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Showing papers on "Kinematics published in 1978"


Book
01 Jan 1978
TL;DR: The components of mechanism freedom and structure in mechanism elementary planar and spatial displacements planar algebraic curves infinitesimal planar kinematics planar displacements through three and more locations the four-bar linkage - coupler curves the geometrical capability of planar mechanisms three-dimensional geometry and spatial mechanism some spatial mechanisms line geometry, and spatial mechanisms screw systems screw systems applied to spatial mechanisms body guidance in three dimensions manipulator-arms and other linkageconnections.
Abstract: The components of mechanism freedom and structure in mechanism elementary planar and spatial displacements planar algebraic curves infinitesimal planar kinematics planar displacements through three and more locations the four-bar linkage - coupler curves the geometrical capability of planar mechanisms three-dimensional geometry and spatial mechanism some spatial mechanisms line geometry and spatial mechanism screw systems screw systems applied to spatial mechanisms body guidance in three dimensions manipulator-arms and other linkage-connections.

1,836 citations


Journal ArticleDOI
01 Mar 1978-Spine
TL;DR: The biomechanic terms essential for a comprehensive description of spinal kinematics are defined, described, and exemplified to provide a perspective for present knowledge and future research.
Abstract: Spinal kinematics concerns the kinds and amounts of motion the human spine undergoes during its normal physiologic movements. This paper is a review of the research in this area and provides information about past and current knowledge. The biomechanic terms essential for the precise and accurate description of spinal kinematics are defined, described, and exemplified. Requirements for a comprehensive description of spinal kinematics are presented to provide a perspective for present knowledge and future research. Finally, the current status of spinal kinematic research is described, and information about the ranges of motion of the human spine for various vertebral levels and for motion in different directions is provided.

407 citations


Journal ArticleDOI
TL;DR: In this paper, the applicability of the kinematic and diffusion models of open channel flow is assessed by comparing the propagation characteristics of sinusoidal perturbations to the steady uniform flow for the Kinematic, diffusion and dynamic models (the dynamic model is that based on the complete Saint Venant equations).
Abstract: The applicability of the kinematic and diffusion models of open channel flow is assessed by comparing the propagation characteristics of sinusoidal perturbations to the steady uniform flow for the kinematic, diffusion, and dynamic models (the dynamic model is that based on the complete Saint Venant equations). The comparison allows the determination of inequality criteria that need to be satisfied if the kinematic or diffusion models are to simulate the physical phenomena within a prescribed accuracy. It is shown that bed slope and wave period (akin to wave duration in waves of shape other than sinusoidal) are the important physical characteristics in determining the applicability of the approximate models. Larger bed slopes or long wave periods, or both, will satisfy the inequality criteria. In practice, larger bed slopes are those of overland flow, and long wave periods are those corresponding to slow-rising flood waves.

255 citations


Book
01 Jan 1978
TL;DR: Kinematics and mechanisms design, Kinematic and mechanism design, the authors, Kinematics, mechanisms, and mechanisms, KML, and design of mechanisms for the design of KML.
Abstract: Kinematics and mechanisms design , Kinematics and mechanisms design , مرکز فناوری اطلاعات و اطلاع رسانی کشاورزی

209 citations


Journal ArticleDOI
TL;DR: An analytical and experimental study to quantitatively determine the kinematic behavior of the human metacarpophalangeal (MCP) joint and the analysis of two rigid link kinematics is developed.

78 citations


Journal ArticleDOI
TL;DR: Initial work toward a more definitive kinematic analysis of perceptual-motor processes involved initially in accommodation of naive subjects to treadmill walking is described.
Abstract: Initial work toward a more definitive kinematic analysis of perceptual-motor processes involved initially in accommodation of naive subjects to treadmill walking is described. The kinematic cyclograph technique holds promise of achieving this.

