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Application of direct and inverse kinematics and dynamics in motion planning of manipulator links

Delyová Ingrid, Hroncová Darina, Frankovský Peter, Sivák Peter, Kostka Ján, Neumann Vojtech

International Journal of Applied Mechanics and Engineering

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2023

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Vol. 28, no. 3

53--64

EN

For the synthesis of manipulators and robots, an accurate analysis of the movements of the individual links is essential. This thesis deals with motion planning of the effector of a multi-linked manipulator. An important topic in this area is the orientation and position of links and kinematic pairs in space. In particular, attention should be paid to the position of their endpoint as well as other significant points. Trajectory planning allows the manipulator to perform complex tasks, such as picking and placing objects or following a particular path in space. Overall, trajectory planning of a multibody manipulator involves a combination of direct and inverse kinematics calculations, as well as control theory and optimization techniques. It is an important process enabling manipulators to perform complex tasks such as assembly, handling and inspection. In the design of robot kinematic structures, simulation programs are currently used for their kinematic and dynamic analysis. The proposed manipulator was first solved by inverse kinematics problem in Matlab. Subsequently, the trajectories of the end-effector were determined in Matlab by a direct kinematics problem. In Simulink, using the SimMechanics library, the inverse problem of dynamics was used to determine the trajectories of the moments.

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Dwie metody wyznaczania przełożenia kinematycznego sprzężonych przekładni obiegowych z kołami stożkowymi

Drewniak Józef, Kądziołka Tomasz, Kopeć Jerzy

Autobusy : technika, eksploatacja, systemy transportowe

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2019

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R. 20, nr 1-2

185--190

PL

W artykule przedstawiona zostanie analiza kinematyki sprzężonych przekładni planetarnych z kołami walcowymi i stożkowymi z wykorzystaniem metody grafów konturowych. Metoda ta była już stosowana do analizy kinematyki mechanizmów dźwigniowych oraz zębatych przekładni planetarnych zwykłych i sprzężonych z kołami walcowymi. Wyprowadzono także wzór na przełożenie kinematyczne wykorzystując wzór Willisa, dzięki czemu istnieje możliwość zweryfikowania metody grafów konturowych.

EN

The paper will present an analysis of kinematics of coupled circulatory gears with cylindrical and bevel wheels with the use of contour graphs method. This method has already been used to analyze the kinematics of lever mechanisms and toothed planetary gears and planetary gears coupled with cylindrical wheels. A formula for kinematic gearing was also derived using Willis' formula, thanks to which it is possible to verify the metadata of contour graphs.

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Biomechanical parameters in lower limbs during natural walking and Nordic walking at different speeds

Dziuba A. K., Żurek G., Garrard I., Wierzbicka-Damska I.

Acta of Bioengineering and Biomechanics

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2015

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Vol. 17, no. 1

95--101

EN

Purpose: Nordic Walking (NW) is a sport that has a number of benefits as a rehabilitation method. It is performed with specially designed poles and has been often recommended as a physical activity that helps reduce the load to limbs. However, some studies have suggested that these findings might be erroneous. Study aim. The aim of this paper was to compare the kinematic, kinetic and dynamic parameters of lower limbs between Natural Walking (W) and Nordic Walking (NW) at both low and high walking speeds. Methods: The study used a registration system, BTS Smart software and Kistler platform. Eleven subjects walked along a 15-metre path at low (below 2 m⋅s–1) and high (over 2 m⋅s–1) walking speeds. The Davis model was employed for calculations of kinematic, kinetic and dynamic parameters of lower limbs. Results: With constant speed, the support given by Nordic Walking poles does not make the stroke longer and there is no change in pelvic rotation either. The only change observed was much bigger pelvic anteversion in the sagittal plane during fast NW. There were no changes in forces, power and muscle torques in lower limbs. Conclusions: The study found no differences in kinematic, kinetic and dynamic parameters between Natural Walking (W) and Nordic Walking (NW). Higher speeds generate greater ground reaction forces and muscle torques in lower limbs. Gait parameters depend on walking speed rather than on walking style.

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Analiza kinematyczna mechanizmu układu sterowania pochyleniem i przechyleniem śmigłowca w systemie Catia V5

Ferdynus M., Kania M.

Postępy Nauki i Techniki

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2011

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nr 8

113-120

PL

W pracy przedstawiono model układu sterowania pochyleniem i przechyleniem śmigłowca wykonany w systemie Catia v5. Analizę kinematyczną modelu wykonano w środowisku DMU Kinematics. Zaprezentowano analizę kolizji i prześwitów oraz odległości komponentów w trakcie symulacji ruchu.

EN

In this paper we present kinematics analysis of helicopter steering system model. Particularly it is: trajectory of a moving points analysis, clashes and distance between parts. Application DMU Kinematics in Catia v5 provides easy methods to simulate mechanisms, run kinematics simulations and speed up virtual prototyping. This analysis are useful to study a mechanism behavior to improve its design.

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Analiza kinematyczna mechanizmu zwrotniczego

Ormezowski J.

Archiwum Motoryzacji

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2008

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Nr 2

145-156

PL

W artykule przedstawiono analizę kinematyczna mechanizmu zwrotniczego z zębatkowa przekładnia kierowniczą. Stosując płaski i przestrzenny model mechanizmu zwrotniczego wyznaczono charakterystyki kinematyczne, szczególnie odchyłki katów skrętu kół (tzw. błędy Ackermanna) w funkcji skrętu koła jezdnego. W analizie płaskiego modelu mechanizmu zwrotniczego zastosowano numeryczne rozwiązanie równań kinematyki, natomiast w analizie przestrzennego modelu program Pro/Engineer. Zaprezentowano zróżnicowane charakterystyki kinematyczne, które otrzymano przy użyciu płaskiego i przestrzennego modelu mechanizmu zwrotniczego.

EN

The paper deals with kinematics of the automotive steering linkage with rack and pinion. Kinematics characteristics of the steering linkage, especially Ackermann deviations as the function of the turn of wheel, were determined using the plain and solid model of steering linkages. A numerical solution of kinematics equation has been applied in analysis of the plain model and the Pro/Engineer software in analysis of the solid model. Diversified characteristics of kinematics which were gotten at using the plain and solid models of a steering linkages were presented.