A multi-body optimization framework with a knee kinematic model including articular contacts and ligaments

Multi-body optimization is one of the methods proposed to reduce the errors due to soft-tissue artifact in gait analysis based on skin markers. This method uses a multi-body kinematic model driven by the marker trajectories. The kinematic models developed so far for the knee joint include a lower pair (such as a hinge or a spherical joint) or more anatomical and physiological representations including articular contacts and the main ligaments. This latter method allows a better representation of the joint constraints of a subject, potentially improving the kinematic and the subsequent static and dynamic analyses, but model definition and mathematical implementation can be more complicated. This study presents a mathematical framework to implement a kinematic model of the knee featuring articular contacts and ligaments in the multi-body optimization. Two penalty-based methods (minimized and prescribed ligament length variations) consider deformable ligaments and are compared to a further method (zero ligament length variation) featuring isometric ligaments. The multi-body optimization is performed on one gait cycle for five asymptomatic male subjects by means of a lower limb model including the foot, shank, thigh and pelvis. The mean knee kinematics, ligament lengthening and contact point positions are compared over the three methods. The results are also consistent with results from the literature obtained by bone pins or biplanar fluoroscopy. Finally, a sensitivity analysis is performed to evaluate how the joint kinematics is affected by the weights used in the penalty-based methods. The approach is purely kinematic, since the penalty-based framework does not require the solution of the joint static or dynamic analyses and makes it possible to consider ligament deformations without the definition of ligament stiffness that generally cannot be identified through in vivo measurements. Nevertheless, as far as a knee kinematic model is concerned, particularly in musculoskeletal modeling, this approach appears to be a good compromise between standard non-physiological kinematic models and complex deformable dynamic models.     

A Model for the Determination of the Resisting Torque of the Rolling Bearing Cage Motion of Slow-Speed Kinematic Pairs

A simplified, plane model for determination of resisting torques of the rolling bearing cage motion of low speed kinematic pairs is presented. The considerations are devoted to an arbitrary character of the point contact of a rolling element–cage pairs lying in a plane which is crossing the rolling elements in their geometrical centre. The model has been developed on the basis of the analysis of motion kinematics of a bearing track and rolling elements. The proposed algorithm allows for continuous tracking the resisting torque of the cage and its components during the kinematic pair motion.     

Biquaternion solution of the kinematic control problem for the motion of a rigid body and its application to the solution of inverse problems of robot-manipulator kinematics

The problem of reducing the body-attached coordinate system to the reference (programmed) coordinate system moving relative to the fixed coordinate system with a given instantaneous velocity screw along a given trajectory is considered in the kinematic statement. The biquaternion kinematic equations of motion of a rigid body in normalized and unnormalized finite displacement biquaternions are used as the mathematical model of motion, and the dual orthogonal projections of the instantaneous velocity screw of the body motion onto the body coordinate axes are used as the control. Various types of correction (stabilization), which are biquaternion analogs of position and integral corrections, are proposed. It is shown that the linear (obtained without linearization) and stationary biquaternion error equations that are invariant under any chosen programmed motion of the reference coordinate system can be obtained for the proposed types of correction and the use of unnormalized finite displacement biquaternions and four-dimensional dual controls allows one to construct globally regular control laws. The general solution of the error equation is constructed, and conditions for asymptotic stability of the programmed motion are obtained. The constructed theory of kinematic control of motion is used to solve inverse problems of robot-manipulator kinematics. The control problem under study is a generalization of the kinematic problem [1, 2] of reducing the body-attached coordinate system to the reference coordinate system rotating at a given (programmed) absolute angular velocity, and the presentedmethod for solving inverse problems of robotmanipulator kinematics is a development of the method proposed in [3–5].     

Mathematical Model of Speeds Change Device on the Basis of Switched Differential Mechanisms

International Applied Mechanics - The geometry and kinematics of a dynamic system with several degrees of freedom and controllable friction clutches are considered. The necessary kinematic...     

Polycrystalline kinematics: An extension of single crystal kinematics that incorporates initial microstructure

Single crystal F^eF^P kinematics are widely used as the basis for many crystal plasticity models. Within this kinematic framework, geometrically necessary dislocations (GNDs) initially do not exist and then they evolve as needed in the material. A shortcoming of this kinematic model is that there is no rigorous way to define the initial and evolving GND state in the same manner. By augmenting the single crystal F^eF^P kinematics with a geometric argument, a consistent methodology for determining the initial and evolving GND state has been derived. The augmented kinematics describe GND related microstructural features in the undeformed material like low angle sub-grain boundaries and high angle grain boundaries. Therefore these kinematics are particularly applicable to polycrystalline materials.     

