The paper is devoted to the compliance errors compensation for parallel manipulators under external loading. Proposed approach is based on the non-linear stiffness modeling and reduces to a proper adjusting of a target trajectory. In contrast to previous works, in addition to compliance errors caused by machining forces, the problem of assembling errors caused by inaccuracy in the kinematic cha...

Based on a recently developed ”generalized averaging theory,” we present a generic approach for the design of stabilizing feedback controllers for biomimetic locomotive systems. The control laws exponentialy stabilize in the average, and they apply to a very wide class of systems. Two examples are given: a ”kinematic biped” that demonstrates how our theory handles discontinuities, and the snake...

This article deals with the rigid body collisions of planar, kinematic chains with an external surface while in contact with other surfaces. Two solution procedures that cast the impact equations in differential and algebraic forms are developed to solve the general problem. The differential formulation can be used to obtain three sets of solutions based on the kinematic, kinetic, and the energ...

We present a general method for worst-case limlt kinematic tolerance analysis: computing the range of variation in the kinematic function of a mecnanism [rom its part tolerance specifications. The method covers fixed and changing contact mechanisms with parametric or geometric part tolerances. We develop a new model of kincmaLic variation, called kinematic tolerance space, that generalizes the ...

The momentum equation in the kinematic wave model is a power-law equation with two parameters. These parameters, which relate the discharge to the flow area, are commonly derived using Manning’s equation. In general, the values of these parameters depend on the flow depth except for some special cross sections. In this paper, improved estimates of the kinematic wave parameters for circular chan...

The purpose of this study is to identify the leading causes slope instability along a local highway in Anhui, People’s Republic China. As part east expansion project, mountain range will be excavated create two-way, nearly 30 m wide highway. site’s topography consists hill with palm-shaped faces carved from limestone running its sides. geological characteristics and stability research area high...

BACKGROUND Assessment of sensorimotor function is useful for classification and treatment evaluation of neck pain disorders. Several studies have investigated various aspects of cervical motor functions. Most of these have involved slow or self-paced movements, while few have investigated fast cervical movements. Moreover, the reliability of assessment of fast cervical axial rotation has, to ou...

BACKGROUND The single-leg squat (SLS) is a common test used by clinicians for the musculoskeletal assessment of the lower limb. The aim of the current study was to reveal the kinematic parameters used by experienced and inexperienced clinicians to determine SLS performance and establish reliability of such assessment. METHODS Twenty-two healthy, young adults (23.8 ± 3.1 years) performed three...