Kinematics analysis of 6-DOF parallel micro-manipulators with offset U-Joints : a case study

This paper analyses the kinematics of a special 6-DOF parallel micro-manipulator with offset RR-joint configuration. Kinematics equations are derived and numerical methodologies to solve the inverse and forward kinematics are presented. The inverse and forward kinematics of such robots compared with those of 6-UCU parallel robots are more complicated due to the existence of offsets between joints of RR-pairs. The characteristics of RR-pairs used in this manipulator are investigated and kinematics constraints of these offset U-joints are mathematically explained in order to find the best initial guesses for the numerical solution. Both inverse and forward kinematics of the case study 6-DOF parallel micro-manipulator are modelled and computational analyses are performed to numerically verify accuracy and effectiveness of the proposed methodologies.

Kinematics analysis of 6-DOF parallel micro-manipulators with offset u-joints : a case study

This paper analyses the kinematics of a special 6-DOF parallel micro-manipulator with offset RR-joint configuration. Kinematics equations are derived and numerical methodologies to solve the inverse and forward kinematics are presented. The inverse and forward kinematics of such robots compared with those of 6-UCU parallel robots are more complicated due to the existence of offsets between joints of RR-pairs. The characteristics of RR-pairs used in this manipulator are investigated and kinematics constraints of these offset U-joints are mathematically explained in order to find the best initial guesses for the numerical solution. Both inverse and forward kinematics of the case study 6-DOF parallel micro-manipulator are modelled and computational analyses are performed to numerically verify accuracy and effectiveness of the proposed methodologies.

Forward kinematics analysis of offset 6-RRCRR parallel manipulators

A methodology for the numerical solution of the forward kinematics problem of 6-RRCRR parallel manipulators with orthogonal non-intersecting RR-joint configuration is presented in this article. The inverse and forward kinematics solutions of such robots compared with that of parallel robots with orthogonal intersecting RR-joint or universal joint configurations are much more complicated due to the existence of dependent joint variables. The constraints of RR-joints are analysed and the numerical algorithm for the forward kinematics solution is assessed. Numerical results for the solution of the forward kinematics of 6-RRCRR parallel robot under study are provided to confirm the accuracy and efficiency of the procedure.

Inverse kinematics analysis of 6-RRCRR parallel manipulators

This paper presents a solution to the inverse kinematics of 6-RRCRR parallel manipulators with orthogonal non-intersecting RR-joint configuration. The inverse kinematics solution of such parallel robots compared with that of parallel robots with orthogonal intersecting RR-joint or universal joint configuration is more complex due to the existence of RR-joint variables. A novel methodology is established to define 6 independent variables of the actuators and 12 dependent RR-joint variables using the pose of the mobile platform with respect to the base frame. The constraint of RR-joints are analysed and the numerical algorithm to obtain joint variables is assessed. The forward kinematics of a 6- RRCRR parallel manipulator is modelled and computational analysis is performed in order to numerically verify the accuracy and effectiveness of the proposed methodology for the inverse kinematics analysis. Numerical results of a trajectory tracking simulation are provided. The results verify high accuracy for the proposed inverse kinematics solution of this special family of parallel micromanipulators.

Occupant behaviour simulation for cellular offices in early design stages - Architectural and modelling considerations

Building simulation is most useful and most difficult in early design stages. Most useful since the optimisation potential is large and most difficult because input data are often not available at the level of resolution required for simulation software. The aim of this paper is to addresses this difficulty, by analysing the predominantly qualitative information in early stages of an architectural design process in search for indicators towards quantitative simulation input. The discussion in this paper is focused on cellular offices. Parameters related to occupancy, the use of office equipment, night ventilation, the use of lights and blinds are reviewed based on simulation input requirements, architectural considerations in early design stages and occupant behaviour considerations in operational stages. A worst and ideal case scenario is suggested as a generic approach to model occupant behaviour in early design stages when more detailed information is not available. Without actually predicting specific occupant behaviour, this approach highlights the magnitude of impact that occupants can have on comfort and building energy performance and it matches the level of resolution of available architectural information in early design stages. This can be sufficient for building designers to compare the magnitude of impact of occupants with other parameters in order to inform design decisions. Potential indicators in early design stages towards the ideal or worst case scenario are discussed.