Variable kinematic models applied to free-vibration analysis of functionally graded material shells

Closed-form solutions of free-vibration problems of simply supported multilayered shells made of Functionally Graded Material have been examined in the present paper. A variable kinematic shell model, which is based on Carrera’s Unified Formulation is extended, in this work, to dynamic shell cases. Classical shell theories are compared to refined ones as well as to layer-wise kinematics and mixed assumptions based on the Reissner mixed variational theorem. A comparison with the few results available in the open literature is presented and conclusions are drawn regarding the accuracy of classical and advanced shell modeling to evaluate lower and higher vibration modes as well as the behavior of these modes in the shell thickness direction.     

Vehicle Modeling Methods for Real-time Dynamic Simulation Using Suspension Composite Joints*

New vehicle modeling methods for real-time dynamic simulation using suspension composite joints are presented. The suspension composite joints are derived and utilized to reduce the computation time of the simulation without any degradation of kinematic accuracy of the suspension systems. The joints are modeled using massless links on the suspension members that have small masses but have important kinematic functions, and the kinematics of the knuckles or axles of suspension systems are derived. Three vehicle modeling methods are tested using the joints: kinematic steering, compliant tie-rod, and force driving steer vehicle models. The latter two are constructed to represent the steering compliance characteristics of a real vehicle. The accuracy of the simulation results of each vehicle model is verified through comparisons to the results of real vehicle field tests and simulation with an ordinary full multibody vehicle model. It is found that the simulation results using the proposed vehicle models are accurate, and real-time simulation is achieved on a computer with a single PowerPC 604 333 MHz processor with 1 millisecond of integration step size.     

Acceleration and singularity analyses of a parallel manipulator with a particular topology

In this work, two essential steps, the kinematics and the singularity analysis, dealing with the design process of a parallel manipulator are investigated by means of the theory of screws. The proposed mechanism for the analysis is a parallel manipulator with three degrees of freedom. A simple and compact expression is derived here for the computation of the reduced acceleration state of the moving platform, w.r.t. the fixed platform, by taking advantage of the properties of reciprocal screws, via the Klein form of the Lie algebra e(3). To this end, the reduced acceleration state of the moving platform is written in screw form through each one of the three actuator limbs of the manipulator. Afterwards, the acceleration analysis is completed by taking into proper account the decoupled motion of the parallel manipulator. Of course, as an intermediate step this contribution also provides the velocity analysis of the parallel manipulator. The expressions obtained via screw theory are compact and can be easily translated into computer codes. A numerical example is provided to demonstrate the efficacy of screw theory to efficiently analyze the kinematics of the chosen parallel manipulator. Finally, the numerical results from the kinematic analysis are compared with results produced with a commercially available dynamic and kinematic simulation program.     

Critical states in the interaction of discontinuous waves with interfaces between elastic media

The ray method is used to develop a procedure for studying the kinematics and dynamics of the interaction of discontinuous waves with interfaces between elastic media. The critical states of such interactions are analyzed. For the cases of a free surface and two surfaces contacting with and without sliding, it is established that the kinematic and dynamic conditions for critical states to occur are satisfied simultaneously Translated from Prikladnaya Mekhanika, Vol. 45, No. 2, pp. 79–90, February 2009.     

Kinematic variables bridging discrete and continuum granular mechanics

It is known that there is wide, and at present, unbridgeable, gap between discrete and continuum granular mechanics. In this contribution, first, microscopic kinematic variables neglected in classical continuum granular mechanics are investigated based on the kinematics of discs in contact. Then, a kinematic variable called the averaged pure rotation rate (APR) is proposed for an assembly of circular discs of different sizes, which is then used to produce another two kinematic tensors with one equal to the deformation rate tensor and the other unifying the spin tensor and the APR. As an example, the kinematic variables are incorporated into the unified double-slip plasticity model. Finally, these theoretical analyses are verified using a two-dimensional discrete element method. The study shows that these kinematic variables can be used to bridge discrete and continuum granular mechanics.     

