To investigate the forward kinematics problem of parallel mechanisms with complex limbs and to expand the applicability of the powerful tool of Conformal Geometric Algebra(CGA),a CGA-based modeling and solution method...To investigate the forward kinematics problem of parallel mechanisms with complex limbs and to expand the applicability of the powerful tool of Conformal Geometric Algebra(CGA),a CGA-based modeling and solution method for a class of parallel platforms with 3-RE structure after locking the actuated joints is proposed in this paper.Given that the angle between specific joint axes of limbs remains constant,a set of geometric constraints for the forward kinematics of parallel mechanisms(PM)are determined.After translating unit direction vectors of these joint axes to the common starting point,the geometric constraints of the angle between the vectors are transformed into the distances between the endpoints of the vectors,making them easier to handle.Under the framework of CGA,the positions of key points that determine the position and orientation of the moving platform can be intuitively determined by the intersection,division,and duality of basic geometric entities.By employing the tangent half-angle substitution,the forward kinematic analysis of the parallel mechanisms leads to a high-order univariate polynomial equation without the need for any complex algebraic elimination operations.After solving this equation and back substitution,the position and pose of the MP can be obtained indirectly.A numerical case is utilized to confirm the effectiveness of the proposed method.展开更多
The human thumb plays a crucial role in performing coordinated hand movements for precise tool use.However,quantifying and interpreting the kinematics and couplings of the six degrees of freedom(6DOF)between the inter...The human thumb plays a crucial role in performing coordinated hand movements for precise tool use.However,quantifying and interpreting the kinematics and couplings of the six degrees of freedom(6DOF)between the interphalangeal(IP)and metacarpophalangeal(MCP)joints during hand functional tasks remains challenging.To address this issue,advanced dynamic biplane radiography combined with a model-based 2D–3D tracking technique was employed to decode the inherent kinematics of the thumb IP and MCP joints during key pinch,tip pinch,palmar pinch and wide grasp.The results indicate that the functional tasks of the thumb are intricately modulated by the 3D rotational and translational motions of the IP and MCP joints.The IP joint exhibited the greatest flexion/extension range of motion during the tip pinch task(67.2°±8.4°),compared to smaller ranges in key pinch(27.6°±3.8°)and wide grasp(16.2°±7.1°)tasks.In the wide grasp task,the IP joint showed more movement in the radius/ulna direction(3.4±1.2 mm)compared to tip pinch(3.1±0.8 mm).Furthermore,the kinematic data of the IP joint challenge the traditional notion that the IP joint normally acts as a hinge mechanism.The results of this study help to elucidate the kinematics of human thumb IP and MCP joints and may provide new inspiration for the design of high-performance bionic hands or thumb prosthetics as well as for evaluating the outcomes of thumb therapeutic interventions and surgical procedures.展开更多
Serial-parallel manipulators are of great interest to academic community in recent years,especially those composed of classical parallel mechanisms.There have been many studies around 2(3RPS)and 2(3SPR)S-PMs,but unfor...Serial-parallel manipulators are of great interest to academic community in recent years,especially those composed of classical parallel mechanisms.There have been many studies around 2(3RPS)and 2(3SPR)S-PMs,but unfortunately their inverse kinematics have not yet been resolved.This paper discovers that the unknown kinematic parameters of middle platform are responsible for the unresolvable of inverse kinematics,meanwhile the unknown kinematic parameters of middle platform also have huge coupling relationships.Therefore,to break through this challenges,the huge coupling relationships are decoupled layer by layer,the kinematic parameters of middle platform are solved by combining Sylvester's elimination method,and the inverse displacements of 2(3RPS)and 2(3SPR)S-PMs are obtained subsequently.This paper not only solves the inverse kinematics of classical 2(3RPS)and 2(3SPR)S-PMs,but also reveals the essence of the inverse kinematics of general(3-DOF)+(3-DOF)6-DOF S-PMs and proposes a corresponding solution.展开更多
Background:Foot kinematics,such as excessive eversion and malalignment of the hindfoot,are believed to be associated with running-related injuries.The maj ority of studies to date show that different foot strike patte...Background:Foot kinematics,such as excessive eversion and malalignment of the hindfoot,are believed to be associated with running-related injuries.The maj ority of studies to date show that different foot strike patterns influence these specific foot and ankle kinematics.However,technical deficiencies in traditional motion capture approaches limit knowledge of in vivo joint kinematics with respect to rearfoot and forefoot strike patterns(RFS and FFS,respectively).This study uses a high-speed dual fluoroscopic imaging system(DFIS)to determine the effects of different foot strike patterns on 3D in vivo tibiotalar and subtalar joints kinematics.Methods:Fifteen healthy male recreational runners underwent foot computed tomography scanning for the construction of 3-dimensional models.A high-speed DFIS(100 Hz)was used to collect 6 degrees of freedom kinematics for participants’tibiotalar and subtalar joints when they adopted RFS and FFS in barefoot condition.Results:Compared with RFS,FFS exhibited greater internal rotation at 0%-20%of the stance phase in the tibiotalar joint.The peak internal rotation angle of the tibiotalar joint under FFS was greater than under RFS(p<0.001,Cohen’s d=0.92).RFS showed more dorsiflexion at 0%-20%of the stance phase in the tibiotalar joint than FFS.RFS also presented a larger anterior translation(p<0.001,Cohen’s d=1.28)in the subtalar joint at i nitial contact than FFS.Conclusion:Running with acute barefoot FFS increases the internal rotation of the tibiotalar joint in the early stance.The use of high-speed DFIS to quantify the movement of the tibiotalar and subtalar joint was critical to revealing the effects of RF S and FFS during running.展开更多
The ^(12)C+^(12)C fusion is one of the most important reactions in modern nuclear astrophysics.The trend and magnitude of the reaction rate within the Gamow window strongly influence various astrophysical processes.Ho...The ^(12)C+^(12)C fusion is one of the most important reactions in modern nuclear astrophysics.The trend and magnitude of the reaction rate within the Gamow window strongly influence various astrophysical processes.However,direct measurement of this reaction is extremely difficult,which makes it necessary to develop indirect methods.In this study,the ^(23)Na+p reaction system was used to study the compound nucleus ^(24)Mg.We employed a thick-target inverse kinematics method combined with theγ-charged-particle coincidence technique to measure the proton andα exit channels of ^(24)Mg.Technical details of the ^(23)Na+p thick-target inverse kinematics experiment and analysis are presented herein.展开更多