52 citations


Journal ArticleDOI
Katsumi Nomizu1
TL;DR: In this article, a smooth curve is given on the unit sphere S 2 (boundary of the unit ball B) to S at xQ in such a way that at each time instant t the point xt becomes a point of contact with the plane ΣΊ, the locus yt of points of contact on Σ is indeed the development of the curve xt in the sense of E. Cartan.
Abstract: The simplest and most illustrative of the kinematic models we discuss in this paper is the rolling of a ball on its tangent plane. Suppose a smooth curve xt is given on the unit sphere S 2 (boundary of the unit ball B). Is it possible to roll (without skidding or spinning) the ball B on the tangent plane Σ to S at xQ in such a way that at each time instant t the point xt becomes a point of contact with the plane ΣΊ We shall show that this is possible and that the locus yt of points of contact on Σ is indeed the development of the curve xt in the sense of E. Cartan. When we replace S by an arbitrary smooth surface M, the rolling of M on its tangent plane gives rise to a kinematic interpretation of the Levi-Civita connection for M. We also find that we must impose a certain condition on the curve xt to prevent the rolling from degenerating into an instantaneous standstill at any instant. This condition is that the tangent vector of xt is not a principal direction for the zero principal curvature; this condition is satisfied if the curve xt does not go through a flat point. In the end we shall study the model of rolling an ^-dimensional submanif old M on another ^-dimensional submanif old N in a Euclidean space E and obtain a kinematic interpretation of the second fundamental form and the normal connection of a submanif old. The paper is organized as follows. Section 1 is devoted to the basic concepts in kinematics we need. We define the notion of rolling (without skidding or spinning). In Section 2 we discuss the model of rolling a ball and extend it to higher dimensions in Section 3. In Section 4 we treat the rolling of an arbitrary surface on a plane. Section 5 deals with rolling of a surface on another surface. Finally, in Section 6, we discuss the most general question—rolling an ^-dimensional sub manifold

48 citations


Journal ArticleDOI
TL;DR: In this paper, a kinematic wave model is developed to study surface irrigation depending on the variability of infiltration and the kinematics wave friction parameter, three cases are distinguished Explicit analytical solutions are obtained for the case when infiltration is constant, and a possible approach is suggested for the possible approach when it is not.
Abstract: A kinematic wave model is developed to study surface irrigation Depending on the variability of infiltration and the kinematic wave friction parameter, three cases are distinguished Explicit analytical solutions are obtained for the case when infiltration is constant, and a possible approach is suggested for the case when it is not

40 citations


01 Jan 1978

40 citations


Journal ArticleDOI
TL;DR: In this paper, a sequential linear programming method is developed for contour design of elastic bodies to minimize contact stresses when two bodies are pressed together by extrenally applied loads, and constraints on the amount of acceptable contour modification are imposed, based on kinematic functions to be performed by the two mating bodies.
Abstract: A sequential linear programming method is developed for contour design of elastic bodies to minimize contact stresses when two bodies are pressed together by extrenally applied loads. Constraints on the amount of acceptable contour modification are imposed, based on kinematic functions to be performed by the two mating bodies. The teachique is illustrated through solution of a simple example and a more practical bearing contact design problem.

35 citations


Journal Article
TL;DR: Component and resultant external forces and torques at ankle, knee, and hip joints of unrestrained lower extremity motion were computed as resultant limb velocities were systematically changed.
Abstract: .Component and resultant external forces and torques at ankle, knee, and hip joints of unrestrained lower extremity motion were computed as resultant limb velocities were systematically changed. Cinematographic and modeling techniques were used to analyze 45 trials of five skilled soccer pla

Journal ArticleDOI
TL;DR: In this article, the forces acting at the joints of a crank-lever mechanism with a clearance at turning pairs are found by a straightforward solution of the equations of motion of the moving links.
Abstract: The forces acting at the joints of a crank-lever mechanism with a clearance at turning pairs are found by a straightforward solution of the equations of motion of the moving links. In each case of the mechanism with a clearance at the joint of crank-coupler or coupler-lever, the forces acting at the joints are calculated by the kinematic analysis in 2nd and 3rd reports. The following points are discussed: (1) a shaking force acting on the frame, (2) effects of the amounts of clearance, driving speed and mass of link on the forces acting at the joints, and (3) comparison of the direction of a force acting at the joint with the contact angle and the limits of applicability of the continuous contact model.

Proceedings ArticleDOI
07 Aug 1978

Journal ArticleDOI
TL;DR: In this article, a method for automatic setting of differential equations of motion for complex kinematic chains is presented, suitable for the synthesis of locomotion mechanisms, which can be applied in manipulation mechanisms.

