ii To my mother and grandmother who always support me with constant love and pray, my wife who is the anchor of my life and the memory of my father iii ABSTRACT Recent advances in predictive dynamics allow the user to not only predict physics based human motion simulations but also determine the actuation torques required to achieve those motions. The predictive dynamics approach uses optimizat...

In this paper we are presenting a method to solve the inverse kinematics problem of a redundant manipulator with seven degrees of freedom and a human like workspace based on mathematical equations, Fuzzy Logic implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts ...

In this study, SimMechanics-based dynamic modeling and vibration analysis of a single-link flexible manipulator are studied. A beam model is set up for the manipulator. Transient performed to obtain endpoint acceleration responses moved with different motion profiles. Both experimental simulation results presented cases. The root means square (RMS) values calculated evaluate compatibility perfo...

Currently the majority of dozing operations are conducted using tracked vehicles with a fixed blade cutting angle. There is interest from industry in exploring alternatives to tracked vehicles for small scale dozing operations because of the limitations of the platform. One alternative is a six-wheeled vehicle with independent drives and an active suspension. This alternative has higher mobilit...

To solve the problem that small rescue vessels are seriously affected by waves when working at sea, which causes damage to crew and equipment, a catamaran with suspended articulated cabin is designed. The multi-body dynamic model of whole vessel based on SimMechanics built, prototype tested water. correctness verified three aspects roll motion, pitch heave motion platform. platform simulated un...