Inspired by the driving muscles of the human arm,a 4-Degree of Freedom(DOF)concentrated driving humanoid robotic arm is proposed based on a spatial double parallel four-bar mechanism.The four-bar mechanism design redu...Inspired by the driving muscles of the human arm,a 4-Degree of Freedom(DOF)concentrated driving humanoid robotic arm is proposed based on a spatial double parallel four-bar mechanism.The four-bar mechanism design reduces the inertia of the elbow-driving unit and the torque by 76.65%and 57.81%,respectively.Mimicking the human pose regulation strategy that the human arm picks up a heavy object by adjusting its posture naturally without complicated control,the robotic arm features an integrated position-level closed-form inverse solution method considering both geometric and load capacity limitations.This method consists of a geometric constraint model incorporating the arm angle(φ)and the Global Configuration(GC)to avoid joint limits and singularities,and a load capacity model to constrain the feasible domain of the arm angle.Further,trajectory tracking simulations and experiments are conducted to validate the feasibility of the proposed inverse solution method.The simulated maximum output torque,maximum output power and total energy consumption of the robotic arm are reduced by up to 2.0%,13.3%,and 33.3%,respectively.The experimental results demonstrate that the robotic arm can bear heavy loads in a human-like posture,effectively reducing the maximum output torque and energy consumption of the robotic arm by 1.83%and 5.03%,respectively,while avoiding joints beyond geometric and load capacity limitations.The proposed design provides a high payload–weight ratio and an efficient pose control solution for robotic arms,which can potentially broaden the application spectrum of humanoid robots.展开更多
Despite continuous efforts to improve the robustness of cardiac valve implants,neither bioprosthetic nor mechanical valves fulfill both hemodynamic and durability requirements.This study discussed novel flexible leafl...Despite continuous efforts to improve the robustness of cardiac valve implants,neither bioprosthetic nor mechanical valves fulfill both hemodynamic and durability requirements.This study discussed novel flexible leaflet designs,focusing on polymeric materials with proven hemocompatibility,such as polyether ether ketone,of much higher stiffness than native tissue,aiming at optimal valve implants.A biomimetic valve with a single-curvature belly-curve(B-C)was used as a reference for new design variants with a double-curvature B-C with varying radii.Soft(13.2 MPa)and stiff(2.4 GPa)leaflet materials and different thicknesses were studied using lean simulations and in vitro experiments under physiologic hemodynamic conditions.The performance was assessed using opening pressure(OP)and orifice area(OA).The latter was determined by a newly developed automatized image processing tool.Experimental trends are in agreement with simulations and demonstrated that a buckling-inspired double-curvature leaflet design significantly enhances the trileaflet valve opening behavior,which is particularly advantageous for stiffer leaflet materials.Compared to the reference,the best-performing variant showed an OP improvement of 47%and 44%based on simulations and experiments,respectively.In contrast,the achieved mean pressure differential was directly comparable to state-of-the-art bioprosthetic valves.The OA was slightly reduced for new variants but still in the satisfying range.展开更多
Mandibular advancement devices(MADs)are widely used treatments for obstructive sleep apnea.MADs function by advancing the lower jaw to open the upper airway.To increase patient comfort,most patients allow the mouth to...Mandibular advancement devices(MADs)are widely used treatments for obstructive sleep apnea.MADs function by advancing the lower jaw to open the upper airway.To increase patient comfort,most patients allow the mouth to be opened.However,not all systems maintain the lower jaw in a forward position during mouth opening,which results in the production of a retrusion that favors the collapse of the upper airway.Furthermore,the kinematic behavior of the mechanism formed by the mandible-device assembly depends on jaw morphology.This means that,during mouth opening,some devices cause lower jaw protrusion in some patients,but cause its retraction in others.In this study,we report the behavior of well-known devices currently on themarket.To do so,we developed a kinematic model of the lower jawdevice assembly.Thismodelwas validated for all devices analyzed using a high-resolution camera system.Our results show that some of the devices analyzed here did not produce the correct behavior during patient mouth opening.展开更多
The kinematic equivalent model of an existing ankle-rehabilitation robot is inconsistent with the anatomical structure of the human ankle,which influences the rehabilitation effect.Therefore,this study equates the hum...The kinematic equivalent model of an existing ankle-rehabilitation robot is inconsistent with the anatomical structure of the human ankle,which influences the rehabilitation effect.Therefore,this study equates the human ankle to the UR model and proposes a novel three degrees of freedom(3-DOF)generalized spherical parallel mechanism for ankle rehabilitation.The parallel mechanism has two spherical centers corresponding to the rotation centers of tibiotalar and subtalar joints.Using screw theory,the mobility of the parallel mechanism,which meets the requirements of the human ankle,is analyzed.The inverse kinematics are presented,and singularities are identified based on the Jacobian matrix.The workspaces of the parallel mechanism are obtained through the search method and compared with the motion range of the human ankle,which shows that the parallel mechanism can meet the motion demand of ankle rehabilitation.Additionally,based on the motion-force transmissibility,the performance atlases are plotted in the parameter optimal design space,and the optimum parameter is obtained according to the demands of practical applications.The results show that the parallel mechanism can meet the motion requirements of ankle rehabilitation and has excellent kinematic performance in its rehabilitation range,which provides a theoretical basis for the prototype design and experimental verification.展开更多
Based on the multi-body kinematics principle, the topological structure and restriction relation among parts of machine tool and 3D multi-body model are constructed, the kinematics simulation system of machine tool is...Based on the multi-body kinematics principle, the topological structure and restriction relation among parts of machine tool and 3D multi-body model are constructed, the kinematics simulation system of machine tool is developed. The designer can observe the movement and machining course of the whole machine tool and understand accurately the kinematics parameters of components such as position, velocity and acceleration. Also the designer can estimate the pose of components in the virtual circumstance and forecast accurately and correct problems which may appear during the design before the prototype is manufactured to assure the feasibility of design scheme, shorten period of product design and reduce product cost. The simulation system is used during the design of CK1416 high speed and precision numerical control lathe. The curves of ball screw angular velocity and carriage displacement agree well with the results of theoretical calculation and the constructed model is correct.展开更多
One kind of movable-pair analysis method is adopted to analyze the configuration of a 3-7R （revolute-pair） parallel decoupling mechanism, and the mechanism＇s characteristics are summarized. The mechanism has three ...One kind of movable-pair analysis method is adopted to analyze the configuration of a 3-7R （revolute-pair） parallel decoupling mechanism, and the mechanism＇s characteristics are summarized. The mechanism has three orthogonal distributional branch-chains, and all movable pairs are rotational joints. The movable platform of the mechanism has x, y, z translational decoupling directions. Furthermore, in order to verify the mechanism＇s decoupling characteristics, the mechanism＇s kinematics analysis is solved, and the mechanism＇s direct/inverse kinematics model, input/output velocities and accelerations are deduced, which confirm its decoupling movement characteristics. Finally, one kind of mechanism link decomposed-integrated approach is adopted, and the mechanism＇s dynamics model is completed with the Lagrange method, which also proves its decoupling force characteristics. All of these works provide significant theory for the further study of the mechanism＇s control strategy, design, path planning etc.展开更多
