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 second moment of the stellar velocity within the effective radius,denoted by σ^(2)_(e),is a crucial quantity in galaxy studies,as it provides insight into galaxy properties and their mass distributions.However,la...The second moment of the stellar velocity within the effective radius,denoted by σ^(2)_(e),is a crucial quantity in galaxy studies,as it provides insight into galaxy properties and their mass distributions.However,large spectroscopic surveys typically do not measure σ_(e) directly,instead providing σ_(aper),the second moment of the stellar velocity within a fixed fiber aperture.In this paper,we derive an empirical aperture correction formula,given byσ_(aper)/σ_(e)=(R_(aper)/R_(e))^(α),using spatially resolved stellar kinematics extracted from approximately 10,000 Sloan Digital Sky Survey-Mapping Nearby Galaxies at Apache Point Observatory integral field unit observations.Our analysis reveals a strong dependence ofαon the r-band absolute magnitude M_(r),g-i color,and Sérsic index nSer,whereαvalues are lower for brighter,redder galaxies with higher Sérsic indices.Our results demonstrate that the aperture correction derived from previous literature on early-type galaxies cannot be applied to predict the aperture corrections for galaxies with intermediate Sérsic indices.We provide a lookup table ofαvalues for different galaxy types,with parameters in the ranges of-18>M_(r)>-24,0.4<g-i<1.6,and 0<n_(Ser)<8.A Python script is provided to obtain the correction factors from the lookup table.展开更多
The kinematics of about 2000 classical Cepheids of the Milky Way with data from Gaia EDR3 catalog has been studied.For some of these stars,there are line-of-sight velocities.On the basis of the nonlinear rotation mode...The kinematics of about 2000 classical Cepheids of the Milky Way with data from Gaia EDR3 catalog has been studied.For some of these stars,there are line-of-sight velocities.On the basis of the nonlinear rotation model,the parameters of the rotation curve of the Galaxy were determined.The circular linear rotation velocity of the near-solar neighborhood around the Galaxy center was V0=236±3 km s^(−1) for the assumed Sun's galactocentric distance R0=8.1±0.1 kpc.Analysis of residual velocities of Cepheids based on the linear Ogorodnikov–Milne model showed the presence of the following significantly different from zero gradients:∂U/∂x,∂U/∂z,∂V/∂x,∂V/∂z and∂W/∂x,which behave differently depending on the selection radius.The most interesting is the gradient∂W/∂x∼−0.5±0.1 km s^(−1) kpc^(−1)(positive rotation of this star system around the Galactic axis y,Ωy)since the velocities W are free of Galactic rotation.Here we have an indirect influence of various effects leading to a perturbation of the vertical velocities of the Galactic disk stars.Based on a simpler model,a more accurate estimate of this rotation is obtained,Ωy=0.51±0.07 km s^(−1) kpc^(−1).展开更多
Accurate knowledge of the kinematics of the in vivo Ankle Joint Complex(AJC)is critical for understanding the biomechanical function of the foot and assessing postoperative rehabilitation of ankle disorders,as well as...Accurate knowledge of the kinematics of the in vivo Ankle Joint Complex(AJC)is critical for understanding the biomechanical function of the foot and assessing postoperative rehabilitation of ankle disorders,as well as an essential guide to the design of ankle–foot assistant devices.However,detailed analysis of the continuous 3D motion of the tibiotalar and subtalar joints during normal walking throughout the stance phase is still considered to be lacking.In this study,dynamic radiographs of the hindfoot were acquired from eight subjects during normal walking.Natural motions with six Degrees of Freedom(DOF)and the coupled patterns of the two joints were analyzed.It was found that the movements of the two joints were mostly in opposite directions(including rotation and translation),mainly in the early and late stages.There were significant differences in the Range of Motion(ROM)in Dorsiflexion/Plantarflexion(D/P),Inversion/Eversion(In/Ev),and Anterior–Posterior(AP)and Medial–Lateral(ML)translation of the tibiotalar and subtalar joints(p<0.05).Plantarflexion of the tibiotalar joint was coupled with eversion and posterior translation of the subtalar joint during the impact phase(R^(2)=0.87 and 0.86,respectively),and plantarflexion of the tibiotalar joint was coupled with inversion and anterior translation of the subtalar joint during the push-off phase(R^(2)=0.93 and 0.75,respectively).This coordinated coupled motion of the two joints may be a manifestation of the AJC to move flexibly while bearing weight and still have stability.展开更多
Background:Traumatic brain injury can be caused by head impacts,but many brain injury risk estimation models are not equally accurate across the variety of impacts that patients may undergo,and the characteristics of ...Background:Traumatic brain injury can be caused by head impacts,but many brain injury risk estimation models are not equally accurate across the variety of impacts that patients may undergo,and the characteristics of different types of impacts are not well studied.We investigated the spectral characteristics of different head impact types with kinematics classification.Methods:Data were analyzed from 3262 head impacts from lab reconstruction,American football,mixed martial arts,and publicly available car crash data.A random forest classifier with spectral densities of linear acceleration and angular velocity was built to classify head impact types(e.g.,football,car crash,mixed martial arts).To test the classifier robustness,another 271 lab-reconstructed impacts were obtained from 5 other instrumented mouthguards.Finally,with the classifier,type-specific,nearest-neighbor regression models were built