Dynamic modeling of the front structure of an excavator

This paper presents a new mathematical model of 4 degrees of freedom of links to qualitatively describe the dynamic behavior of the front structure of an excavator. In the model, the effects of couple of forces as new additional effects are involved. The exact forms and solutions for position-varying moments of inertia used in this model are presented. A topologic structure is used for the kinematic analysis of the body frame. The numerical results show that the new additional effects can change the angular kinetic energy of all links to a significant degree when the upper structure swings. The results suggest that the new additional effects should be taken into account for analysis of excavator dynamics.     

Modèles discrets de structures tissées : Analyse de stabilité et de drapé

A discrete model of a woven fabric structure is established, whereby nodes endowed with a mass and a rotational rigidity are connected by rigid bars to form a two-dimensional truss. The set of four bars that delineate a quadrilateral area is further endowed with a torsion deformation mode. The kinematics of the truss reproduces the large rotations and displacements encountered for real tissues. The equilibrium shape of such a structure is obtained as the minimum of its total potential energy versus the whole set of kinematic translational and rotational variables, accounting for eventual kinematic constraints due to contact with a rigid surface by the Lagrange multipliers method. A stability analysis is conducted, and the potentiality of the model is illustrated by fabric draping simulations. To cite this article: B. Ben Boubaker et al., C. R. Mecanique 330 (2002) 871–877.     

A new method for optimum design of parallel manipulator based on kinematics and dynamics

This paper presents a new method for the optimum design of parallel manipulators by taking both the kinematics and dynamic characteristics into account. The optimum design of a 3-DOF 4-RRR planar parallel manipulator with actuation redundancy is investigated to demonstrate the method. The kinematic performance indices such as the conditioning index, the velocity index, and workspace area are analyzed. Further, the dynamic dexterity, which is used to evaluate the dynamic characteristics, is investigated. The corresponding atlases are represented graphically in the established design space. Based on these atlases, the geometrical parameters without dimension are determined. Then the optimum dimensional parameters are achieved based on the optimum non-dimensional result. By using the method proposed in this paper, the designer can obtain the optimum result with respect to both kinematic performance indices and dynamic performance indices. Since the dynamic performance is considered in the process of optimum design by using the method proposed in this paper, it is expected to realize the high dynamics of parallel manipulators.     

Comparison of the work-hardening of metallic sheets using tensile and shear strain paths

This work deals with the characterization of the kinematic work-hardening of a bake-hardening steel. A shear test device has been designed and its use for the characterization of the work-hardening of sheet metals is described. Two main results are presented. Firstly, a local strain measurement, based on the following of three dots drawn on the gauge area, gives the evolution of the strain tensor eigenvalues during the test. It is shown, by comparing the theoretical kinematics of simple shear with a slightly perturbated one, that the strain state is close to the ideal one in the center of the gauge area. Secondly, reversal of the shear direction is performed after several prestrain and the evolution of the kinematic work-hardening with the equivalent plastic strain has been identified using an anisotropic elasto-viscoplastic model of Hill 1948 type. Isotropic and kinematic contributions of the work-hardening are also calculated from loading–unloading tensile tests and are compared to those obtained from the simple shear tests. The results show a discrepancy between both identification for the isotropic and the kinematic hardening. However, they are in agreement concerning the evolution of the global work-hardening.     

Modèles discrets de structures tissées : Analyse de stabilité et de drapéDiscrete models of woven structures: stability and draping analysis

A discrete model of a woven fabric structure is established, whereby nodes endowed with a mass and a rotational rigidity are connected by rigid bars to form a two-dimensional truss. The set of four bars that delineate a quadrilateral area is further endowed with a torsion deformation mode. The kinematics of the truss reproduces the large rotations and displacements encountered for real tissues. The equilibrium shape of such a structure is obtained as the minimum of its total potential energy versus the whole set of kinematic translational and rotational variables, accounting for eventual kinematic constraints due to contact with a rigid surface by the Lagrange multipliers method. A stability analysis is conducted, and the potentiality of the model is illustrated by fabric draping simulations. To cite this article: B. Ben Boubaker et al., C. R. Mecanique 330 (2002) 871–877.     

