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23 articles for “Kinematics”
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Evolution of Kinematic and Dynamic Design in Robotic Mechanisms: A Systematic Overview
Abstract: The field of robotics has experienced significant advancements in both kinematic and dynamic design, driven by the growing need for precision, adaptability, and autonomy in mechanical systems. Early robotic mechanisms were predominantly rigid and operated based on simple serial architectures, offering limited degrees of freedom and relying heavily on analytical formulations for motion planning and control. Over time, the demand for greater dexterity and operational versatility led to the development …
Published in Trends in Machine design · Vol. 12, Issue 2, 2025 · pp. 38–43 Read article
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Kinematic Relations of Particle Motion using Polar Cylindrical Coordinates System: Applications in Robotics and AI
Abstract: This paper explores the motion of a particle in space using the cylindrical polar coordinate system. It presents the physics of particle motion by defining spatial positions in three-dimensional polar coordinates and examining the particle’s kinematics—namely its position, velocity, and acceleration—in vector form. These quantities are mathematically expressed as functions of time, accounting for the changing coordinates in radial, angular, and vertical directions. This coordinate system proves especially useful for …
Published in Research & Reviews : Journal of Physics · Vol. 14, Issue 1, 2025 · pp. 12–16 Read article
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Advancements in Humanoid Robot Locomotion: A Review of Control Strategies and Kinematic Models
Abstract: Humanoid robot locomotion has significantly improved over the past few decades, driven by improvements in control strategies and kinematic models. Researchers aim to develop robots that can walk, run, and navigate complex terrains with efficiency and stability. This review explores recent developments in humanoid locomotion, highlighting control strategies such as model predictive control, reinforcement learning, and central pattern generators. Additionally, it examines kinematic models, including inverted pendulum models and zero …
Published in International Journal of Robotics and Automation in Mechanics · Vol. 3, Issue 1, 2025 · pp. 24–30 Read article
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Kinematic and Dynamic Modelling of a 6-DOF Robotic Manipulator for Industrial Applications
Abstract: The rapid evolution of industrial automation has intensified the need for highly accurate, flexible, and intelligent robotic systems capable of operating in dynamic and demanding environments. Among these systems, six-degree-of-freedom (6-DOF) robotic manipulators have emerged as a versatile solution due to their superior dexterity, large workspace, and human-arm-like motion capabilities. This research focuses on the comprehensive kinematic and dynamic modelling of a 6-DOF robotic manipulator designed for various industrial tasks …
Published in International Journal of Robotics and Automation in Mechanics · Vol. 3, Issue 2, 2025 · pp. 27–32 Read article
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An Investigation into the Quality of Distillate Diesel Fuel at Selected Service Stations in Freetown’s Western Area
Abstract: As a critical energy source for global transport and industry, diesel fuel quality is of paramount importance. This study evaluates and compares the quality of diesel fuel samples by analyzing key parameters: sulfur content, density, cetane index, and kinematic viscosity. The properties of diesel fuel samples from six (6) Fuel Stations of various Oil Marketing Companies (OMCs) are compared with National Technical specifications limits of the Sierra Leone Standards Bureau, …
Published in Journal of Petroleum Engineering & Technology · Vol. 16, Issue 1, 2026 · pp. 1–14 Read article
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Enhancing Upper Limb Rehabilitation: Workspace, Singularity and Structural Analysis of an Adaptive Two-Link Planar Manipulator
Abstract: The current shortage of therapists and caregivers who assist individuals with physical disabilities at home is anticipated to worsen in the future. Rehabilitation for upper limb exercises conducted by physical therapists is both time-consuming and expensive. This paper introduces a lightweight two-link planar device with revolute joints designed for upper limb rehabilitation. The primary focus is on the end-effector setup, evaluating its potential to enhance rehabilitation techniques. The manipulator's design …
Published in Journal of Polymer & Composites · Vol. 12, Issue 4, 2024 · pp. 162–174 Read article
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Exploring Robotic Arm Fabrication: An In-depth Review of Current Trends
Abstract: Robotic arms have emerged as indispensable tools across a myriad of industries, revolutionizing manufacturing processes, medical procedures, and even everyday tasks. This comprehensive review explores the recent advancements in robotic arm technology, focusing on key developments in design, control, sensing, and applications. The review begins by examining the evolution of robotic arm design, highlighting innovations in materials, actuators, and kinematic configurations that have enhanced the performance, versatility, and dexterity of …