for brain strain.Results:The classifier reached a median accuracy of 96% over 1000 random partitions of training and test sets.The most important features in the classification included both low-and high-frequency features,both linear acceleration features and angular velocity features.Different head impact types had different distributions of spectral densities in low-and high-frequency ranges(e.g.,the spectral densities of mixed martial arts impacts were higher in the high-frequency range than in the low-frequency range).The type-specific regression showed a generally higher R2value than baseline models without classification.Conclusion:The machine-learning-based classifier enables a better understanding of the impact kinematics spectral density in different sports,and it can be applied to evaluate the quality of impact-simulation systems and on-field data augmentation.展开更多
Existing microprocessor-controlled passive prosthetic knees(PaPKs)and active prosthetic knees(AcPKs)cannot truly simulate the muscle activity characteristics of the active–passive hybrid action of the knee during the...Existing microprocessor-controlled passive prosthetic knees(PaPKs)and active prosthetic knees(AcPKs)cannot truly simulate the muscle activity characteristics of the active–passive hybrid action of the knee during the normal gait.Differences in EMG between normal and different prosthetic gait for different phases were never separately analyzed.In this study,a novel hybrid active–passive prosthetic knee(HAPK)is proposed and if and how muscle activity and kinematics changes in different prosthetic gait are analyzed.The hybrid hydraulic-motor actuator is adopted to fully integrate the advantages of hydraulic compliance damping and motor efficiency,and the hierarchical control strategy is adopted to realize the adaptive predictive control of the HAPK.The kinematic data and EMG data of normal gait and different prosthetic gait were compared by experiments,so as to analyze the changes in the muscle activity and spatio-temporal data per phase compared to normal walking and the adaptations of amputees when walking with a different kind of prosthesis(the mechanical prosthesis(MePK),the PaPK and the HAPK).The results show that changes in prosthetic gait mainly consisted of decreased self-selected walking speed,gait symmetry and maximum knee flexion,increased first double support phase duration,muscle activation in both opposed and prosthetic limb and inter-subject variability.The differences between controls and MePK,PaPK and HAPK decreases sequentially.These results indicate that the hybrid active–passive actuating mode can have positive effects on improving the approximation of healthy gait characteristics.展开更多
The vast diversity of morphologies,body size,and lifestyles of snakes represents an important source of information that can be used to derive bio-inspired robots through a biology-push and pull process.An understandi...The vast diversity of morphologies,body size,and lifestyles of snakes represents an important source of information that can be used to derive bio-inspired robots through a biology-push and pull process.An understanding of the detailed kinematics of swimming snakes is a fundamental prerequisite to conceive and design bio-inspired aquatic snake robots.However,only limited information is available on the kinematics of swimming snake.Fast and accurate methods are needed to fill this knowledge gap.In the present paper,three existing methods were compared to test their capacity to characterize the kinematics of swimming snakes.(1)Marker tracking(Deftac),(2)Markerless pose estimation(DeepLabCut),and(3)Motion capture were considered.(4)We also designed and tested an automatic video processing method.All methods provided different albeit complementary data sets;they also involved different technical issues in terms of experimental conditions,snake manipulation,or processing resources.Marker tracking provided accurate data that can be used to calibrate other methods.Motion capture posed technical difficulties but can provide limited 3D data.Markerless pose estimation required deep learning(thus time)but was efficient to extract the data under various experimental conditions.Finally,automatic video processing was particularly efficient to extract a wide range of data useful for both biology and robotics but required a specific experimental setting.展开更多
The Tianshan range could have been built by both late Early Paleozoic accretion and Late Paleozoic collision events. The late Early Paleozoic Aqqikkudug-Weiya suture is marked by Ordovician ophiolitic mélange and...The Tianshan range could have been built by both late Early Paleozoic accretion and Late Paleozoic collision events. The late Early Paleozoic Aqqikkudug-Weiya suture is marked by Ordovician ophiolitic mélange and a Silurian flysch sequence, high-pressure metamorphic relics, and mylonitized rocks. The Central Tianshan belt could principally be an Ordovician volcanic arc; whereas the South Tianshan belt, a back-arc basin. Macro- and microstructures, along with unconformities, 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 ductile shearing, yielding granulite-bearing ophiolitic mélange blocks and garnet-pyroxene-facies ductile deformation, and the later deformation, a dextral strike-slip tectonic process, occurred during the Late Carboniferous(Early Permian. Early Carboniferous molasses were deposited unconformably on pre-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 the second tectonic event, the Hercynian collision between the northern Tarim block and the southern Siberian block. Late Paleozoic granitic magmatism and superimposed structures overprinted this Early Paleozoic deformation belt. Results of geometric and kinematic studies suggest that the primary framework of the Southern-Central Tianshan belt, at least the eastern part of the Tianshan belt, was built by these two phases of accretion events.展开更多
