PPT-Kinematics

Kinematics is the branch of physics that describes the motion of points bodies objects and systems of bodies groups of objects without consideration of the causes of motion Kinematics Onedimensional kinematics involves movement along one axis. Be able to identify phases of movement infer sources of propulsion and braking Be able to use the laws of constant angular accel Grasp the applications to human movement Questions to Think About Why would tight calf muscles restrict the ability to Buss Department of Mathematics University of California San Diego La Jolla CA 920930112 sbussmathucsdedu October 7 2009 Note This is an introduction that was originally written for a paper by Buss and Kim 7 but was subsequently separated out This re qqqq brPage 2br Jacobians Direct Differentiation fq fq fq mm mm mm 1 1 mmn n Jqq uuu 1 1 mmnn Jqq uu ij i Jq 1 1 mmn n Jqq uu xJ TGT Example xy lc lc yls ls 11 212 11 212 GT GT GGTGT ylclc lc 11 212 1 212 2 11 212 1 212 2 GT GT g meters feet 00 x m y m xy 1 2 origin 63 Points position is 224 from the origin at 63 above the x axis or xy position of 1 2 224 brPage 2br Relative Position Position of a second point with respect to a first point To convert between absolute re HM Fluid Mechanics M 6 Vectors C 6 Chemical Kinetics Nuclear Surface Chemistry P 7 Gravitation Properties of Matter M 7 3D Geometry C 7 GOC P 8 Ray optics M 8 Straight Line C 8 Isomerism P 9 Wave Optics Diffraction Polarisation Optical Instruments con’t. Review session for final exam. Thursday afternoon? . Thursday evening? 7:30 -???. Friday morning?. Kinematics of folding- outline. Active folds:. Flexural folds. Neutral surface folds. Passive folds:. Now, given the joint angles . Ө1, . Ө. 2 . we can determine the . end effecter coordinates x . and y. . Forward kinematics. The . coordinates . (x, y) of the tool . are expressed . in . this coordinate . A note on usage:. The clicker slides in this booklet are meant . to be used as stimuli to encourage class discussion. . They are intended for use in a class that attempts . to help students develop a coherent and sophisticated understanding of scientific thinking.. Chapter 2. Kinematics. .  . motion.. Dynamics .  . forces impacting motion.. Mechanics . .  . kinematics & dynamics. 1. 2.1 Displacement. 2. 2.1 Displacement. 3. instantaneous . velocity . u. sing slides from D. . Lu. Goals of this class. Introduce Forward . K. inematics of. mobile . robots. How Inverse . K. inematics . for . static . and mobile robots can be . derived. Concept of . Its all about Kinematics Equations. Kinematic Equations. the branch of mechanics concerned with the motion of objects without reference to the forces that cause the motion.. Two types of Equations. Constant Velocity Equations (acceleration = 0). Kick . Brian M. Campbell. 1. , Adam M. Fullenkamp. 1. , James Bacher Jr. & C. Matt Laurent. 1. . 1. Bowling Green State University, Bowling Green, OH. e-mail: campbeb@bgsu.edu. . . Introduction. What measures must be known to…. Make a moving object catch a falling object?. Program a yellow light for safe use?. What should my notebook look like?. Notebooks are a waste, unless YOU can benefit from using them.. Kinematics: . constraints on getting around the environment. The effect of a robot’s geometry on its motion.. kinematics. from sort of simple to sort of difficult. manipulator modeling. wheeled platforms.