Applied Mechanics and Materials Vol. 611

Abstract: Our study deals with inverse kinematic model of humanoid robot hand. It is important for modeling to know biomechanics of biological human hand, what is discussed in the second section. Based on theoretical aspect of kinematic configuration of the hand, the hand consisting of 24 degrees of freedom is assumed. Subsequently, there are four numerical methods of inverse kinematics used, namely pseudoinverse method, Jacobian transpose method, damped least squares and optimization method. Each of them is simulated in software Matlab and the results are compared and discussed. In the conclusion the best method from the view of solution time and number of iteration cycles is evaluated.

Abstract: This paper deals with kinematic analysis of a six-member mechanism. The analytical solution is based on the fundamental kinematic relations derived for this mechanism. The program MSC ADAMS was selected for the simulation modeling of mechanism. That program allows comprehensive analysis of this system using a simple modeling.

Abstract: The aim of this article is to develop a functional model of crank rocker mechanism in ADAMS/View software and subsequent complete kinematics analysis hereof. We analyze the movement of the members of the mechanism. The kinematic analysis was performed analytically and graphically. The mechanism has been modeled too and solution was drafted in the program MSC ADAMS/View. The next stage is the simulation with a set of different parameters to obtain its kinematic analysis. Finally, the data gathered in this process is compared and evaluated. Finally, the paper presents the results with graphical representation of parameters such as speed, distance and acceleration.

Abstract: The aim of the paper is to present the application of MSC Adams/View for kinematic analysis of motion of a pump mechanism. The first section describes the program Adams and its modules Adams/View, work with this module and its basic operation. In the following section there is the kinematics solved using numerical methods. This work deals with the assembly of the models in Adams/View, simulations, plotting of the trajectory of the mechanisms points, and kinematic parameters of mechanism members. The software shows displacement, velocity and acceleration, angular velocity and angular acceleration. Finally, the paper presents the results with graphic representation of parameters such as displacement, velocity and acceleration.

Abstract: Provided in this article is a general overview of modeling nonholonomic mobile robots. Emphasis is given to the structural characteristics of kinematic models, taking into account the mobility restrictions caused by various links. Based on the degree of mobility and the degree of controllability it is possible to divide wheeled mobile robots into multiple groups, regardless of the robot construction and the wheels arrangement.

Abstract: This paper describes the methodology and application of the very popular nonparametric test which is a rank based test named as Kruskal-Wallis. This test is useful as a general nonparametric test for comparing more than two independent samples. It can be used to test whether such samples come from the same distribution. This test is powerful alternative to the one-way analysis of variance. Nonparametric ANOVA has no assumption of normality of random error but the independence of random error is required. If the Kruskal-Wallis statistic is significant, the nonparametric multiple comparison tests are useful methods for further analysis. The statistical analysis of the application data in this paper was performed with software MATLAB.

Abstract: Inspection tasks of pipes or channels are part of the engineering practice. In the past there were investigated conventional approaches like wheeled-based mechanisms. This paper deals with unconventional approach - snake robot moving in the pipe. In the paper locomotion pattern of concertina is introduced and subsequently kinematic model of concertina locomotion is established. Main requirements and conditions of presented locomotion pattern are stated. Using software Matlab the kinematic model is simulated according designed locomotion pattern in order to verify the kinematic model. For experimental purposes the experimental snake robot – LocoSnake is used. Simulation and experiment are compared and evaluated.

Abstract: The paper deals with creation of a mathematical model of the mobile robot. For description of the kinematic variables such as position and velocity of each wheel a transformation matrix is used. The simulation model can be applied for calculation of assumed of the undercarriage centre of gravity and path of wheels. The function model was also used for experimental verification of the results of simulation experiments.

Abstract: Finite element modeling of the Newtonian and non Newtonian liquids oscillations in the cylindrical transport reservoir at its braking was performed. The peculiarities of the Newtonian, Ostwald de Waele and Bingham models of liquid sloshing in tank with internal perforated baffles and without them were analyzed. There were obtained the dependences of hydrodynamic pressures and liquid energy dissipation for Newtonian and non Newtonian liquids considering the different filling level of the reservoir.

Abstract: The aim of this paper is the comparison of different material models for the simulation of fluid impact on a cask for transport of radioactive liquid material. Simulated is a 9 m drop test performed according to International Atomic Energy Agency regulations. In order to reduce computational time, proposed is to model the transported fluid as a hypothetic linearly elastic material. This enables us to use less time demanding FE explicit dynamic analysis based on Lagrange formulation only instead of combination of Lagrange and Euler formulations. Compared are the results obtained for three elastic material and three fluid models based on different equations of state.