It is desired to require a walking robot for the elderly and the disabled to have large capacity,high stiffness,stability,etc.However,the existing walking robots cannot achieve these requirements because of the weight...It is desired to require a walking robot for the elderly and the disabled to have large capacity,high stiffness,stability,etc.However,the existing walking robots cannot achieve these requirements because of the weight-payload ratio and simple function.Therefore,Improvement of enhancing capacity and functions of the walking robot is an important research issue.According to walking requirements and combining modularization and reconfigurable ideas,a quadruped/biped reconfigurable walking robot with parallel leg mechanism is proposed.The proposed robot can be used for both a biped and a quadruped walking robot.The kinematics and performance analysis of a 3-UPU parallel mechanism which is the basic leg mechanism of a quadruped walking robot are conducted and the structural parameters are optimized.The results show that performance of the walking robot is optimal when the circumradius R,r of the upper and lower platform of leg mechanism are 161.7 mm,57.7 mm,respectively.Based on the optimal results,the kinematics and dynamics of the quadruped walking robot in the static walking mode are derived with the application of parallel mechanism and influence coefficient theory,and the optimal coordination distribution of the dynamic load for the quadruped walking robot with over-determinate inputs is analyzed,which solves dynamic load coupling caused by the branches' constraint of the robot in the walk process.Besides laying a theoretical foundation for development of the prototype,the kinematics and dynamics studies on the quadruped walking robot also boost the theoretical research of the quadruped walking and the practical applications of parallel mechanism.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
This paper proposes an analytical solution for a 5-DOF manipulator to follow a given trajectory while keeping the orientation of one axis in the end-effector frame. The forward kinematics and inverse kinematics for a ...This paper proposes an analytical solution for a 5-DOF manipulator to follow a given trajectory while keeping the orientation of one axis in the end-effector frame. The forward kinematics and inverse kinematics for a 5-DOF manipulator are analyzed systemically. The singular problem is discussed after the forward kinematics is provided. For any given reachable position and orientation of the end-effector, the derived inverse kinematics will provide an accurate solution. In other words, there exists no singular problem for the 5-DOF manipulator, which has wide application areas such as welding, spraying, and painting. Experiment results verify the effectiveness of the methods developed in this paper.展开更多
The kinematic redundancy in a robot leads to an infinite number of solutions for inverse kinematics, which implies the possibility to select a "best" solution according to an optimization criterion. In this ...The kinematic redundancy in a robot leads to an infinite number of solutions for inverse kinematics, which implies the possibility to select a "best" solution according to an optimization criterion. In this paper, two optimization objective functions are proposed, aiming at either minimizing extra degrees of freedom (DOFs) or minimizing the total potential energy of a multilink redundant robot. Physical constraints of either equality or inequality types are taken into consideration in the objective functions. Since the closed-form solutions do not exist in general for highly nonlinear and constrained optimization problems, we adopt and develop two numerical methods, which are verified to be effective and precise in solving the two optimization problems associated with the redundant inverse kinematics. We first verify that the well established trajectory following method can precisely solve the two optimization problems, but is computation intensive. To reduce the computation time, a sequential approach that combines the sequential quadratic programming and iterative Newton-Raphson algorithm is developed. A 4-DOF Fujitsu Hoap-1 humanoid robot arm is used as a prototype to validate the effectiveness of the proposed optimization solutions.展开更多
To solve the inverse kinematics problem for redundant degrees of freedom(DOFs)manipulators has been and still continues to be quite challenging in the field of robotics.Aiming at trajectory planning for a 7-DOF space ...To solve the inverse kinematics problem for redundant degrees of freedom(DOFs)manipulators has been and still continues to be quite challenging in the field of robotics.Aiming at trajectory planning for a 7-DOF space manipulator system,joint rotation trajectories are obtained from predetermined motion trajectories and poses of the end effector in Cartesian space based on the proposed generalized inverse kinematics method.A minimum norm method is employed to choose the best trajectory among available trajectories.Numerical simulations with the7-DOF manipulator show that the proposed method can achieve the planned trajectory and pose under the circumstances of minimum angular velocities.Moreover,trajectory results from the proposed kinematics model and inverse kinematics method has the advantages of simple modelling,low computation cost,easy to solve and plan trajectory conveniently.The smooth and continuous joint rotation functions obtained from the proposed method are suitable for practical engineering applications.展开更多
