Abstract Seven-degree-of-freedom redundant manipulators with link offset have many advantages, including obvious geometric significance and suitability for configuration control. Their is similar to that of the experimental module manipulator (EMM) in Chinese Space Station Remote Manipulator System. However, finding analytical solution an EMM on basis arm angle parameterization difficult. This ...

the objective of this research is to develop an accurate numerical method to be used in showing the deformation of a liquid fuel droplet in a convective field. to simultaneously solve the internal liquid droplet flow field as well as the external gas phase flow field, a nonstaggered rectangular grid system without any coordinate transformation is used. transition from the gas field to the liqui...

‘I’/& paper proposes technique for automaticall~ identifying and modeling the kinematic wwtminta of manipulated objects. The existence of wn.druints is established by examination of the forces and torques normal and tangential to the object’s motion. Constraints are modeled as joints tuith wnfigumtion and history dependent forca. To illustmte these concepts, seveml experimental examples are pre...

We investigate the dependency of inflow-wind structure a hot accretion flow on kinematic viscosity coefficient. In this regard, we propose model for coefficient to mimic behavior magnetorotational instability that would be maximal at rotation axis. Then, compare our with two other prescriptions from numerical simulations flow. solve two-dimensional hydrodynamic equations flows in presence therm...

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Self-similarity in general relativity is briefly reviewed and the differences between self-similarity of the first kind (which can be obtained from dimensional considerations and is invariantly characterized by the existence of a homothetic vector in perfect fluid spacetimes) and generalized self-similarity are discussed. The covariant notion of a kinematic self-similarity in the context of rel...

We propose a new approach to solving the point-to-point inverse kinematics problem for highly redundant manipulators. It is inspired by recent motion planning research and explicitly takes into account constraints due to joint limits and self-collisions. Central to our approach is the novel notion of kinematic roadmap for a manipulator. The kinematic roadmap captures the connectivity of the con...

Objectives: The aim of this study was to extract suitable spatiotemporal and kinematic parameters to determine how Total Knee Replacement (TKR) alters patients’ knee kinematics during gait, using a rapid and simplified quantitative two-dimensional gait analysis procedure. Methods: Two-dimensional kinematic gait pattern of 10 participants were collected before and after the TKR surgery,...