized by similar construction typologies. The present paper concerns the derivation of fragility curves of masonry buildings, typical of Italian historical towns and mainly characterized by the possible occurrence of local out-of-plane collapse mechanisms. To this end, a real case is accounted in the study in order to consider specific parameters characterizing the constructions composing these territorial realities.

Abstract: This paper deals with the geometric and kinematic analysis of the circular-arc profile cams with one connection arc. If the maximum lift of the follower is required, it is shown that it is possible to connect two circular-arcs – that are defined by center of curvature and radius – through a single circular-arc, and the connection points result. But, if the connection points of two given circular-arcs of the cam profile are required, at least two circular-arcs are needed to connect them. The specific equations for the geometric analysis for one circular-arc profile are described. Also, for two mechanisms, one with straight-line profile and another with one circular-arc connection profile, the geometric and kinematic analysis and simulations of the movements using SolidWorks and ADAMS programs are presented

Abstract: This paper mainly used the three dimensional photograph analysis method to analyze the best performance of Ma Qun and to acquire relevant kinematics parameters of his last exertion when throwing a javelin (mainly including the loss rate of body horizontal gravity speed, torso angle, right shoulder angle, length and time of the fourth step, the angle of javelin shooting, the posture angle, the stretch angle, attack angle, the shooting speed and height and so on),in order to analyze the recording in a more convenient way, we divide Ma Qun’s final exertion movement in his javelin throwing (by his right hand) into7 moments and 3 stages. During the javelin shooting stage, the initial javelin shooting speed of Ma Qun is 27.60 m/s, slower than the world’s excellent javelin athletes’ speed of 29.00m/s. The best angle of throwing javelin is about 32.00°, with the posture angle remain as 29.45°. And the javelin shooting angle of Ma Qun is 36.81° and his posture angle is 38.21°, both higher than the average index of the world’s excellent javelin athletes, casting a negative impact on his performance. After the comparison of relevant data between Ma Qun and excellent male javelin athletes all over the world, Ma Qun’s advantages and shortages have been found out, thus can help providing kinematics indicators and technical guidance for the training of Chinese athletes.

Abstract: In this study is proposed to use the fourth class mechanism as an actuator for dairy and fermented milk products plant. Kinematic analysis of the proposed the fourth class mechanism at different configurations relative to rack and the second class mechanism with similar functionality was carried out. Principles of change of analogues of velocity and acceleration of kinematic couples of both mechanisms for an entire work cycle were defined. Comparative analysis of end results was performed. Results of the analysis indicated that the fourth class mechanism allows a considerably better pressure angle. This in return improves dynamic characteristics of the mechanism at similar functionality compared to the second class mechanism. Whereby changing the ratio of the length of couplers in the proposed fourth class mechanism will enable to achieve the desired pressure angle. Link lengths are expressed in dimensionless values easily convertible into metric dimensions. The results of study may be used successfully in designing new vibration machinery with fourth and second class linkage mechanisms used in various branches of industry.

Abstract: The paper presents a kinematic and dynamic analysis of a planar mechanism by means of the Cosmos Motion 2.85 program. Graphic dependence of kinematic and dynamic magnitudes of some points is given in dependence on the angle of rotation of the driving item and on the time.

Abstract: The purpose of this study aims at the kinematic study of generalized Oldham couplings by conducting kinematic analysis, kinematic simulation, and prototype experiment. First, the characteristics of generalized Oldham couplings are presented. Then, kinematic analysis and kinematic are performed. Finally, a prototype and its associated experimental setup are established. An experiment is conducted to evaluate the performance of the coupling. The simulated result shows that the output of the coupling is non-uniform, and close to a sinusoid. The experimental result indicates that the experimental output approximately agrees with the theoretical, but with fluctuations and a phase lag.

Abstract: Driving simulators represent a novel way to reproduce the movements of a vehicle with the purpose of testing different cars, to prevent dangerous situations, entertainment and also to train the professional drivers. More, they are used to render the effects of the interactions between the car and the road, as a consequence of the constrains imposed by the road: different folds, cavities. This work presents the topological synthesis, the kinematic analysis and the virtual modeling of driving simulator. The mechanical structure of the simulator is modeled in the Matlab/Simulink environment, generally used the advantages of numerical solutions.

Abstract: This paper shows the steps of structural synthesis and analysis, kinematic synthesis and analysis and CAD constructive design of a reconfigurable modular anthropomorphic gripper with three fingers. Modularity refers to the fact that the gripper variants can be obtained with only two modules, namely a platform and a finger. Reconfigurability refers to the fact that the main variants of the gripper can be obtained by changing the relative position of the fingers. It is demonstrated that the three-finger gripper has four main configurations that provide important functionality even reported to the functionality of a three-finger gripper with continuous reconfigurability. To verify correct operation, functional CAD simulation is performed, and for dynamic operation simulation, we turn to the advanced software ADAMS. An important advantage of this type of gripper, compared to those with continuous reconfigurability, is much lower price at a relatively good functionality for current robotic gripping operations. The paper makes possible subsequent turn to prototype, testing the gripper operation, as it is mounted on an industrial robot, and optimization of its operation by equipping it with contact sensors. The simulation of the gripper operation in virtual environment and data transmission to the real gripper is a solution of interest that will be studied in future research.

Abstract: The swash plate axial piston pump is a main part in liquid press system.It is a positive displacement pump which rely on the change of the plunger cavity content to realize oil absorption or discharge of oil by the reciprocating movement of the plunger in the plunger cavity. Plunger, the slippery boots, oil pan, cylinder body are important parts of the swash plate axial piston pump. Sliding boots is one of commonly used by high-pressure plunger pump form, it can meet the needs of the high pressure high speed;the oil distribution plate and cylinder directly affect of the pump efficiency and life span[1]. Because the swash plate axial piston pump has the advantages of compact structure, fewer parts, good manufacture ability, low cost, small volume, light weight, than the radial pump has the advantages of simple structure, easy to realize step less variable and convenient maintenance, it has been widely used in the industrial production.