Off line programming provides an essential link between CAD and CAM, whose development will result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is one of ...Off line programming provides an essential link between CAD and CAM, whose development will result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is one of the most typical workcells. The inverse kinematics of robot and positioner is the foundation of the off line programming system. The previous researchers only focused on a special solution of the positioner inverse kinematics, which is the solution at down hand welding position. In this paper, we introduce a method for representing welding position. Then a general algorithm of rotating/tilting positioner inverse kinematics is presented, and an approach to find the unique solution of the inverse kinematics is discussed. The simulation experiment results show that the general algorithm can improve the ability of robotic arc welding off line programming system to program all types of welding positions.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
BACKGROUND Suspension training(SET)is a method of neuromuscular training that enables the body to carry out active training under unstable support through a suspension therapy system.However,there have been few report...BACKGROUND Suspension training(SET)is a method of neuromuscular training that enables the body to carry out active training under unstable support through a suspension therapy system.However,there have been few reports in the literature on the application of SET to anterior cruciate ligament reconstruction(ACLR)patients.It is not clear what aspects of the patient's function are improved after SET.AIM To investigate the effect of SET on the neuromuscular function,postural control,and knee kinematics of patients after ACLR surgery.METHODS Forty participants were randomized to an SET group or a control group.The SET group subjects participated in a SET protocol over 6 wk.The control group subjects participated in a traditional training protocol over 6 wk.Isokinetic muscle strength of the quadriceps and hamstrings,static and dynamic posture stability test,and relative translation of the injured knee were assessed before and after training.RESULTS The relative peak torque of the quadriceps and hamstrings in both groups increased significantly(P<0.001),and the SET group increased by a higher percentage than those in the control group(quadriceps:P=0.004;hamstrings:P=0.011).After training,both groups showed significant improvements in static and dynamic posture stability(P<0.01),and the SET group had a greater change than the control group(P<0.05).No significant improvement on the relative translation of the injured knee was observed after training in either group(P>0.05).CONCLUSION Our findings show that SET promotes great responses in quadriceps and hamstring muscle strength and balance function in ACLR patients.展开更多
Traditional vibrating screen usually adopts the linear centralized excitation mode,which causes the difficulty in particles loosening and low screening efficiency.The variable elliptical vibrating screen(VEVS)trajecto...Traditional vibrating screen usually adopts the linear centralized excitation mode,which causes the difficulty in particles loosening and low screening efficiency.The variable elliptical vibrating screen(VEVS)trajectory is regulated to adapt the material mass along the direction of the screen length,improving the particles distribution as well as the screening efficiency.In this work,a theoretical model was developed for analyzing the screen surface motion law during VEVS-based screening process.An equation was obtained to show the relationship between the horizontal amplitude and the vertical amplitude.The materials kinetic characteristics were studied by using high-speed camera during screening process.Compared with equal-amplitude screen(EAS),the material moving velocity was increased by 13.03%on the first half but decreased by 3.52% on the second half,and the total screening time was reduced by 9.42% by using VEVS.In addition,-6 mm screening test was carried out.At the length of VEVS equaled to 1.2 m,the screening efficiency and the total misplaced material content were 92.50% and 2.90%,respectively.However,the screening efficiency was 89.91% and the total misplaced material content was 3.76% during EAS-based screening process.Furthermore,when external moisture is 5.96%,the screening efficiency of VEVS could reach 86.95%.The 2 TKB50113 type VEVS with double-layered screen surface used in Huoshizui Coal Mine was 5.0 m in width and 11.3 m in length.The areas of single layer and double layer were 56.5 and 113 m~2,respectively.In industrial production,the processing capacity was 2500-3000 t/h and the screening efficiency was larger than 90%.展开更多
Advanced mathematical tools are used to conduct research on the kinematics analysis of hybrid mechanisms,and the generalized analysis method and concise kinematics transfer matrix are obtained.In this study,first,acco...Advanced mathematical tools are used to conduct research on the kinematics analysis of hybrid mechanisms,and the generalized analysis method and concise kinematics transfer matrix are obtained.In this study,first,according to the kinematics analysis of serial mechanisms,the basic principles of Lie groups and Lie algebras are briefly explained in dealing with the spatial switching and differential operations of screw vectors.Then,based on the standard ideas of Lie operations,the method for kinematics analysis of parallel mechanisms is derived,and Jacobian matrix and Hessian matrix are formulated recursively and in a closed form.Then,according to the mapping relationship between the parallel joints and corresponding equivalent series joints,a forward kinematics analysis method and two inverse kinematics analysis methods of hybrid mechanisms are examined.A case study is performed to verify the calculated matrices wherein a humanoid hybrid robotic arm with a parallel-series-parallel configuration is considered as an example.The results of a simulation experiment indicate that the obtained formulas are exact and the proposed method for kinematics analysis of hybrid mechanisms is practically feasible.展开更多