Remote monitoring system enabling cloud technology upon smart phones and inertial sensors for human kinematics

Stroke is a common neurological condition which is becoming increasingly common as the population ages. This entails healthcare monitoring systems suitable for home use, with remote access for medical professionals and emergency responders. The mobile phone is becoming the easy access tool for self-evaluation of health, but it is hindered by inherent problems including computational power and storage capacity. This research proposes a novel cloud based architecture of a biomedical system for a wearable motion kinematic analysis system which mitigates the above mentioned deficiencies of mobile devices. The system contains three subsystems: 1. Bio Kin WMS for measuring the acceleration and rotation of movement 2. Bio Kin Mobi for Mobile phone based data gathering and visualization 3. Bio Kin Cloud for data intensive computations and storage. The system is implemented as a web system and an android based mobile application. The web system communicates with the mobile application using an encrypted data structure containing sensor data and identifiable headings. The raw data, according to identifiable headings, is stored in the Amazon Relational Database Service which is automatically backed up daily. The system was deployed and tested in Amazon Web Services.

Analysis of the inverse kinematics problem for 3-DOF axis-symmetric parallel manipulators with parasitic motion

 Determining an analytical solution to the inverse kinematics problem for a parallel manipulator is typically a straightforward problem. However, lower mobility parallel manipulators with 2-5 degrees of freedom (DOFs) often suffer from an unwanted parasitic motion in one or more DOFs. For such manipulators, the inverse kinematics problem can be significantly more difficult. This paper contains an analysis of the inverse kinematics problem for a class of 3-DOF parallel manipulators with axis-symmetric arm systems. All manipulators in the studied class exhibit parasitic motion in one DOF. For manipulators in the studied class, the general solution to the inverse kinematics problem is reduced to solving a univariate equation, while analytical solutions are presented for several important special cases.

The effects of military body armour on trunk and hip kinematics during performance of manual handling tasks

Musculoskeletal injuries are reported as burdening the military. An identified risk factor for injury is carrying heavy loads; however, soldiers are also required to wear their load as body armour. To investigate the effects of body armour on trunk and hip kinematics during military-specific manual handling tasks, 16 males completed 3 tasks while wearing each of 4 body armour conditions plus a control. Three-dimensional motion analysis captured and quantified all kinematic data. Average trunk flexion for the weightiest armour type was higher compared with control during the carry component of the ammunition box lift (p < 0.001) and sandbag lift tasks (p < 0.001). Trunk rotation ROM was lower for all armour types compared with control during the ammunition box place component (p < 0.001). The altered kinematics with body armour occurred independent of armour design. In order to optimise armour design, manufacturers need to work with end-users to explore how armour configurations interact with range of personal and situational factors in operationally relevant environments. Practitioner Summary: Musculoskeletal injuries are reported as burdening the military and may relate to body armour wear. Body armour increased trunk flexion and reduced trunk rotation during military-specific lifting and carrying tasks. The altered kinematics may contribute to injury risk, but more research is required.

A kinematics study of variable lead axisymmetric forward spiral extrusion

Variable lead axi-symmetric forward spiral extrusion (VLAFSE) allows far more efficient strain accumulation than constant lead counterpart AFSE. It eliminates the rigid body rotation of the sample in an AFSE die which only causes frictional loss and has no contribution to the deformation. Based on a proposed velocity field, the kinematic formulation for VLAFSE is presented, utilized to predict strain components in the deformation zone and compared with experimental measurements. A simple closed form solution of the VLAFSE problem is presented which describes the flow of material inside the extrusion die. The results confirm that the effective strain of the process accumulates non-linearly in the both radial and extrusion directions.

