Kinematic Analysis of Foldable Plate Structures With Rolling Joints

2016 ◽  
Vol 8 (3) ◽  
Author(s):  
Cai Jianguo
Keyword(s):  
Kinematic Analysis ◽  
Plate Structures ◽  
Revolute Joints ◽  
Equal Radius ◽  
The Difference ◽  
Planar Linkages ◽  
Panel Thickness

Rolling joints, which are created by attaching two cylindrical surfaces of equal radius using two or more thin tapes or cable, are used for rigid origami considering the panel thickness. First, the concept and two implementation methods of this joint are given. Then planar linkages are chosen to study the mobility and kinematics of foldable plate structures with rolling joints. It can be found that the rolling joints preserve the full-cycle-motion of foldable plate structures. From the closure equations of linkages, the results show that the outputs of linkages with rolling joints are the same as that with traditional revolute joints if the lengths of links are equal. However, the results are different when the lengths of links are unequal. Moreover, the difference between linkages with rolling joints and revolute joints increases with an increase of the size of rolling joints.

Mass Flow and Derivative Moment of Inertia Flow in Planar (Geared) Linkages

1992 ◽  
Author(s):  
Zhonghe Ye ◽  
M. R. Smith
Keyword(s):  
Mass Flow ◽  
Kinematic Analysis ◽  
Moment Of Inertia ◽  
Force Balance ◽  
New Concepts ◽  
Prismatic Joints ◽  
Planar Linkages ◽  
First Time ◽  
Shaking Moment

Abstract The paper describes a method for the determination of the conditions for the complete shaking force and shaking moment balancing of planar linkages, including geared linkages, with revolute and prismatic joints. The conditions may be written down without the need for any kinematic analysis of the linkage by the application of two new concepts. These are the concept of mass flow for complete shaking force balance and the concept of derivative moment of inertia flow for complete shaking moment balance, the second of which is described here for the first time. A number of examples demonstrate the power of the method.

scholarly journals Automated Generation of Linkage Loop Equations for Planar One Degree-of-Freedom Linkages, Demonstrated up to 8-Bar

2015 ◽  
Vol 7 (1) ◽  
Author(s):  
Brian E. Parrish ◽  
J. Michael McCarthy ◽  
David Eppstein
Keyword(s):  
Kinematic Analysis ◽  
Degree Of Freedom ◽  
Common Edge ◽  
Adjacency Graph ◽  
Automated Generation ◽  
Cycle Basis ◽  
Revolute Joints

In this paper, we present an algorithm that automatically creates the linkage loop equations for planar one degree of freedom, 1DOF, linkages of any topology with revolute joints, demonstrated up to 8 bar. The algorithm derives the linkage loop equations from the linkage adjacency graph by establishing a rooted cycle basis through a single common edge. Divergent and convergent loops are identified and used to establish the fixed angles of the ternary and higher links. Results demonstrate the automated generation of the linkage loop equations for the nine unique 6-bar linkages with ground-connected inputs that can be constructed from the five distinct 6-bar mechanisms, Watt I–II and Stephenson I–III. Results also automatically produced the loop equations for all 153 unique linkages with a ground-connected input that can be constructed from the 71 distinct 8-bar mechanisms. The resulting loop equations enable the automatic derivation of the Dixon determinant for linkage kinematic analysis of the position of every possible assembly configuration. The loop equations also enable the automatic derivation of the Jacobian for singularity evaluation and tracking of a particular assembly configuration over the desired range of input angles. The methodology provides the foundation for the automated configuration analysis of every topology and every assembly configuration of 1DOF linkages with revolute joints up to 8 bar. The methodology also provides a foundation for automated configuration analysis of 10-bar and higher linkages.

A Double-Faced 6R Single-Loop Overconstrained Spatial Mechanism

2018 ◽  
Vol 10 (3) ◽  
Author(s):  
Xianwen Kong ◽  
Xiuyun He ◽  
Duanling Li
Keyword(s):  
Kinematic Analysis ◽  
Isosceles Triangle ◽  
The Other ◽  
Dual Quaternion ◽  
Single Loop ◽  
Plane Symmetric ◽  
Spatial Mechanism ◽  
Revolute Joints ◽  
Full Turn ◽  
Overconstrained Mechanisms