Trial mountain climbing algorithm to solve the inverse kinematics problem of redundant manipulator is introduced, and a method of describing a numeral with a special numeration system is given to define the changed st...Trial mountain climbing algorithm to solve the inverse kinematics problem of redundant manipulator is introduced, and a method of describing a numeral with a special numeration system is given to define the changed step of the trail mountain climbing algorithm. The results show that a likelihood solution can be found quickly in the infinite groups of likelihood solutions within the limited search times, and need not calculate the anti trigonometric function and the inverse matrix. In addition, this algorithm has many good qualities such as concise algorithm, tiny computation, fast convergence velocity, good stability and extensive adaptability.展开更多
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the support of the National Natural Science Foundation of China(Nos.11988101 and 12022306)National Key R&D Program of China(No.2022YFF0503403)+5 种基金Ministry of Science and Technology of China(No.2020SKA0110100)science research grants from the China Manned Space Project(Nos.CMS-CSST-2021-B01 and CMS-CSST-2021-A01)CAS Project for Young Scientists in Basic Research(No.YSBR-062)K.C.Wong Education Foundationprovided by the Alfred P.Sloan Foundationthe U.S.Department of Energy’s Office of Science。
文摘The second moment of the stellar velocity within the effective radius,denoted by σ^(2)_(e),is a crucial quantity in galaxy studies,as it provides insight into galaxy properties and their mass distributions.However,large spectroscopic surveys typically do not measure σ_(e) directly,instead providing σ_(aper),the second moment of the stellar velocity within a fixed fiber aperture.In this paper,we derive an empirical aperture correction formula,given byσ_(aper)/σ_(e)=(R_(aper)/R_(e))^(α),using spatially resolved stellar kinematics extracted from approximately 10,000 Sloan Digital Sky Survey-Mapping Nearby Galaxies at Apache Point Observatory integral field unit observations.Our analysis reveals a strong dependence ofαon the r-band absolute magnitude M_(r),g-i color,and Sérsic index nSer,whereαvalues are lower for brighter,redder galaxies with higher Sérsic indices.Our results demonstrate that the aperture correction derived from previous literature on early-type galaxies cannot be applied to predict the aperture corrections for galaxies with intermediate Sérsic indices.We provide a lookup table ofαvalues for different galaxy types,with parameters in the ranges of-18>M_(r)>-24,0.4<g-i<1.6,and 0<n_(Ser)<8.A Python script is provided to obtain the correction factors from the lookup table.
文摘The kinematics of about 2000 classical Cepheids of the Milky Way with data from Gaia EDR3 catalog has been studied.For some of these stars,there are line-of-sight velocities.On the basis of the nonlinear rotation model,the parameters of the rotation curve of the Galaxy were determined.The circular linear rotation velocity of the near-solar neighborhood around the Galaxy center was V0=236±3 km s^(−1) for the assumed Sun's galactocentric distance R0=8.1±0.1 kpc.Analysis of residual velocities of Cepheids based on the linear Ogorodnikov–Milne model showed the presence of the following significantly different from zero gradients:∂U/∂x,∂U/∂z,∂V/∂x,∂V/∂z and∂W/∂x,which behave differently depending on the selection radius.The most interesting is the gradient∂W/∂x∼−0.5±0.1 km s^(−1) kpc^(−1)(positive rotation of this star system around the Galactic axis y,Ωy)since the velocities W are free of Galactic rotation.Here we have an indirect influence of various effects leading to a perturbation of the vertical velocities of the Galactic disk stars.Based on a simpler model,a more accurate estimate of this rotation is obtained,Ωy=0.51±0.07 km s^(−1) kpc^(−1).
基金supported by the National Natural Science Foundation of China(52175270,91848204)the Project of Scientific and Technological Development Plan of Jilin Province(20220508130RC).
文摘Accurate knowledge of the kinematics of the in vivo Ankle Joint Complex(AJC)is critical for understanding the biomechanical function of the foot and assessing postoperative rehabilitation of ankle disorders,as well as an essential guide to the design of ankle–foot assistant devices.However,detailed analysis of the continuous 3D motion of the tibiotalar and subtalar joints during normal walking throughout the stance phase is still considered to be lacking.In this study,dynamic radiographs of the hindfoot were acquired from eight subjects during normal walking.Natural motions with six Degrees of Freedom(DOF)and the coupled patterns of the two joints were analyzed.It was found that the movements of the two joints were mostly in opposite directions(including rotation and translation),mainly in the early and late stages.There were significant differences in the Range of Motion(ROM)in Dorsiflexion/Plantarflexion(D/P),Inversion/Eversion(In/Ev),and Anterior–Posterior(AP)and Medial–Lateral(ML)translation of the tibiotalar and subtalar joints(p<0.05).Plantarflexion of the tibiotalar joint was coupled with eversion and posterior translation of the subtalar joint during the impact phase(R^(2)=0.87 and 0.86,respectively),and plantarflexion of the tibiotalar joint was coupled with inversion and anterior translation of the subtalar joint during the push-off phase(R^(2)=0.93 and 0.75,respectively).This coordinated coupled motion of the two joints may be a manifestation of the AJC to move flexibly while bearing weight and still have stability.