Based on the fifth-order Stokes regular wave theory, a simplified model for extreme-wave kinematics in deep sea was developed. In this model, from the wave records the average of two neighboring wave periods for the e...Based on the fifth-order Stokes regular wave theory, a simplified model for extreme-wave kinematics in deep sea was developed. In this model, from the wave records the average of two neighboring wave periods for the extreme crest or trough was defined as the period of the Stokes wave by the up and down zero-crossing methods. Then the input wave amplitude was deduced by substituting the wave period and extreme crest or trough into the expression for the fifth-order Stokes wave elevation. Thus the corresponding formula for the wave velocity can be used to describe kinematics beneath the extreme wave. By comparison with the published numerical models and experimental data, the proposed model is validated to be able to calculate the extreme wave velocity rather easily and accurately.展开更多
Forward and backward reaching inverse kinematics(FABRIK)is an efficient two-stage iterative solver for inverse kinematics of spherical-joint manipulator without the calculation of Jacobian matrix.Based on FABRIK,this ...Forward and backward reaching inverse kinematics(FABRIK)is an efficient two-stage iterative solver for inverse kinematics of spherical-joint manipulator without the calculation of Jacobian matrix.Based on FABRIK,this paper presents an incremental control scheme for a free-floating space manipulator consists of revolute joints and rigid links with the consideration of joint constraints and dynamic coupling effect.Due to the characteristics of FABRIK,it can induce large angular movements on specific joints.Apart from that,FABRIK maps three dimensional(3D)problem into two dimensional(2D)problem by a simple geometric projection.This operation can cause infinite loops in some cases.In order to overcome these issues and apply FABRIK on space manipulators,an increments allocation method is developed to constrain the angular movements as well as to re-orient the end-effector.The manipulator is re-positioned based on the momentum conservation law.Instead of pure target position tracking,the orientation control of the end-effector is also considered.Numerical simulation is performed to testify and demonstrate the effectiveness and reliability of the proposed incremental control approach.展开更多
A methodology is presented whereby a neural network is used to learn the inverse kinematic relationships of the position and orientation of a six joint manipulator. The arm solution for the orientation of a manipulato...A methodology is presented whereby a neural network is used to learn the inverse kinematic relationships of the position and orientation of a six joint manipulator. The arm solution for the orientation of a manipulator using a self organizing neural net is studied in this paper. A new training model of the self organizing neural network is proposed by thoroughly studying Martinetz, Ritter and Schulten′s self organizing neural network based on Kohonen′s self organizing mapping algorithm using a Widrow Hoff type error correction rule and closely combining the characters of the inverse kinematic relationship for a robot arm. The computer simulation results for a PUMA 560 robot show that the proposed method has a significant improvement over other methods documented in the references in self organizing capability and precision by training process.展开更多
The Tianshan range could have been built by both late Early Paleozoicaccretion and Late Paleozoic collision events. The late Early Paleozoic Aqqikkudug-Weiya suture ismarked by Ordovician ophiolitic melange and a Silu...The Tianshan range could have been built by both late Early Paleozoicaccretion and Late Paleozoic collision events. The late Early Paleozoic Aqqikkudug-Weiya suture ismarked by Ordovician ophiolitic melange and a Silurian flysch sequence, high-pressure metamorphicrelics, and mylonitized rocks. The Central Tianshan belt could principally be an Ordovician volcanicarc; whereas the South Tianshan belt, a back-arc basin. Macro- and microstructures, along withunconformities, provide some kinematic and chronological constraints on 2-phase ductile deformation.The earlier ductile deformation occurring at ca. 400 Ma was marked by north-verging ductileshearing, yielding granulite-bearing ophiolitic melange blocks and garnet-pyroxene-facies ductiledeformation, and the later deformation, a dextral strike-slip tectonic process, occurred during theLate Carboniferous-Early Permian. Early Carboniferous molasses were deposited unconformably onpre-Carboniferous metamorphic and ductilely sheared rocks, implying the end of the early orogeny.The large-scale ductile strike-slip along the Aqqikkudug-Weiya zone was possibly caused by thesecond tectonic event, the Hercynian collision between the northern Tarim block and the southernSiberian block. Late Paleozoic granitic magmatism and superimposed structures overprinted this EarlyPaleozoic deformation belt. Results of geometric and kinematic studies suggest that the primaryframework of the Southern-Central Tianshan belt, at least the eastern part of the Tianshan belt, wasbuilt by these two phases of accretion events.展开更多
The complexity of the kinematics and dynamics of a manipulator makes it necessary to simplify the modeling process.However,the traditional representations cannot achieve this because of the absence of coordinate invar...The complexity of the kinematics and dynamics of a manipulator makes it necessary to simplify the modeling process.However,the traditional representations cannot achieve this because of the absence of coordinate invariance.Therefore,the coordinate invariant method is an important research issue.First,the rigid-body acceleration,the time derivative of the twist,is proved to be a screw,and its physical meaning is explained.Based on the twist and the rigid-body acceleration,the acceleration of the end-effector is expressed as a linear-bilinear form,and the kinematics Hessian matrix of the manipulator（represented by Lie bracket）is deduced.Further,Newton-Euler＇s equation is rewritten as a linear-bilinear form,from which the dynamics Hessian matrix of a rigid body is obtained.The formulae and the dynamics Hessian matrix are proved to be coordinate invariant.Referring to the principle of virtual work,the dynamics Hessian matrix of the parallel manipulator is gotten and the detailed dynamic model is derived.An index of dynamical coupling based on dynamics Hessian matrix is presented.In the end,a foldable parallel manipulator is taken as an example to validate the deduced kinematics and dynamics formulae.The screw theory based method can simplify the kinematics and dynamics of a manipulator,also the corresponding dynamics Hessian matrix can be used to evaluate the dynamical coupling of a manipulator.展开更多
Kinematics and its related issues of a 3-DOF in-parallel compliant mechanismare focused on. The micro manipulation application that requires high accuracy is developed. Designof the developed micromanipulator is based...Kinematics and its related issues of a 3-DOF in-parallel compliant mechanismare focused on. The micro manipulation application that requires high accuracy is developed. Designof the developed micromanipulator is based on the modified Delta mechanism. The main advantages ofthis manipulator are the use of only revolute flexure hinges and the capability to produce puretranslation theoretically. The aim is to develop an efficient kinematic model used for positioningcontrol. For this purpose, the Jacobian matrix relating the end effector position with the actuatordisplacements is obtained by both theoretical derivation and experiment. Aiming at the abnormalityin the motion capabilities of the micromanipulator found in calibration experiment, the mobility ofthe compliant mechanism on a theoretical level is analyzed by using the matrix method and screwtheory. Both the experimental and theoretical results have verified that the compliant mechanismdoes have rotational motion.展开更多