The impact of occupant behaviour on residential greenhouse gas emissions reduction

In 2011-12, greenhouse gas emissions from the Australian residential sector were 101.6 Mt and are expected to grow by 38% by 2050. In order to reduce these emissions, much emphasis has been placed on increasing the energy efficiency of buildings and appliances. Occupant behaviour, however, is probably the single most significant factor which determines energy use and emissions. This paper describes research undertaken to rank the most common occupant behaviours, based upon their impact on greenhouse gas emissions associated with residential energy use, in an architect-designed house in Australia. The occupant behaviours investigated were changing: the heating and cooling temperature set points, window openings, external blind use and lighting use. Simulations were carried out using Primero and EnergyPlus software. Based on the simulation results of greenhouse gas emissions, the following ranking of overall influence (from most influential to the least) has been determined: external blind use was one of the most effective measures to reduce emissions. Cooling set point temperature was similarly important with the magnitude of impact depending on the set point e.g. a 2°C increase had an impact comparable to the use of external blinds. The impact of the heating set point temperature was also dependent on the set point and overall slightly lower compared to the cooling set point temperature. Lighting use was the least influential parameter in the context of this study.

The study to track human arm kinematics applying solutions of Wahba’s Problem upon inertial/magnetic sensors

Long-term, off-site human monitoring systems are emerging with respect to the skyrocketing expenditures engaged with rehabilitation therapies for neurological diseases. Inertial/magnetic sensor modules are well known as a worthy solution for this problem. Much attention and effort are being paid for minimizing drift problem of angular rates, yet the rest of kinematic measurements (earth’s magnetic field and gravitational orientation) are only themselves capable enough to track movements applying the theory for solving historicalWahbas Problem. Further, these solutions give a closed form solution which makes it mostly suitable for real time Mo-Cap systems. This paper examines the feasibility of some typical solutions of Wahba’s Problem named TRIAD method, Davenport’s q method, Singular Value Decomposition method and QUEST algorithm upon current inertial/magnetic sensor measurements for tracking human arm movements. Further, the theoretical assertions are compared through controlled experiments with both simulated and actual accelerometer and magnetometer measurements.

The SLUGGS survey: a new mask design to reconstruct the stellar populations and kinematics of both inner and outer galaxy regions

Integral field unit spectrographs allow the 2D exploration of the kinematics and stellar populations of galaxies, although they are generally restricted to small fields-of-view. Using the large field-of-view of the DEIMOS multislit spectrograph on Keck and our Stellar Kinematics using Multiple Slits technique, we are able to extract sky-subtracted stellar light spectra to large galactocentric radii. Here, we present a new DEIMOS mask design named SuperSKiMS that explores large spatial scales without sacrificing high spatial sampling. We simulate a set of observations with such a mask design on the nearby galaxy NGC 1023, measuring stellar kinematics and metallicities out to where the galaxy surface brightness is orders of magnitude fainter than the sky. With this technique we also reproduce the results from literature integral field spectroscopy in the innermost galaxy regions. In particular, we use the simulated NGC 1023 kinematics to model its total mass distribution to large radii, obtaining comparable results with those from published integral field unit observation. Finally, from new spectra of NGC 1023, we obtain stellar 2D kinematics and metallicity distributions that show good agreement with integral field spectroscopy results in the overlapping regions. In particular, we do not find a significant offset between our Stellar Kinematics using Multiple Slits and the ATLAS3D stellar velocity dispersion at the same spatial locations.

Identifying Heel Contact and Toe-Off Using Forceplate Thresholds With a Range of Digital-Filter Cutoff Frequencies

Analysis of human gait requires accurate measurement of foot-ground contact, often determined using either foot-ground reaction force thresholds or kinematic data. This study examined the differences in calculating event times across five vertical force thresholds and validated a vertical acceleration-based algorithm as a measure of heel contact and toe-off.