基金supported by the Pac-12 Conference’s Student-Athlete Health and Well-Being Initiative,the National Institutes of Health (R24NS098518)Stanford Department of Bioengineering。
文摘Background:Traumatic brain injury can be caused by head impacts,but many brain injury risk estimation models are not equally accurate across the variety of impacts that patients may undergo,and the characteristics of different types of impacts are not well studied.We investigated the spectral characteristics of different head impact types with kinematics classification.Methods:Data were analyzed from 3262 head impacts from lab reconstruction,American football,mixed martial arts,and publicly available car crash data.A random forest classifier with spectral densities of linear acceleration and angular velocity was built to classify head impact types(e.g.,football,car crash,mixed martial arts).To test the classifier robustness,another 271 lab-reconstructed impacts were obtained from 5 other instrumented mouthguards.Finally,with the classifier,type-specific,nearest-neighbor regression models were built for brain strain.Results:The classifier reached a median accuracy of 96% over 1000 random partitions of training and test sets.The most important features in the classification included both low-and high-frequency features,both linear acceleration features and angular velocity features.Different head impact types had different distributions of spectral densities in low-and high-frequency ranges(e.g.,the spectral densities of mixed martial arts impacts were higher in the high-frequency range than in the low-frequency range).The type-specific regression showed a generally higher R2value than baseline models without classification.Conclusion:The machine-learning-based classifier enables a better understanding of the impact kinematics spectral density in different sports,and it can be applied to evaluate the quality of impact-simulation systems and on-field data augmentation.
基金supported in part by the National Natural Science Foundation of China under Grant 62073224the National Key Research and Development Program of China under Grant 2018YFB1307303the program of China Scholarships Council under Grant 202108310200.
文摘Existing microprocessor-controlled passive prosthetic knees(PaPKs)and active prosthetic knees(AcPKs)cannot truly simulate the muscle activity characteristics of the active–passive hybrid action of the knee during the normal gait.Differences in EMG between normal and different prosthetic gait for different phases were never separately analyzed.In this study,a novel hybrid active–passive prosthetic knee(HAPK)is proposed and if and how muscle activity and kinematics changes in different prosthetic gait are analyzed.The hybrid hydraulic-motor actuator is adopted to fully integrate the advantages of hydraulic compliance damping and motor efficiency,and the hierarchical control strategy is adopted to realize the adaptive predictive control of the HAPK.The kinematic data and EMG data of normal gait and different prosthetic gait were compared by experiments,so as to analyze the changes in the muscle activity and spatio-temporal data per phase compared to normal walking and the adaptations of amputees when walking with a different kind of prosthesis(the mechanical prosthesis(MePK),the PaPK and the HAPK).The results show that changes in prosthetic gait mainly consisted of decreased self-selected walking speed,gait symmetry and maximum knee flexion,increased first double support phase duration,muscle activation in both opposed and prosthetic limb and inter-subject variability.The differences between controls and MePK,PaPK and HAPK decreases sequentially.These results indicate that the hybrid active–passive actuating mode can have positive effects on improving the approximation of healthy gait characteristics.
基金Agence Nationale de la recherche(Grant no.ANR-20-CE02-0010).
文摘The vast diversity of morphologies,body size,and lifestyles of snakes represents an important source of information that can be used to derive bio-inspired robots through a biology-push and pull process.An understanding of the detailed kinematics of swimming snakes is a fundamental prerequisite to conceive and design bio-inspired aquatic snake robots.However,only limited information is available on the kinematics of swimming snake.Fast and accurate methods are needed to fill this knowledge gap.In the present paper,three existing methods were compared to test their capacity to characterize the kinematics of swimming snakes.(1)Marker tracking(Deftac),(2)Markerless pose estimation(DeepLabCut),and(3)Motion capture were considered.(4)We also designed and tested an automatic video processing method.All methods provided different albeit complementary data sets;they also involved different technical issues in terms of experimental conditions,snake manipulation,or processing resources.Marker tracking provided accurate data that can be used to calibrate other methods.Motion capture posed technical difficulties but can provide limited 3D data.Markerless pose estimation required deep learning(thus time)but was efficient to extract the data under various experimental conditions.Finally,automatic video processing was particularly efficient to extract a wide range of data useful for both biology and robotics but required a specific experimental setting.
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 Paleozoic accretion and Late Paleozoic collision events. The late Early Paleozoic Aqqikkudug-Weiya suture is marked by Ordovician ophiolitic mélange and a Silurian flysch sequence, high-pressure metamorphic relics, and mylonitized rocks. The Central Tianshan belt could principally be an Ordovician volcanic arc; whereas the South Tianshan belt, a back-arc basin. Macro- and microstructures, along with unconformities, 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 ductile shearing, yielding granulite-bearing ophiolitic mélange blocks and garnet-pyroxene-facies ductile deformation, and the later deformation, a dextral strike-slip tectonic process, occurred during the Late Carboniferous(Early Permian. Early Carboniferous molasses were deposited unconformably on pre-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 the second tectonic event, the Hercynian collision between the northern Tarim block and the southern Siberian block. Late Paleozoic granitic magmatism and superimposed structures overprinted this Early Paleozoic deformation belt. Results of geometric and kinematic studies suggest that the primary framework of the Southern-Central Tianshan belt, at least the eastern part of the Tianshan belt, was built by these two phases of accretion events.