Because the deployable structures are complex multi-loop structures and methods of derivation which lead to simpler kinematic and dynamic equations of motion are the subject of research effort, the kinematics and dyna...Because the deployable structures are complex multi-loop structures and methods of derivation which lead to simpler kinematic and dynamic equations of motion are the subject of research effort, the kinematics and dynamics of deployable structures with scissor-like-elements are presented based on screw theory and the principle of virtual work respectively. According to the geometric characteristic of the deployable structure examined, the basic structural unit is the common scissor-like-element（SLE）. First, a spatial deployable structure, comprised of three SLEs, is defined, and the constraint topology graph is obtained. The equations of motion are then derived based on screw theory and the geometric nature of scissor elements. Second, to develop the dynamics of the whole deployable structure, the local coordinates of the SLEs and the Jacobian matrices of the center of mass of the deployable structure are derived. Then, the equivalent forces are assembled and added in the equations of motion based on the principle of virtual work. Finally, dynamic behavior and unfolded process of the deployable structure are simulated. Its figures of velocity, acceleration and input torque are obtained based on the simulate results. Screw theory not only provides an efficient solution formulation and theory guidance for complex multi-closed loop deployable structures, but also extends the method to solve dynamics of deployable structures. As an efficient mathematical tool, the simper equations of motion are derived based on screw theory.展开更多
Detailed global plate motion models that provide a continuous description of plate boundaries through time are an effective tool for exploring processes both at and below the Earth's surface. A new generation of n...Detailed global plate motion models that provide a continuous description of plate boundaries through time are an effective tool for exploring processes both at and below the Earth's surface. A new generation of numerical models of mantle dynamics pre-and post-Pangea timeframes requires global kinematic descriptions with full plate reconstructions extending into the Paleozoic(410 Ma). Current plate models that cover Paleozoic times are characterised by large plate speeds and trench migration rates because they assume that lowermost mantle structures are rigid and fixed through time. When used as a surface boundary constraint in geodynamic models, these plate reconstructions do not accurately reproduce the present-day structure of the lowermost mantle. Building upon previous work, we present a global plate motion model with continuously closing plate boundaries ranging from the early Devonian at 410 Ma to present day.We analyse the model in terms of surface kinematics and predicted lower mantle structure. The magnitude of global plate speeds has been greatly reduced in our reconstruction by modifying the evolution of the synthetic Panthalassa oceanic plates, implementing a Paleozoic reference frame independent of any geodynamic assumptions, and implementing revised models for the Paleozoic evolution of North and South China and the closure of the Rheic Ocean. Paleozoic(410-250 Ma) RMS plate speeds are on average ～8 cm/yr, which is comparable to Mesozoic-Cenozoic rates of ～6 cm/yr on average.Paleozoic global median values of trench migration trend from higher speeds(～2.5 cm/yr) in the late Devonian to rates closer to 0 cm/yr at the end of the Permian(～250 Ma), and during the Mesozoic-Cenozoic(250-0 Ma) generally cluster tightly around ～1.1 cm/yr. Plate motions are best constrained over the past 130 Myr and calculations of global trench convergence rates over this period indicate median rates range between 3.2 cm/yr and 12.4 cm/yr with a present day median rate estimated at～5 cm/yr. For Paleozoic times(410-251 Ma) our model results in median convergence rates largely～5 cm/yr. Globally,～90% of subduction zones modelled in our reconstruction are determined to be in a convergent regime for the period of 120-0 Ma. Over the full span of the model, from 410 Ma to 0 Ma,～93% of subduction zones are calculated to be convergent, and at least 85% of subduction zones are converging for 97% of modelled times. Our changes improve global plate and trench kinematics since the late Paleozoic and our reconstructions of the lowermost mantle structure challenge the proposed fixity of lower mantle structures, suggesting that the eastern margin of the African LLSVP margin has moved by as much as ～1450 km since late Permian times(260 Ma). The model of the plate-mantle system we present suggests that during the Permian Period, South China was proximal to the eastern margin of the African LLSVP and not the western margin of the Pacific LLSVP as previous thought.展开更多
In order to obtain direct solutions of parallel manipulator without divergence in real time,a modified global Newton-Raphson(MGNR) algorithm was proposed for forward kinematics analysis of six-degree-of-freedom(DOF) p...In order to obtain direct solutions of parallel manipulator without divergence in real time,a modified global Newton-Raphson(MGNR) algorithm was proposed for forward kinematics analysis of six-degree-of-freedom(DOF) parallel manipulator.Based on geometrical frame of parallel manipulator,the highly nonlinear equations of kinematics were derived using analytical approach.The MGNR algorithm was developed for the nonlinear equations based on Tailor expansion and Newton-Raphson iteration.The procedure of MGNR algorithm was programmed in Matlab/Simulink and compiled to a real-time computer with Microsoft visual studio.NET for implementation.The performance of the MGNR algorithms for 6-DOF parallel manipulator was analyzed and confirmed.Applying the MGNR algorithm,the real generalized pose of moving platform is solved by using the set of given positions of actuators.The theoretical analysis and numerical results indicate that the presented method can achieve the numerical convergent solution in less than 1 ms with high accuracy(1×10-9 m in linear motion and 1×10-9 rad in angular motion),even the initial guess value is far from the root.展开更多
基金Supported by National Natural Science Foundation of China (Grant No. 52175019)Beijing Municipal Natural Science Foundation of China (Grant No. L222038)+3 种基金Beijing Nova Programme Interdisciplinary Cooperation Project of China (Grant No. 20240484699)Joint Funds of Industry-University-Research of Shanghai Academy of Spaceflight Technology of China (Grant No. SAST2022-017)Beijing Municipal Key Laboratory of Space-ground Interconnection and Convergence of ChinaKey Laboratory of IoT Monitoring and Early Warning,Ministry of Emergency Management of China
文摘To investigate the forward kinematics problem of parallel mechanisms with complex limbs and to expand the applicability of the powerful tool of Conformal Geometric Algebra(CGA),a CGA-based modeling and solution method for a class of parallel platforms with 3-RE structure after locking the actuated joints is proposed in this paper.Given that the angle between specific joint axes of limbs remains constant,a set of geometric constraints for the forward kinematics of parallel mechanisms(PM)are determined.After translating unit direction vectors of these joint axes to the common starting point,the geometric constraints of the angle between the vectors are transformed into the distances between the endpoints of the vectors,making them easier to handle.Under the framework of CGA,the positions of key points that determine the position and orientation of the moving platform can be intuitively determined by the intersection,division,and duality of basic geometric entities.By employing the tangent half-angle substitution,the forward kinematic analysis of the parallel mechanisms leads to a high-order univariate polynomial equation without the need for any complex algebraic elimination operations.After solving this equation and back substitution,the position and pose of the MP can be obtained indirectly.A numerical case is utilized to confirm the effectiveness of the proposed method.
