INCORPORATING GEOMETRIC FEATURE VARIATION WITH KINEMATIC TOLERANCE ANALYSIS OF 3D ASSEMBLIES Jeffrey G. Dabling Department of Mechanical Engineering Master of Science As technology increases and performance requirements continually tighten, the cost and required precision of assemblies increase as well. There exists a strong need for increased attention to tolerance analysis to enable high-prec...

The internal space for a molecule, atom, or other n-body system can be conveniently parameterised by 3n − 9 kinematic angles and three kinematic invariants. For a fixed set of kinematic invariants, the kinematic angles parameterise a subspace, called a kinematic orbit, of the n-body internal space. Building on an earlier analysis of the threeand four-body problems, we derive the form of these k...

This paper provides a short Matlab implementation with documentation of the P1 finite element method for the numerical solution of viscoplastic and elastoplastic evolution problems in 2D and 3D for von-Mises yield functions and Prandtl-Reuß flow rules. The material behaviour includes perfect plasticity as well as isotropic and kinematic hardening with or without a viscoplastic penalisation in a...

The authors consider antiplane shearing motions of an incompressible visco-plastic solid. The particular constitutive equation employed assumes that the stress tensor has an “elastic” component and a component which can exhibit hysteresis. The model exhibits both “kinematic” and “isotropic” hardening. Our results consist of a set of energy type estimates for the resulting system, L2 contractivi...

The motion control problem for the finger of a humanoid robot hand is investigated. First, the index finger of the human hand is dynamically modelled as a kinematic chain of cylindrical links. During construction of the model, special attention is given to determining bone dimensions and masses that are similar to the real human hand. After the kinematic and dynamic analysis of the model, in or...

Kinematic analysis is used for trajectory planning of robotic manipulators and is an integral step of their design. The main idea behind kinematic analysis is to study the motion of the robot based on the geometrical relationship of the robotic links and their joints. Given the continuous nature of kinematic analysis, traditional computer-based verification methods, such as simulation, numerica...