基金supported by National Natural Science Foundation of China(Grant No.61075099)
文摘It is desired to require a walking robot for the elderly and the disabled to have large capacity,high stiffness,stability,etc.However,the existing walking robots cannot achieve these requirements because of the weight-payload ratio and simple function.Therefore,Improvement of enhancing capacity and functions of the walking robot is an important research issue.According to walking requirements and combining modularization and reconfigurable ideas,a quadruped/biped reconfigurable walking robot with parallel leg mechanism is proposed.The proposed robot can be used for both a biped and a quadruped walking robot.The kinematics and performance analysis of a 3-UPU parallel mechanism which is the basic leg mechanism of a quadruped walking robot are conducted and the structural parameters are optimized.The results show that performance of the walking robot is optimal when the circumradius R,r of the upper and lower platform of leg mechanism are 161.7 mm,57.7 mm,respectively.Based on the optimal results,the kinematics and dynamics of the quadruped walking robot in the static walking mode are derived with the application of parallel mechanism and influence coefficient theory,and the optimal coordination distribution of the dynamic load for the quadruped walking robot with over-determinate inputs is analyzed,which solves dynamic load coupling caused by the branches' constraint of the robot in the walk process.Besides laying a theoretical foundation for development of the prototype,the kinematics and dynamics studies on the quadruped walking robot also boost the theoretical research of the quadruped walking and the practical applications of parallel mechanism.
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This work was supported by the National High Technology Research and Development Program of China (No. 2002AA422160)the National Key Fundamental Research and Development Project of China (973, No.2002CB312200)
文摘This paper proposes an analytical solution for a 5-DOF manipulator to follow a given trajectory while keeping the orientation of one axis in the end-effector frame. The forward kinematics and inverse kinematics for a 5-DOF manipulator are analyzed systemically. The singular problem is discussed after the forward kinematics is provided. For any given reachable position and orientation of the end-effector, the derived inverse kinematics will provide an accurate solution. In other words, there exists no singular problem for the 5-DOF manipulator, which has wide application areas such as welding, spraying, and painting. Experiment results verify the effectiveness of the methods developed in this paper.
文摘The kinematic redundancy in a robot leads to an infinite number of solutions for inverse kinematics, which implies the possibility to select a "best" solution according to an optimization criterion. In this paper, two optimization objective functions are proposed, aiming at either minimizing extra degrees of freedom (DOFs) or minimizing the total potential energy of a multilink redundant robot. Physical constraints of either equality or inequality types are taken into consideration in the objective functions. Since the closed-form solutions do not exist in general for highly nonlinear and constrained optimization problems, we adopt and develop two numerical methods, which are verified to be effective and precise in solving the two optimization problems associated with the redundant inverse kinematics. We first verify that the well established trajectory following method can precisely solve the two optimization problems, but is computation intensive. To reduce the computation time, a sequential approach that combines the sequential quadratic programming and iterative Newton-Raphson algorithm is developed. A 4-DOF Fujitsu Hoap-1 humanoid robot arm is used as a prototype to validate the effectiveness of the proposed optimization solutions.
基金Supported by Aerospace Science and Technology Innovation Foundation(CAST20100141107)
文摘To solve the inverse kinematics problem for redundant degrees of freedom(DOFs)manipulators has been and still continues to be quite challenging in the field of robotics.Aiming at trajectory planning for a 7-DOF space manipulator system,joint rotation trajectories are obtained from predetermined motion trajectories and poses of the end effector in Cartesian space based on the proposed generalized inverse kinematics method.A minimum norm method is employed to choose the best trajectory among available trajectories.Numerical simulations with the7-DOF manipulator show that the proposed method can achieve the planned trajectory and pose under the circumstances of minimum angular velocities.Moreover,trajectory results from the proposed kinematics model and inverse kinematics method has the advantages of simple modelling,low computation cost,easy to solve and plan trajectory conveniently.The smooth and continuous joint rotation functions obtained from the proposed method are suitable for practical engineering applications.
基金ThispaperissupportedbyNationalNatureScienceFoundation (No .5 96 35 16 0 )AdvancedUniversityDoctoralSubjectFoundation (No .980 2 1311)
文摘Off line programming provides an essential link between CAD and CAM, whose development will result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is one of the most typical workcells. The inverse kinematics of robot and positioner is the foundation of the off line programming system. The previous researchers only focused on a special solution of the positioner inverse kinematics, which is the solution at down hand welding position. In this paper, we introduce a method for representing welding position. Then a general algorithm of rotating/tilting positioner inverse kinematics is presented, and an approach to find the unique solution of the inverse kinematics is discussed. The simulation experiment results show that the general algorithm can improve the ability of robotic arc welding off line programming system to program all types of welding positions.