基金supported by the National Natural Science Foundation of China(No.52175270)the Project of Scientific and Technological Development Plan of Jilin Province(No.20220508130RC).
文摘The human thumb plays a crucial role in performing coordinated hand movements for precise tool use.However,quantifying and interpreting the kinematics and couplings of the six degrees of freedom(6DOF)between the interphalangeal(IP)and metacarpophalangeal(MCP)joints during hand functional tasks remains challenging.To address this issue,advanced dynamic biplane radiography combined with a model-based 2D–3D tracking technique was employed to decode the inherent kinematics of the thumb IP and MCP joints during key pinch,tip pinch,palmar pinch and wide grasp.The results indicate that the functional tasks of the thumb are intricately modulated by the 3D rotational and translational motions of the IP and MCP joints.The IP joint exhibited the greatest flexion/extension range of motion during the tip pinch task(67.2°±8.4°),compared to smaller ranges in key pinch(27.6°±3.8°)and wide grasp(16.2°±7.1°)tasks.In the wide grasp task,the IP joint showed more movement in the radius/ulna direction(3.4±1.2 mm)compared to tip pinch(3.1±0.8 mm).Furthermore,the kinematic data of the IP joint challenge the traditional notion that the IP joint normally acts as a hinge mechanism.The results of this study help to elucidate the kinematics of human thumb IP and MCP joints and may provide new inspiration for the design of high-performance bionic hands or thumb prosthetics as well as for evaluating the outcomes of thumb therapeutic interventions and surgical procedures.
基金Supported by National Natural Science Foundation of China(Grant No.52275033)National Natural Science Youth Foundation of China(Grant No.52205033)Hebei Provincial Natural Science Foundation of China(Grant No.E2021203019)。
文摘Serial-parallel manipulators are of great interest to academic community in recent years,especially those composed of classical parallel mechanisms.There have been many studies around 2(3RPS)and 2(3SPR)S-PMs,but unfortunately their inverse kinematics have not yet been resolved.This paper discovers that the unknown kinematic parameters of middle platform are responsible for the unresolvable of inverse kinematics,meanwhile the unknown kinematic parameters of middle platform also have huge coupling relationships.Therefore,to break through this challenges,the huge coupling relationships are decoupled layer by layer,the kinematic parameters of middle platform are solved by combining Sylvester's elimination method,and the inverse displacements of 2(3RPS)and 2(3SPR)S-PMs are obtained subsequently.This paper not only solves the inverse kinematics of classical 2(3RPS)and 2(3SPR)S-PMs,but also reveals the essence of the inverse kinematics of general(3-DOF)+(3-DOF)6-DOF S-PMs and proposes a corresponding solution.
基金provided by the National Natural Science Foundation of China(Grants No.12272238 and No.11932013)the"Outstanding Young Scholar"Program of Shanghai Municipalthe"Dawn"Program of Shanghai Education Commission(Grant No.19SG47)。
文摘Background:Foot kinematics,such as excessive eversion and malalignment of the hindfoot,are believed to be associated with running-related injuries.The maj ority of studies to date show that different foot strike patterns influence these specific foot and ankle kinematics.However,technical deficiencies in traditional motion capture approaches limit knowledge of in vivo joint kinematics with respect to rearfoot and forefoot strike patterns(RFS and FFS,respectively).This study uses a high-speed dual fluoroscopic imaging system(DFIS)to determine the effects of different foot strike patterns on 3D in vivo tibiotalar and subtalar joints kinematics.Methods:Fifteen healthy male recreational runners underwent foot computed tomography scanning for the construction of 3-dimensional models.A high-speed DFIS(100 Hz)was used to collect 6 degrees of freedom kinematics for participants’tibiotalar and subtalar joints when they adopted RFS and FFS in barefoot condition.Results:Compared with RFS,FFS exhibited greater internal rotation at 0%-20%of the stance phase in the tibiotalar joint.The peak internal rotation angle of the tibiotalar joint under FFS was greater than under RFS(p<0.001,Cohen’s d=0.92).RFS showed more dorsiflexion at 0%-20%of the stance phase in the tibiotalar joint than FFS.RFS also presented a larger anterior translation(p<0.001,Cohen’s d=1.28)in the subtalar joint at i nitial contact than FFS.Conclusion:Running with acute barefoot FFS increases the internal rotation of the tibiotalar joint in the early stance.The use of high-speed DFIS to quantify the movement of the tibiotalar and subtalar joint was critical to revealing the effects of RF S and FFS during running.