Published in Journal of Control & Instrumentation · Vol. 15, Issue 3, 2024 · pp. 28–41 Read article
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Eyes for Machines: A Computer Vision Approach to Enhance Robotic Arm Dexterity and Autonomy
Abstract: By combining sophisticated robotics and visual awareness, computer vision operated robotic arms have revolutionized technology. These devices are having a profound effect on several industries, from manufacturing processes to healthcare. Computer vision–controlled robotic arms are altering the game with their ability to see, comprehend, and interact with their surroundings. In this study we have tried to develop and implement software and hardware to improve the freedom of movement in a …
Published in International Journal of Advanced Control and System Engineering · Vol. 2, Issue 2, 2024 · pp. 28–33 Read article
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Design, Mathematical Modeling, and Dynamic Optimization of a Speed Breaker-Based Vehicular Kinetic Energy Harvester
Abstract: Decentralized energy harvesting methods are becoming more popular due to rapid urbanization and the rising need for sustainable infrastructure. The road-embedded vehicle kinetic energy harvester (VKEH) design, mathematical modelling, and experimental validation are presented in this work. This paper presents the structural engineering, continuum mathematical modeling, and experimental validation of an optimized road-embedded vehicular kinetic energy harvester (VKEH). The mechanism utilizes a spring- loaded, low-friction rack-and-pinion transmission coupled with a …
Published in International Journal of Electrical Power and Machine Systems · Vol. 4, Issue 2, 2026 Read article
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Comparative Analysis of Serial and Parallel Robot Mechanisms for Industrial Automation
Abstract: Serial and parallel manipulators represent two major mechanical architectures in industrial automation, each with distinct strengths and trade-offs. This study presents a detailed comparative analysis of serial-chain (open-kinematic) robots and parallel-kinematic manipulators (PKMs) with a focus on industrial automation tasks. It covers kinematics, static accuracy and stiffness, dynamics and actuation requirements, control and calibration burdens, workspace and singularity behaviour, and practical industrial considerations (cost, integration, safety, maintenance). Serial robots, exemplified …
Published in International Journal of Robotics and Automation in Mechanics · Vol. 3, Issue 2, 2025 · pp. 22–26 Read article
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Design of Biped Robots: A Review
Abstract: Biped robots, inspired by the human’s kinematic structure, have seen remarkable evolution from early mechanical automata to today’s sophisticated machines capable of performing complex tasks. Their design aims to achieve efficient and stable movement on two legs. This paper examines the current advancements and historical progress in the development of bipedal robots. The authors investigate the implementation of these robots in various fields, like healthcare, entertainment, search and rescue operations, …
Published in International Journal of Mechanical Dynamics and Systems Analysis · Vol. 2, Issue 2, 2024 · pp. 36–46 Read article
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Physicochemical Analysis of Oil Extracted from Raphia Sudanica Fruit Sold in Edu Local Government Area of Kwara State, North Central Nigeria
Abstract: Raphia sudanica, commonly called Raphia hookeri or bamboo palm fruit, is one of the most valuable species among known palm fruits found in Nigeria and is widespread in major parts of West Africa. In this study, oils extracted and analyzed from Raphia sudanica fruits (pulp and seed) revealed the respective physicochemical values; acid value (5.56, 6.10 mgKOH/g), peroxide value (2.44, 5.82 Meq/kg), iodine value (41.30, 68.10 gI₂/100 g), saponification value …
Published in Journal of Petroleum Engineering & Technology · Vol. 16, Issue 1, 2026 · pp. 67–75 Read article
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Design and Performance Evaluation of PLA-based Umbrella Wheels for Stair-Climbing Robotic Applications
Abstract: Staircase climbing robots require a complex design capable of navigating various stair configurations. A crucial component of such robots is the wheel mechanism. This paper focuses on the umbrella wheel mechanism and its application in staircase climbing robots. In this study, a PLA–based umbrella wheel structure is developed and fabricated using fused deposition modeling (FDM) for application in stair-climbing robots. The umbrella wheel geometry enables transformation from a circular rolling …
Published in Journal of Polymer & Composites · Vol. 14, Issue 3, 2026 · pp. 808–824 Read article
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Optimisation of Biodiesel synthesis process from various edible oils using KOH and NaOH as homogeneous catalysts