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.
文摘BACKGROUND Suspension training(SET)is a method of neuromuscular training that enables the body to carry out active training under unstable support through a suspension therapy system.However,there have been few reports in the literature on the application of SET to anterior cruciate ligament reconstruction(ACLR)patients.It is not clear what aspects of the patient's function are improved after SET.AIM To investigate the effect of SET on the neuromuscular function,postural control,and knee kinematics of patients after ACLR surgery.METHODS Forty participants were randomized to an SET group or a control group.The SET group subjects participated in a SET protocol over 6 wk.The control group subjects participated in a traditional training protocol over 6 wk.Isokinetic muscle strength of the quadriceps and hamstrings,static and dynamic posture stability test,and relative translation of the injured knee were assessed before and after training.RESULTS The relative peak torque of the quadriceps and hamstrings in both groups increased significantly(P<0.001),and the SET group increased by a higher percentage than those in the control group(quadriceps:P=0.004;hamstrings:P=0.011).After training,both groups showed significant improvements in static and dynamic posture stability(P<0.01),and the SET group had a greater change than the control group(P<0.05).No significant improvement on the relative translation of the injured knee was observed after training in either group(P>0.05).CONCLUSION Our findings show that SET promotes great responses in quadriceps and hamstring muscle strength and balance function in ACLR patients.
基金financially supported by the National Natural Science Foundation of China (Nos. U1903132 and 51904301)the Natural Science Foundation of Jiangsu Province (No. BK20180650)。
文摘Traditional vibrating screen usually adopts the linear centralized excitation mode,which causes the difficulty in particles loosening and low screening efficiency.The variable elliptical vibrating screen(VEVS)trajectory is regulated to adapt the material mass along the direction of the screen length,improving the particles distribution as well as the screening efficiency.In this work,a theoretical model was developed for analyzing the screen surface motion law during VEVS-based screening process.An equation was obtained to show the relationship between the horizontal amplitude and the vertical amplitude.The materials kinetic characteristics were studied by using high-speed camera during screening process.Compared with equal-amplitude screen(EAS),the material moving velocity was increased by 13.03%on the first half but decreased by 3.52% on the second half,and the total screening time was reduced by 9.42% by using VEVS.In addition,-6 mm screening test was carried out.At the length of VEVS equaled to 1.2 m,the screening efficiency and the total misplaced material content were 92.50% and 2.90%,respectively.However,the screening efficiency was 89.91% and the total misplaced material content was 3.76% during EAS-based screening process.Furthermore,when external moisture is 5.96%,the screening efficiency of VEVS could reach 86.95%.The 2 TKB50113 type VEVS with double-layered screen surface used in Huoshizui Coal Mine was 5.0 m in width and 11.3 m in length.The areas of single layer and double layer were 56.5 and 113 m~2,respectively.In industrial production,the processing capacity was 2500-3000 t/h and the screening efficiency was larger than 90%.
基金Supported by Zhejiang Province Foundation for Distinguished Young Scholars of China(Grant No.LR18E050003)National Natural Science Foundation of China(Grant Nos.51975523,51475424,51905481)Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems(Grant No.GZKF-201906).
文摘Advanced mathematical tools are used to conduct research on the kinematics analysis of hybrid mechanisms,and the generalized analysis method and concise kinematics transfer matrix are obtained.In this study,first,according to the kinematics analysis of serial mechanisms,the basic principles of Lie groups and Lie algebras are briefly explained in dealing with the spatial switching and differential operations of screw vectors.Then,based on the standard ideas of Lie operations,the method for kinematics analysis of parallel mechanisms is derived,and Jacobian matrix and Hessian matrix are formulated recursively and in a closed form.Then,according to the mapping relationship between the parallel joints and corresponding equivalent series joints,a forward kinematics analysis method and two inverse kinematics analysis methods of hybrid mechanisms are examined.A case study is performed to verify the calculated matrices wherein a humanoid hybrid robotic arm with a parallel-series-parallel configuration is considered as an example.The results of a simulation experiment indicate that the obtained formulas are exact and the proposed method for kinematics analysis of hybrid mechanisms is practically feasible.
文摘Trial mountain climbing algorithm to solve the inverse kinematics problem of redundant manipulator is introduced, and a method of describing a numeral with a special numeration system is given to define the changed step of the trail mountain climbing algorithm. The results show that a likelihood solution can be found quickly in the infinite groups of likelihood solutions within the limited search times, and need not calculate the anti trigonometric function and the inverse matrix. In addition, this algorithm has many good qualities such as concise algorithm, tiny computation, fast convergence velocity, good stability and extensive adaptability.