基金supported by the National Key Research and Development Project (No. 2022YFA1602301)the National Natural Science Foundation of China (Nos. U2267205, 12275361, 12125509, 12222514, 11961141003, and 12005304)+2 种基金the CAST Young Talent Support Planthe CNNC Science Fund for Talented Young Scholarsthe Continuous-Support Basic Scientific Research Project
文摘The ^(12)C+^(12)C fusion is one of the most important reactions in modern nuclear astrophysics.The trend and magnitude of the reaction rate within the Gamow window strongly influence various astrophysical processes.However,direct measurement of this reaction is extremely difficult,which makes it necessary to develop indirect methods.In this study,the ^(23)Na+p reaction system was used to study the compound nucleus ^(24)Mg.We employed a thick-target inverse kinematics method combined with theγ-charged-particle coincidence technique to measure the proton andα exit channels of ^(24)Mg.Technical details of the ^(23)Na+p thick-target inverse kinematics experiment and analysis are presented herein.
基金funded by the National Natural Science Foundation of China(NO.52175069).
文摘Inspired by the driving muscles of the human arm,a 4-Degree of Freedom(DOF)concentrated driving humanoid robotic arm is proposed based on a spatial double parallel four-bar mechanism.The four-bar mechanism design reduces the inertia of the elbow-driving unit and the torque by 76.65%and 57.81%,respectively.Mimicking the human pose regulation strategy that the human arm picks up a heavy object by adjusting its posture naturally without complicated control,the robotic arm features an integrated position-level closed-form inverse solution method considering both geometric and load capacity limitations.This method consists of a geometric constraint model incorporating the arm angle(φ)and the Global Configuration(GC)to avoid joint limits and singularities,and a load capacity model to constrain the feasible domain of the arm angle.Further,trajectory tracking simulations and experiments are conducted to validate the feasibility of the proposed inverse solution method.The simulated maximum output torque,maximum output power and total energy consumption of the robotic arm are reduced by up to 2.0%,13.3%,and 33.3%,respectively.The experimental results demonstrate that the robotic arm can bear heavy loads in a human-like posture,effectively reducing the maximum output torque and energy consumption of the robotic arm by 1.83%and 5.03%,respectively,while avoiding joints beyond geometric and load capacity limitations.The proposed design provides a high payload–weight ratio and an efficient pose control solution for robotic arms,which can potentially broaden the application spectrum of humanoid robots.
基金provided by Board of the Swiss Federal Institutes of TechnologyUniversitat Zürichthe Laboratory of Composite Materials and Adaptive structures。
文摘Despite continuous efforts to improve the robustness of cardiac valve implants,neither bioprosthetic nor mechanical valves fulfill both hemodynamic and durability requirements.This study discussed novel flexible leaflet designs,focusing on polymeric materials with proven hemocompatibility,such as polyether ether ketone,of much higher stiffness than native tissue,aiming at optimal valve implants.A biomimetic valve with a single-curvature belly-curve(B-C)was used as a reference for new design variants with a double-curvature B-C with varying radii.Soft(13.2 MPa)and stiff(2.4 GPa)leaflet materials and different thicknesses were studied using lean simulations and in vitro experiments under physiologic hemodynamic conditions.The performance was assessed using opening pressure(OP)and orifice area(OA).The latter was determined by a newly developed automatized image processing tool.Experimental trends are in agreement with simulations and demonstrated that a buckling-inspired double-curvature leaflet design significantly enhances the trileaflet valve opening behavior,which is particularly advantageous for stiffer leaflet materials.Compared to the reference,the best-performing variant showed an OP improvement of 47%and 44%based on simulations and experiments,respectively.In contrast,the achieved mean pressure differential was directly comparable to state-of-the-art bioprosthetic valves.The OA was slightly reduced for new variants but still in the satisfying range.
基金supported by the research contracts 806/31.4830 and 806/31.5511 between the private company Laboratorio Ortoplus S.L.and the University of Malaga.
文摘Mandibular advancement devices(MADs)are widely used treatments for obstructive sleep apnea.MADs function by advancing the lower jaw to open the upper airway.To increase patient comfort,most patients allow the mouth to be opened.However,not all systems maintain the lower jaw in a forward position during mouth opening,which results in the production of a retrusion that favors the collapse of the upper airway.Furthermore,the kinematic behavior of the mechanism formed by the mandible-device assembly depends on jaw morphology.This means that,during mouth opening,some devices cause lower jaw protrusion in some patients,but cause its retraction in others.In this study,we report the behavior of well-known devices currently on themarket.To do so,we developed a kinematic model of the lower jawdevice assembly.Thismodelwas validated for all devices analyzed using a high-resolution camera system.Our results show that some of the devices analyzed here did not produce the correct behavior during patient mouth opening.
基金Supported by National Natural Science Foundation of China(Grant No.52075145)S&T Program of Hebei Province of China(Grant Nos.20281805Z,E2020103001)Central Government Guides Basic Research Projects of Local Science and Technology Development Funds of China(Grant No.206Z1801G).
文摘The kinematic equivalent model of an existing ankle-rehabilitation robot is inconsistent with the anatomical structure of the human ankle,which influences the rehabilitation effect.Therefore,this study equates the human ankle to the UR model and proposes a novel three degrees of freedom(3-DOF)generalized spherical parallel mechanism for ankle rehabilitation.The parallel mechanism has two spherical centers corresponding to the rotation centers of tibiotalar and subtalar joints.Using screw theory,the mobility of the parallel mechanism,which meets the requirements of the human ankle,is analyzed.The inverse kinematics are presented,and singularities are identified based on the Jacobian matrix.The workspaces of the parallel mechanism are obtained through the search method and compared with the motion range of the human ankle,which shows that the parallel mechanism can meet the motion demand of ankle rehabilitation.Additionally,based on the motion-force transmissibility,the performance atlases are plotted in the parameter optimal design space,and the optimum parameter is obtained according to the demands of practical applications.The results show that the parallel mechanism can meet the motion requirements of ankle rehabilitation and has excellent kinematic performance in its rehabilitation range,which provides a theoretical basis for the prototype design and experimental verification.
文摘Based on the multi-body kinematics principle, the topological structure and restriction relation among parts of machine tool and 3D multi-body model are constructed, the kinematics simulation system of machine tool is developed. The designer can observe the movement and machining course of the whole machine tool and understand accurately the kinematics parameters of components such as position, velocity and acceleration. Also the designer can estimate the pose of components in the virtual circumstance and forecast accurately and correct problems which may appear during the design before the prototype is manufactured to assure the feasibility of design scheme, shorten period of product design and reduce product cost. The simulation system is used during the design of CK1416 high speed and precision numerical control lathe. The curves of ball screw angular velocity and carriage displacement agree well with the results of theoretical calculation and the constructed model is correct.