Ride dynamics mathematical model for a single station representation of tracked vehicle

Tracked vehicles are exposed to severe ride environment due to dynamic terrain-vehicle interactions. Hence it is essential to understand the vibration levels transmitted to the vehicle, as it negotiates different types of terrains at different speeds. The present study is focused on the development of single station representation of tracked vehicles with trailing arm hydro-gas suspension systems, simulating the ride dynamics. The kinematics of hydro-gas suspension system have been derived in order to determine the non-linear stiffness characteristics at various charging pressures. Then, incorporating the actual suspension kinematics, non-linear governing equations of motion have been derived for the sprung and unsprung masses and solved by coding in Matlab. Effect of suspension non-linear dynamics on the single station ride vibrations have been analyzed and validated with a multi-body dynamics model developed using MSC.ADAMS. The above mathematical models would help in estimating the ride vibration levels of the tracked vehicle, negotiating different types of terrains at various speeds and also enable the designers to fine-tune the suspension characteristics such that the ride vibrations are within acceptable limits. The mathematical ride model would also assist in development of non-linear ride vibration model of full tracked vehicle and estimate the sprung mass dynamics.     

Exploration of the rotational power consumption of a rigid flapping wing

The development of Micro Air Vehicles with flapping wings is inspired from the observation and study of natural flyers such as insects and birds. This article explores the rotational power consumption of a flapping wing using a mechanical flapper at Re ≃ 4,500. This mechanical flapper is simplified to a 2D translation and a rotation in a water tank. Moreover, the wing kinematics are reduced to a linear translation and a rotation for the purpose of our study. We introduce the notion of non-ideal flapper and associated non-ideal rotational power. Such non-ideal devices are defined as consuming power for adding and removing mechanical power to and from the flow, respectively. First, we use a traditional symmetrical wing kinematic which is a simplified kinematic inspired from natural flyers. The lift coefficient of this flapping is about C _L ≃ 1.5. This symmetrical wing kinematic is chosen as a reference. Further, wing kinematics with asymmetric rotations are then compared with this one. These new kinematics are built using a differential velocity defined according to the translational kinematics, a time lag and a distance, r _kp. The analogy of this distance is discussed as a key point to follow along the chord. First, the wing kinematics are varied keeping a similar shape for the profiles of the angular velocity. It is shown that when compared to the reference wing kinematic, a 10% reduction in the rotational power is obtained whilst the lift is reduced by 9%. Second, we release the limitation to a similar shape for the profiles of the angular velocity leading to a novel shape for the angular velocity profile named here as “double bump” profile. With these new wing kinematics, we show that a 60% reduction in the non-ideal rotational power can be achieved whilst the lift coefficient is only reduced by 1.7%. Such “double bump kinematics” could then be of interest to increase the endurance of Micro Air Vehicles.     

汽车整车非线性动力计算

通过轿车副车架橡胶支承的动态特性试验和理论分析,实现橡胶支承迟滞特性的数学建模和参数识别。利用所建模型重构恢复力-位移迟滞回线,并与试验结果比较表明所建模型的正确性。介绍了具有线性和非线性连接子结构的自由界面模态综合法的基本原理,并采用该方法建立了考虑副车架橡胶支承迟滞特性的整车非线性动力学模型,用所建模型对汽车动力特性进行了数值仿真,并通过试验对仿真结果进行验证。     

Solving time-varying inverse kinematics problem of wheeled mobile manipulators using Zhang neural network with exponential convergence

A mobile manipulator is a robotic device composed of a mobile platform and a stationary manipulator fixed to the platform. The forward kinematics problem for such mobile manipulators has a mathematical analytic solution; however, the inverse kinematics problem is mathematically intractable (especially for satisfying real-time requirements). To obtain the accurate solution of the time-varying inverse kinematics for mobile manipulators, a special class of recurrent neural network, named Zhang neural network (ZNN), is exploited and investigated in this article. It is theoretically proven that such a ZNN model globally and exponentially converges to the solution of the time-varying inverse kinematics for mobile manipulators. In addition, the kinematics equations of the mobile platform and the manipulator are integrated into one system, and thus the resultant solution can co-ordinate simultaneously the wheels and the manipulator to fulfill the end-effector task. For comparison purposes, a gradient neural network (GNN) is developed for solving time-varying inverse kinematics problem of wheeled mobile manipulators. Finally, we conduct extensive tracking-path simulations performed on a wheeled mobile manipulator using such a ZNN model. The results substantiate the efficacy and high accuracy of the ZNN model for solving time-varying inverse kinematics problem of mobile manipulators. Besides, by comparing the simulation results of the GNN and ZNN models, the superiority of the ZNN model is demonstrated clearly.