Using a highly sensitive and precise apparatus, series of spatial movements of human cervical segments (C3/C4) were measured. They followed cyclic varied pure torques for axial rotation, lateral flexion, and flexion-extension in the presence of axially directed preloads as running parameter, whose force lines were shifted over the segments. By successive resections of the uncovertebral and zygapophysial joints as well as ligamental structures, the reach of these guiding structures for segmental kinematics and stiffness could be evaluated. For the first time, the biomechanical significance of the uncovertebral joints could be substantiated. In axial rotation and in lateral bending, the instantaneous helical axis (IHA) was found to be not stationary. Its position depended on the size of the rotational angle. The ensemble of the skew IHA formed a ruled surface with a waist. Torque and unit vector of the IHA were found to be parallel only for flexion-extension. In this case, all four joints were in guiding function, whereas in axial rotation and lateral flexion the joints alternated with each other. IHA included with torque Tz(t) for axial rotation ≈+30deg, and with torque Tx(t) ≈−30deg: These motions were coupled. Resection of all ligaments did hardly influence the kinematical structure.
This paper presents results of the study devoted to analysis of impact of upper extremities' momentum on the jump length and analysis of selected kinematic data changes during the standing long jump. Four young sportsmen participated in the initial study. They have performed standing long jump in two measuring conditions: with and without arms swinging. Motion was captured using a 3D opto-electronic camera system SMART (BTS) and selected kinematic data were evaluated using software packages and data processing: trajectory of body centre of gravity (COG), velocity of COG, maximal vertical distance of COG, take-off angle together with momentum of upper extremities were analyzed. The data were statistically evaluated using descriptive statistics and analysis of variance. Statistical significance of the kinematic data and jump length were analyzed using the Kruskal-Wallis test and post-hoc test (p<0.05) in Statistics toolbox of Matlab program. Statistically significant differences were assessed within intraindividual and intraclass comparison of data.
The paper presents construction and control system of the climbing robot Safari designed at the Poznan University of Technology for inspection of high building walls, executed in order to evaluate their technical condition. Because such tasks are uncomfortable and very dangerous for humans, this mobile machine gives a possibility to observe and examine the state of the surface on which it is moving. The robot is a construction developed for walking on flat but uneven vertical and horizontal surfaces. Its on-board equipment provides ability to remotely examine and record images reflecting the robot’s surroundings. At the beginning of the paper, several concepts of existing climbing robots (four-legged, six-legged, sliding platform) are outlined. Next, the mechanical system of the Safari robot is presented with special emphasis on its kinematic equations and description of movement stages. Then, the on-board manipulator as well as the sensor and control systems are described.
Simulation studies of the hobbing process kinematics can effectively improve the accuracy of the machined gears. The parameters of the cut-off layers constitute the basis for predicting the cutting forces and the workpiece stress-strain state. Usually applied methods for simulation of the hobbing process are based on simplified cutting schemes. Therefore, there are significant differences between the simulated parameters and the real ones. A new method of hobbing process modeling is described in the article. The proposed method is more appropriate, since the algorithm for the momentary transition surfaces formation and computer simulation of the 3D chip cutting sections are based on the results of hobbing cutting processes kinematics and on rheological analysis of the hob cutting process formation. The hobbing process is nonstationary due to the changes in the intensity of plastic strain of the material. The total cutting force is represented as a function of two time-variable parameters, such as the chip’s 3D parameters and the chip thickness ratio depending on the parameters of the machined layer.
This study presents a description of the mechanics of forming dough pieces into cylindrical (cylinder-like) shapes. Based on the configuration of forming, the movement of the formed piece and its surface deformations were described. Kinematic relationships concerning the dough piece material as a rheological fluid were formulated. Next, the relationships coupling the kinematic quantities present with both descriptions were determined. The components of the deformation rate tensor, presented in the assumed forming configuration (cylindrical coordinate system), describe the velocity distribution on the surface of dough piece being formed and deformed. The determined kinematic quantities and their interrelations may be used to describe the process of forming dough pieces into cylindrical shapes.
Robotic total stations are a group of surveying instruments that can be used to measure moving prisms. These devices can generate significant errors during kinematic surveys. This is due to the different speeds of the total station’s measurement subsystems, which results in the observations of the point location being performed in different places of the space. Total stations which are several years old may generate errors of up to a few dozen centimeters. More modern designs, with much lower delays of the mechanical and electronic subsystems, theoretically allow to significantly reduce the values of the errors. This study involved the performance of kinematic tests on the modern robotic total station Leica MS50 in order to determine the values of measurement errors, and also to define the possibility of using them for the above-mentioned applications.
en
pl