基金The National High Technology Research and Development Program of China(863Program)(No.2006AA040202)
文摘One kind of movable-pair analysis method is adopted to analyze the configuration of a 3-7R （revolute-pair） parallel decoupling mechanism, and the mechanism＇s characteristics are summarized. The mechanism has three orthogonal distributional branch-chains, and all movable pairs are rotational joints. The movable platform of the mechanism has x, y, z translational decoupling directions. Furthermore, in order to verify the mechanism＇s decoupling characteristics, the mechanism＇s kinematics analysis is solved, and the mechanism＇s direct/inverse kinematics model, input/output velocities and accelerations are deduced, which confirm its decoupling movement characteristics. Finally, one kind of mechanism link decomposed-integrated approach is adopted, and the mechanism＇s dynamics model is completed with the Lagrange method, which also proves its decoupling force characteristics. All of these works provide significant theory for the further study of the mechanism＇s control strategy, design, path planning etc.
基金Supported by the NSFC (under Grant Nos.5070900 and 10772040)the National High Tech Research and Development Program of China (2006AA09A109-3)
文摘Based on the fifth-order Stokes regular wave theory, a simplified model for extreme-wave kinematics in deep sea was developed. In this model, from the wave records the average of two neighboring wave periods for the extreme crest or trough was defined as the period of the Stokes wave by the up and down zero-crossing methods. Then the input wave amplitude was deduced by substituting the wave period and extreme crest or trough into the expression for the fifth-order Stokes wave elevation. Thus the corresponding formula for the wave velocity can be used to describe kinematics beneath the extreme wave. By comparison with the published numerical models and experimental data, the proposed model is validated to be able to calculate the extreme wave velocity rather easily and accurately.
基金supported by the National Natural Science Foundation of China(Nos.61803312,91848205 and 61725303).
文摘Forward and backward reaching inverse kinematics(FABRIK)is an efficient two-stage iterative solver for inverse kinematics of spherical-joint manipulator without the calculation of Jacobian matrix.Based on FABRIK,this paper presents an incremental control scheme for a free-floating space manipulator consists of revolute joints and rigid links with the consideration of joint constraints and dynamic coupling effect.Due to the characteristics of FABRIK,it can induce large angular movements on specific joints.Apart from that,FABRIK maps three dimensional(3D)problem into two dimensional(2D)problem by a simple geometric projection.This operation can cause infinite loops in some cases.In order to overcome these issues and apply FABRIK on space manipulators,an increments allocation method is developed to constrain the angular movements as well as to re-orient the end-effector.The manipulator is re-positioned based on the momentum conservation law.Instead of pure target position tracking,the orientation control of the end-effector is also considered.Numerical simulation is performed to testify and demonstrate the effectiveness and reliability of the proposed incremental control approach.
文摘A methodology is presented whereby a neural network is used to learn the inverse kinematic relationships of the position and orientation of a six joint manipulator. The arm solution for the orientation of a manipulator using a self organizing neural net is studied in this paper. A new training model of the self organizing neural network is proposed by thoroughly studying Martinetz, Ritter and Schulten′s self organizing neural network based on Kohonen′s self organizing mapping algorithm using a Widrow Hoff type error correction rule and closely combining the characters of the inverse kinematic relationship for a robot arm. The computer simulation results for a PUMA 560 robot show that the proposed method has a significant improvement over other methods documented in the references in self organizing capability and precision by training process.
基金the supports from the National 973 Project on Westemn China (No.2001CB409804)the National Natural Science Foundation of China (grants 49772151 , 49832040)
文摘The Tianshan range could have been built by both late Early Paleozoicaccretion and Late Paleozoic collision events. The late Early Paleozoic Aqqikkudug-Weiya suture ismarked by Ordovician ophiolitic melange and a Silurian flysch sequence, high-pressure metamorphicrelics, and mylonitized rocks. The Central Tianshan belt could principally be an Ordovician volcanicarc; whereas the South Tianshan belt, a back-arc basin. Macro- and microstructures, along withunconformities, provide some kinematic and chronological constraints on 2-phase ductile deformation.The earlier ductile deformation occurring at ca. 400 Ma was marked by north-verging ductileshearing, yielding granulite-bearing ophiolitic melange blocks and garnet-pyroxene-facies ductiledeformation, and the later deformation, a dextral strike-slip tectonic process, occurred during theLate Carboniferous-Early Permian. Early Carboniferous molasses were deposited unconformably onpre-Carboniferous metamorphic and ductilely sheared rocks, implying the end of the early orogeny.The large-scale ductile strike-slip along the Aqqikkudug-Weiya zone was possibly caused by thesecond tectonic event, the Hercynian collision between the northern Tarim block and the southernSiberian block. Late Paleozoic granitic magmatism and superimposed structures overprinted this EarlyPaleozoic deformation belt. Results of geometric and kinematic studies suggest that the primaryframework of the Southern-Central Tianshan belt, at least the eastern part of the Tianshan belt, wasbuilt by these two phases of accretion events.
基金Supported by National Natural Science Foundation of China(Grant Nos.51375420,51105322)
文摘The complexity of the kinematics and dynamics of a manipulator makes it necessary to simplify the modeling process.However,the traditional representations cannot achieve this because of the absence of coordinate invariance.Therefore,the coordinate invariant method is an important research issue.First,the rigid-body acceleration,the time derivative of the twist,is proved to be a screw,and its physical meaning is explained.Based on the twist and the rigid-body acceleration,the acceleration of the end-effector is expressed as a linear-bilinear form,and the kinematics Hessian matrix of the manipulator（represented by Lie bracket）is deduced.Further,Newton-Euler＇s equation is rewritten as a linear-bilinear form,from which the dynamics Hessian matrix of a rigid body is obtained.The formulae and the dynamics Hessian matrix are proved to be coordinate invariant.Referring to the principle of virtual work,the dynamics Hessian matrix of the parallel manipulator is gotten and the detailed dynamic model is derived.An index of dynamical coupling based on dynamics Hessian matrix is presented.In the end,a foldable parallel manipulator is taken as an example to validate the deduced kinematics and dynamics formulae.The screw theory based method can simplify the kinematics and dynamics of a manipulator,also the corresponding dynamics Hessian matrix can be used to evaluate the dynamical coupling of a manipulator.