This paper deals with a 6R single-loop overconstrained spatial mechanism that has two pairs of revolute joints with intersecting axes and one pair of revolute joints with parallel axes. The 6R mechanism is first constructed from an isosceles triangle and a pair of identical circles. The kinematic analysis of the 6R mechanism is then dealt with using a dual quaternion approach. The analysis shows that the 6R mechanism usually has two solutions to the kinematic analysis for a given input and may have two circuits (closure modes or branches) with one or two pairs of full-turn revolute joints. In two configurations in each circuit of the 6R mechanism, the axes of four revolute joints are coplanar, and the axes of the other two revolute joints are perpendicular to the plane defined by the above four revolute joints. Considering that from one configuration of the 6R mechanism, one can obtain another configuration of the mechanism by simply renumbering the joints, the concept of two-faced mechanism is introduced. The formulas for the analysis of plane symmetric spatial triangle are also presented in this paper. These formulas will be useful for the design and analysis of multiloop overconstrained mechanisms involving plane symmetric spatial RRR triads.

scholarly journals Comparative Kinematic Analysis of Hurdle Clearance Technique in Dogs: A Preliminary Report

Animals ◽  
2020 ◽  
Vol 10 (12) ◽  
pp. 2405
Author(s):  
Francisco Miró ◽  
Patricia López ◽  
Jose Manuel Vilar ◽  
Alfonso M. Galisteo ◽  
Joaquín Vivo ◽  
...  
Keyword(s):  
Kinematic Analysis ◽  
Preliminary Report ◽  
Preliminary Evidence ◽  
Jump Height ◽  
Skill Levels ◽  
Kinematic Characteristics ◽  
Maximal Height ◽  
The Difference ◽  
Clearance Technique

Although the jumping characteristics of agility dogs have been examined in recent years, there is currently a lack of data related to the suspension phase. The purpose of the present study was to investigate the biomechanics of the suspension phase of the agility jump and to analyze the kinematic differences in dogs with different jumping abilities. Two groups of dogs of the same height category (large dogs) competing at different skill levels and assessed as excellent jumpers (n = 4) and less-skilled jumpers (n = 3), respectively, were analyzed and statistically compared. Excellent jumpers showed longer and faster jumps with flatter jump trajectories than less-skilled jumpers. In less-skilled jumpers, the distance in front of the hurdle was notably greater than the distance behind it, while the difference between these two distances was less in excellent jumpers. Length and duration of the jump, maximal height of the jumping trajectory, take-off and landing distances to the hurdle, time of occurrence of maximal jump height, and time of change in back orientation essentially defines the suspension phase of the agility jump. This study presents preliminary evidence that the kinematic characteristics of hurdle clearance are different in excellent jumper dogs and in less-skilled jumper dogs.

Kinematic Analysis and Simulation of the Translational Parallel Mechanism

2011 ◽  
Vol 213 ◽  
pp. 43-47 ◽  
Author(s):  
Dong Tao Xu ◽  
Zhi Li Sun ◽  
Jia Lian Shi
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Virtual Prototyping ◽  
Inverse Solution ◽  
Kinematic Modeling ◽  
Forward Solution ◽  
Vector Method ◽  
End Effector ◽  
Kinematic Simulation ◽  
Revolute Joints

This paper presents a novel, precision, maneuverable, 3-DOF translational parallel mechanism. The mechanism’s important feature is that all of the kinematic joints are the revolute joints. The paper derives the mechanism’s kinematic forward solution and inverse solution by using of coordinate transformation elimination method and vector method, and establishes proper kinematic modeling. Kinematic simulation is carried out by ADAMS virtual prototyping software. The operating data is obtained, it verifies the correctness of solving the forward and inverse solution, and solve the question of choices for many results during the theoretical solution. This technique can provide a useful tool in the design of kinematic trajectory of the parallel mechanism’s end-effector and the kinematic analysis of other parallel mechanism.

Synthesis of Planar, Shape-Changing Rigid-Body Mechanisms

2006 ◽  
Author(s):  
Brian M. Korte ◽  
Andrew P. Murray ◽  
James P. Schmiedeler
Keyword(s):  
Rigid Body ◽  
Degrees Of Freedom ◽  
Shape Change ◽  
Piecewise Linear ◽  
Single Chain ◽  
Open Chain ◽  
Revolute Joints ◽  
Planar Shape ◽  
Rigid Body Displacement ◽  
Planar Linkages

This paper presents a procedure to synthesize planar linkages, composed of rigid links and revolute joints, capable of approximating a shape change defined by a set of curves. These “morphing curves” differ from each other by a combination of rigid-body displacement and shape change. Rigid link geometry is determined through analysis of piecewise linear curves to achieve shape-change approximation, and increasing the number of links improves the approximation. A mechanism is determined through connecting the rigid links into a single chain and adding dyads to eliminate degrees of freedom. The procedure is applied to two open-chain examples.