Journal ArticleDOI
TL;DR: In this paper, the three multiply separated position concepts developed in detail in [1] are extended here to include four and five positions, and complete the spherical equivalent of Burmester Theory for coplanar motion.

Patent
16 Nov 1978
TL;DR: In this article, a speed limiter for the regulation of the speed of an internal combustion engine was proposed, where in addition to a first kinematic linkage chain between a manually operable acceleration pedal and an engine throttle, a second computer-controlled linkage chain which can assume speed regulation control in such a way that the second chain can take over from the first when the first has maximally opened the throttle.
Abstract: A speed limiter for the regulation of the speed of an internal combustion engine wherein in addition to a first kinematic linkage chain between a manually operable acceleration pedal and an engine throttle is provided a second computer controlled kinematic linkage chain which can assume speed regulation control in such a way that the second chain can take over from the first when the first has maximally opened the throttle and without the first chain hindering the functioning of the second under the command of the computer as soon as the vehicle has entered the prescribed range of regulation. In one embodiment the second kinematic chain includes a pneumatic actuator coupled to the throttle and operable by means of the opening electrovalves as controlled by the computer in accordance with vehicle speed and acceleration. In another embodiment, the second kinematic linkage chain includes a reversible motor having a shaft rotatable under the control of the system computer.

Journal ArticleDOI
TL;DR: In this article, a theoretical analysis of the motion of a rotary tiller blade is presented, and an instant center technique is used to determine the direction of motion and velocity at any point on the tiller path.
Abstract: A theoretical analysis of the motion of a rotary tiller blade. The equations of motion are used to analyze the characteristics of the trochoidal path. An instant center technique is used to determine the direction of motion and velocity at any point on the trochoidal path.

Journal ArticleDOI
TL;DR: In this paper, a simple expression for the energy-momentum 4-tensor in terms of the group-velocity 4-vector is derived for the wave motion.
Abstract: The advantages of using the 4-dimensional group velocity are demonstrated. After first giving its purely kinematic definition for an arbitrary wave field, the discussion turns to packets of electromagnetic waves in electrically and magnetically anisotropic media which possess space-time dispersion and are smoothly nonuniform in space and slowly varying in time. In particular, a simple expression is obtained for the energy-momentum 4-tensor in terms of the group-velocity 4-vector. Finally, it is shown how the 4-dimensional notation simplifies the derivation of the conditions of orthogonality and conservation of the adiabatic invariant. A note by M. L. Levin which follows this paper contains a brief account of the basis results of W. R. Hamilton's investigations relating to the velocity of wave motion.

Journal ArticleDOI
H.R. Kim1
TL;DR: A probabilistic method is outlined for obtaining the variances in displacement, velocity and acceleration of followers in cam mechanisms for any given manufacturing tolerance on the cam profile using stochiastic techniques including finite differences and the maximum likelihood method.

Journal ArticleDOI
01 Jan 1978
TL;DR: In this paper, a simple example of elastoplastic analysis is used to illustrate how more than one deformed configuration can be associated with a single prescribed load state, and it is proved that holonomic elasticity is not strictly path independent.
Abstract: A very simple example of elastoplastic analysis is adduced to illustrate how more than one deformed configuration can be associated with a single prescribed load state. The encoding of holonomic elastoplastic analysis in quadratic programming form leads to an uniqueness theorem for the bending moments (static solution), and yet, even for holonomic elastoplasticity, the uniqueness of the deformed configuration (kinematic solution) cannot be guaranteed. Different kinematic solutions, when they exist, are seen from the simple example to be physically induced by different load paths terminating at the same prescribed load state, and thus it is proved that holonomic elastoplasticity is not strictly path independent. Any two valid kinematic solutions can only differ by the motion of a special mechanism, called a pseudo-mechanism. This device is used to establish a uniqueness theorem for the kinematic solution obtained by quadratic programming or any other form of holonomic elastoplastic analysis. Final...


Journal ArticleDOI
TL;DR: This paper presents a procedure for obtaining the conditions for a full force-balance of a planar linkage that automatically uses the minimum number of counterweights and keeps the added inertia low.
Abstract: This paper presents a procedure for obtaining the conditions for a full force-balance of a planar linkage. It includes a check on whether a full force-balance is possible where the presence of prismatic joints or links that cannot be counter-weighted for some reason may preclude this. The procedure automatically uses the minimum number of counterweights and keeps the added inertia low. An example demonstrates the advantages of the procedure over those methods that require the derivation of the kinematic equations of motion for the linkage.