Abstract: In the present experimental study, an optimization of biodiesel production from different kinds of edible oils (Palm oil, Cotton-seed oil and Sunflower oil) using KOH & NaOH as homogenous catalyst has been investigated by one step transesterification method. The research study was conducted into two parts. In the first experimental study, different types of edible oils (Sunflower oil, Cottonseed oil and Palm oil) have been optimised using KOH and NaOH …
Published in Emerging Trends in Chemical Engineering · Vol. 11, Issue 2, 2024 · pp. 69–77 Read article
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Unveiling Patterns in Complexity: The Role of Simple Statistics and Fuzzy Mathematics in Data Analysis
Abstract: In this study, statistical methods must be integrated with fuzzy mathematics to solve complex data. Statistical methods offer clear, unbiased, and computationally feasible tools for analysing numerical data. whereas fuzzy mathematics excels in describing the vagueness and ambiguity of human feeling by way of linguistic variables, membership functions, and inference systems. Giving it an apparent advantage when modelling complex conditions. Hybrid frameworks offer fine-grained decision-making and resilient adaptability to real-world …
Published in Research & Reviews : Journal of Statistics · Vol. 14, Issue 1, 2025 · pp. 01–10 Read article
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Tribological Assessment of Chemically Modified Jatropha Curcas Oil Developed by Addition of Graphite Nanoparticles for Biolubricant Applications
Abstract: As an alternative to petroleum-based lubricants, environmentally friendly bio-based lubricants are gaining popularity in the lubrication industry. A sustainable bio-based lubricant, Jatropha Curcas Oil (JCO) incorporates nanoparticles as additives. Nevertheless, this oil cannot be used directly as a biolubricant due to its low oxidative stability. By redesigning the oil's molecular structure through chemical modification, this restriction can be overcome. Epoxidation and oxirane ringopening were the two steps used in this …
Published in Journal of Polymer & Composites · Vol. 13, Issue 2, 2025 · pp. 47–58 Read article
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Analysis of Rear Suspension Geometry of an ATV
Abstract: This research presents the design and optimization of a rear suspension system specifically developed for an All-Terrain Vehicle (ATV), with the primary goal of enhancing ride quality, handling, and overall dynamic performance across diverse terrains. A key objective is to improve damping characteristics while minimizing unwanted changes in track width and wheelbase during suspension articulation. The study carefully examines critical suspension parameters, including camber angle, toe angle, and wheel travel, …
Published in Journal of Polymer & Composites · Vol. 13, Issue 5, 2025 · pp. 275–286 Read article
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Dynamic Modeling and Simulation of Multi-Body Mechanical Systems: A Comprehensive Review of Methods, Tools, and Applications
Abstract: The dynamic modeling and simulation of multi-body mechanical systems (MBS) form a cornerstone in modern mechanical engineering, enabling in-depth analysis of the kinematic and kinetic behaviors of interconnected rigid and flexible components. MBS are foundational to a range of critical applications, from automotive suspensions and aerospace mechanisms to robotics and biomechanical structures. As system complexity and performance requirements increase, accurate and scalable modeling techniques are essential for both design validation …
Published in International Journal of Mechanical Dynamics and Systems Analysis · Vol. 3, Issue 1, 2025 · pp. 35–42 Read article
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Biomechanical Impact of Text Neck Syndrome on Cervical Spine and Upper Quarter Musculoskeletal System
Abstract: Text Neck Syndrome (TNS) has emerged as a modern musculoskeletal disorder associated with prolonged use of handheld digital devices, resulting in sustained cervical flexion and altered spinal biomechanics. This article explores the biomechanical consequences of TNS on the cervical spine and upper quarter musculoskeletal system, including muscular imbalance, altered load distribution, ligamentous strain, and degenerative changes. Increased cervical flexion significantly elevates compressive forces on intervertebral discs and facet joints, disrupting …
Published in Research and Reviews: A Journal of Health Professions · Vol. 16, Issue 1, 2026 Read article
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The Integrity of Bio-Stimulant Efficiency of Mint Leaf (Mentha Piperita) on Crude Oil Remediation in Soil Environment
Abstract: This research addresses the integrity of biostimulant efficiency of mint leaf (Mentha piperita) on crude oil remediation in soil environments. The soil environment consideration in this investigation is loamy and some soil properties were examined; obtained data revealed a nitrogen value of 5.82%, phosphorus value of 46.91mg/kg, potassium value of 417.51mg/kg, and hydrogen-utilizing bacteria (HUB) value of 13.19cfu/g for unpolluted loamy soil, whereas polluted soil with crude oil data are …
Published in International Journal of Pollution: Prevention & Control · Vol. 4, Issue 1, 2026 · pp. 41–47 Read article