Analytical Methods for the Kinematic Analysis of Planar Linkages. Raven’s Method

2016 ◽  
pp. 111-141
Author(s):  
Antonio Simón Mata ◽  
Alex Bataller Torras ◽  
Juan Antonio Cabrera Carrillo ◽  
Francisco Ezquerro Juanco ◽  
Antonio Jesús Guerra Fernández ◽  
...  
Keyword(s):  
Analytical Methods ◽  
Kinematic Analysis ◽  
Planar Linkages

An Offset Panel Technique for Thick Rigidily Foldable Origami

2014 ◽  
Author(s):  
Bryce J. Edmondson ◽  
Robert J. Lang ◽  
Spencer P. Magleby ◽  
Larry L. Howell
Keyword(s):  
Mechanism Design ◽  
Source Model ◽  
Revolute Joint ◽  
Revolute Joints ◽  
Joint Plane ◽  
Kinematic Mechanisms ◽  
Panel Thickness ◽  
Kinematic Motion ◽  
Panel Design

A technique for thickness accommodation in origami-inspired mechanism design is introduced. Mathematically, origami panels are generally assumed to be planar with zero thickness. Origami models can be viewed as kinematic mechanisms where folds are revolute joints and panels are links. An origami-inspired mechanism can achieve the same kinematic motion as the paper origami source model if all joints lie along the folds in the zero-thickness plane. The panels are stacked in sequence in the closed (stowed) position. A joint plane is chosen and each panel is given extensions connecting each panel to the chosen plane. The extensions from the stacked panels allow each panel to be rigidly connected to its revolute joint in the chosen plane with all other joints. The accommodation technique utilizes origami models that are rigidly foldable. The height of the extensions are determined by the sum of the thicknesses of all panels between its stowed panel and the chosen joint plane. Any panel thickness can be accommodated, including multiple panel thicknesses within the same mechanism. Process steps for offset panel design of origami-inspired mechanisms are presented.

A 6R Single-Loop Overconstrained Spatial Mechanism That Has Two Pairs of Revolute Joints With Intersecting Axes and One Pair of Revolute Joints With Parallel Axes

2017 ◽  
Author(s):  
Xianwen Kong ◽  
Xiuyun He ◽  
Duanling Li
Keyword(s):  
Kinematic Analysis ◽  
Isosceles Triangle ◽  
The Other ◽  
Dual Quaternion ◽  
Single Loop ◽  
Spatial Mechanism ◽  
Revolute Joints ◽  
Full Turn

This paper deals with a 6R single-loop overconstrained spatial mechanism that has two pairs of revolute joints with intersecting axes and one pair of revolute joints with parallel axes. The 6R mechanism is first constructed from an isosceles triangle and a pair of identical circles. The kinematic analysis of the 6R mechanism is then dealt with using a dual quaternion approach. The analysis shows that the 6R mechanism usually has two solutions to the kinematic analysis for a given input and may have two circuits (closure modes or branches) with one or two pairs of full-turn revolute joints. In two configurations in each circuit of the 6R mechanism, the axes of four revolute joints are coplanar, and the axes of the other two revolute joints are perpendicular to the plane defined by the above four revolute joints. Considering that from one configuration of the 6R mechanism, one can obtain another configuration of the mechanism by simply renumbering the joints, the concept of two-faced mechanism is introduced.

A Rolling 8-Bar Linkage Mechanism

2015 ◽  
Vol 7 (4) ◽  
Author(s):  
Yaobin Tian ◽  
Yan-An Yao ◽  
Jieyu Wang
Keyword(s):  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
Rolling Direction ◽  
Linkage Mechanism ◽  
Zero Moment Point ◽  
Revolute Joints ◽  
Straight Line ◽  
Polygonal Region ◽  
Zero Moment

In this paper, a rolling mechanism constructed by a spatial 8-bar linkage is proposed. The eight links are connected with eight revolute joints, forming a single closed-loop with two degrees of freedom (DOF). By kinematic analysis, the mechanism can be deformed into planar parallelogram or spherical 4-bar mechanism (SFM) configuration. Furthermore, this mechanism can be folded onto a plane at its singularity positions. The rolling capability is analyzed based on the zero-moment-point (ZMP) theory. In the first configuration, the mechanism can roll along a straight line. In the second configuration, it can roll along a polygonal region and change its rolling direction. By alternatively choosing one of the two configurations, the mechanism has the capability to roll along any direction on the ground. Finally, a prototype was manufactured and some experiments were carried out to verify the functions of the mechanism.

Sign in / Sign up

Export Citation Format

Share Document