Book
01 Jan 1978
TL;DR: In this paper, the authors introduce the concept of two-degree-of-freedom (2DF) systems, which is a generalization of the one-degree of freedom (1DF) system.
Abstract: Coordinate systems and position vectors * Kinematics of a particle in plane motion * Kinetics of a particle in plane motion * Force systems and equilibrium * Kinematics of a rigid body in plane motion * Kinetics of a rigid body in plane motion * Energy * Momentum and impulse * Vibration: A: One-degree-of-freedom systems * B: Two-degree-of-freedom systems * Introduction to automatic control * Dynamics of a body in three-dimensional motion * Introduction to continuum mechanics: A: One-dimensional continuum * B: Two-dimensional continuua * c: Applications to bars and beams * Appendices * Answers to problems * Index.

Proceedings ArticleDOI
01 Jan 1978
TL;DR: In this paper, an interactive filter system is developed which provides an improved estimate of target motion states by conditioning kinematic filter estimates upon target aspect angle data, and a novel statistical model for aircraft target normal acceleration is also developed to better represent unknown target accelerations.
Abstract: A new approach to estimating motion of a highly maneuvering aircraft target in an air-to-air tracking scenario is presented. An interactive filter system is developed which provides an improved estimate of target motion states by conditioning kinematic filter estimates upon target aspect angle data. Pattern recognition techniques used with an electro-optical tracker are presumed to provide this target aspect information. A target orientation filter processes the aspect angle measurements by statistically weighting measured aspect angles with the current best estimate of target kinematics. The aerodynamic lift equation is used to relate approximate angle of attack to target velocity and acceleration. A novel statistical model for aircraft target normal acceleration is also developed to better represent unknown target accelerations. Simulation results of realistic three-dimensional scenarios are presented to evaluate the performance of the interactive filter system.

Journal ArticleDOI
TL;DR: In this article, the authors present a survey of kinematic equivalences of coaxial screw joints and suggest a corresponding loop notation which describes concisely the motion characteristics of the joint combinations present in a chain.

Journal ArticleDOI
TL;DR: In this paper, the theory of kinematics analysis of planar higher pair mechanisms is presented, and the analysis procedure will be analytical or numerical depending on whether the geometry of the contacting surface(s) is given in an analytical form or in terms of coordinates of discrete points on the surface.


Book ChapterDOI
01 Jan 1978
TL;DR: The nucleus of a general purpose computer program for the dynamics of vehicle-guideway-interaction is an algorithm which automatically generates the linearized equations of motion of arbitrary configured multibody systems connected by linear elements.
Abstract: The nucleus of a general purpose computer program for the dynamics of vehicle-guideway-interaction is an algorithm which automatically generates the linearized equations of motion of arbitrary configured multibody systems connected by linear elements. Every body of the system can be rigid or flexible and arbitrary translational and rotational modes of motion can be allowed. Also, kinematic constraints are used for reducing the system order to the minimal number of (independent) degrees of freedom (DOF).

01 Jan 1978
TL;DR: In this article, a multibody system consisting of rigid bodies, springs, dashpots and joints is modeled by a computerized method in symbolical representation, and the nonlinear and linearized equations of motion are found by a mathematical model.
Abstract: Suspension systems with spatial kinematics are modeled by multibody systems consisting of rigid bodies, springs, dashpots and joints. The nonlinear and linearized equations of motion are found by a computerized method in symbolical representation. The dynamical analysis of the vehicle's riding comfort, riding safety and joint forces is presented. An example shows the application of the method.

01 Apr 1978
TL;DR: An analytical technique to study joint kinematics, especially the instantaneous center of rotation, was described, using the sonic digitizer system which works acoustically and electronically.
Abstract: In the design of the total replacement of the human joint, the joint center of rotation is often important. This paper describes an analytical technique to study joint kinematics, especially the instantaneous center of rotation. The empirical data for the analysis were obtained by the sonic digitizer system which works acoustically and electronically. As biomechanical applications of the technique, the elbow, the metacarpophalangeal, and wrist joints were studied.