基金This project is supported by National Natural Science Foundation of China (No.59775002 and No.50075010).
文摘Kinematics and its related issues of a 3-DOF in-parallel compliant mechanismare focused on. The micro manipulation application that requires high accuracy is developed. Designof the developed micromanipulator is based on the modified Delta mechanism. The main advantages ofthis manipulator are the use of only revolute flexure hinges and the capability to produce puretranslation theoretically. The aim is to develop an efficient kinematic model used for positioningcontrol. For this purpose, the Jacobian matrix relating the end effector position with the actuatordisplacements is obtained by both theoretical derivation and experiment. Aiming at the abnormalityin the motion capabilities of the micromanipulator found in calibration experiment, the mobility ofthe compliant mechanism on a theoretical level is analyzed by using the matrix method and screwtheory. Both the experimental and theoretical results have verified that the compliant mechanismdoes have rotational motion.
基金Supported by National Natural Science Foundation of China(Grant No.51175422)
文摘Because the deployable structures are complex multi-loop structures and methods of derivation which lead to simpler kinematic and dynamic equations of motion are the subject of research effort, the kinematics and dynamics of deployable structures with scissor-like-elements are presented based on screw theory and the principle of virtual work respectively. According to the geometric characteristic of the deployable structure examined, the basic structural unit is the common scissor-like-element（SLE）. First, a spatial deployable structure, comprised of three SLEs, is defined, and the constraint topology graph is obtained. The equations of motion are then derived based on screw theory and the geometric nature of scissor elements. Second, to develop the dynamics of the whole deployable structure, the local coordinates of the SLEs and the Jacobian matrices of the center of mass of the deployable structure are derived. Then, the equivalent forces are assembled and added in the equations of motion based on the principle of virtual work. Finally, dynamic behavior and unfolded process of the deployable structure are simulated. Its figures of velocity, acceleration and input torque are obtained based on the simulate results. Screw theory not only provides an efficient solution formulation and theory guidance for complex multi-closed loop deployable structures, but also extends the method to solve dynamics of deployable structures. As an efficient mathematical tool, the simper equations of motion are derived based on screw theory.
基金supported by the Australian Governmentsupport of the Australian Government Research Training Program Scholarship+1 种基金supported by Australian Research Council grant DE160101020supported by Australian Research Council grant IH130200012 and DP130101946
文摘Detailed global plate motion models that provide a continuous description of plate boundaries through time are an effective tool for exploring processes both at and below the Earth's surface. A new generation of numerical models of mantle dynamics pre-and post-Pangea timeframes requires global kinematic descriptions with full plate reconstructions extending into the Paleozoic(410 Ma). Current plate models that cover Paleozoic times are characterised by large plate speeds and trench migration rates because they assume that lowermost mantle structures are rigid and fixed through time. When used as a surface boundary constraint in geodynamic models, these plate reconstructions do not accurately reproduce the present-day structure of the lowermost mantle. Building upon previous work, we present a global plate motion model with continuously closing plate boundaries ranging from the early Devonian at 410 Ma to present day.We analyse the model in terms of surface kinematics and predicted lower mantle structure. The magnitude of global plate speeds has been greatly reduced in our reconstruction by modifying the evolution of the synthetic Panthalassa oceanic plates, implementing a Paleozoic reference frame independent of any geodynamic assumptions, and implementing revised models for the Paleozoic evolution of North and South China and the closure of the Rheic Ocean. Paleozoic(410-250 Ma) RMS plate speeds are on average ～8 cm/yr, which is comparable to Mesozoic-Cenozoic rates of ～6 cm/yr on average.Paleozoic global median values of trench migration trend from higher speeds(～2.5 cm/yr) in the late Devonian to rates closer to 0 cm/yr at the end of the Permian(～250 Ma), and during the Mesozoic-Cenozoic(250-0 Ma) generally cluster tightly around ～1.1 cm/yr. Plate motions are best constrained over the past 130 Myr and calculations of global trench convergence rates over this period indicate median rates range between 3.2 cm/yr and 12.4 cm/yr with a present day median rate estimated at～5 cm/yr. For Paleozoic times(410-251 Ma) our model results in median convergence rates largely～5 cm/yr. Globally,～90% of subduction zones modelled in our reconstruction are determined to be in a convergent regime for the period of 120-0 Ma. Over the full span of the model, from 410 Ma to 0 Ma,～93% of subduction zones are calculated to be convergent, and at least 85% of subduction zones are converging for 97% of modelled times. Our changes improve global plate and trench kinematics since the late Paleozoic and our reconstructions of the lowermost mantle structure challenge the proposed fixity of lower mantle structures, suggesting that the eastern margin of the African LLSVP margin has moved by as much as ～1450 km since late Permian times(260 Ma). The model of the plate-mantle system we present suggests that during the Permian Period, South China was proximal to the eastern margin of the African LLSVP and not the western margin of the Pacific LLSVP as previous thought.
基金Project(HgdJG00401D04) supported by National 921 Manned Space Project Foundation of ChinaProject(SKLRS200803B) supported by the Self-Planned Task Foundation of State Key Laboratory of Robotics and System (HIT) of China+1 种基金Project(CDAZ98502211) supported by China’s "World Class University (985)" Project FoundationProject(50975055) supported by the National Natural Science Foundation of China
文摘In order to obtain direct solutions of parallel manipulator without divergence in real time,a modified global Newton-Raphson(MGNR) algorithm was proposed for forward kinematics analysis of six-degree-of-freedom(DOF) parallel manipulator.Based on geometrical frame of parallel manipulator,the highly nonlinear equations of kinematics were derived using analytical approach.The MGNR algorithm was developed for the nonlinear equations based on Tailor expansion and Newton-Raphson iteration.The procedure of MGNR algorithm was programmed in Matlab/Simulink and compiled to a real-time computer with Microsoft visual studio.NET for implementation.The performance of the MGNR algorithms for 6-DOF parallel manipulator was analyzed and confirmed.Applying the MGNR algorithm,the real generalized pose of moving platform is solved by using the set of given positions of actuators.The theoretical analysis and numerical results indicate that the presented method can achieve the numerical convergent solution in less than 1 ms with high accuracy(1×10-9 m in linear motion and 1×10-9 rad in angular motion),even the initial guess value is far from the root.
