Mechanical and Aerospace Engineering

Special MAE Seminar

Kinematic Mapping: Recent Results and Applications

Professor Manfred L. Husty

University of Innsbruck, Austria

Abstract: Various mathematical formulations are used to formulate the kinematics of mechanisms and robots. The mathematical modelling is the basis for kinematic analysis and synthesis, e.g. to compute motion capabilities, singularities, workspaces, operation modes velocities and accelerations on one hand and to obtain design parameters on the other. Vector/matrix formulation containing trigonometric functions is the most favored approach to solve these tasks in the engineering research community. A less well known, but nevertheless very successful approach relies on an algebraic formulation via the point model of Euclidean displacements in the kinematic image space. In this approach mechanism constraints are described with algebraic (polynomial) equations and these sets of equations pertaining to some given mechanism or robot, are solved with the powerful tools of algebraic and numerical algebraic geometry. Within the talk some new results concerning the kinematics of lower dimensional parallel manipulators, such as direct kinematics, workspace, operation and assembly modes and some aspects of the kinematics of cable robots will be discussed. In detail the following topics will be addressed:

  • Methods to establish the sets of equations – the canonical equations
  • Direct kinematics of n < 6-cable manipulators in crane configuration,
  • Jacobian, singularities and operation modes
  • Some examples.

Short Bio: Prof. Manfred Husty received a Mag. rer nat.(master degree) 1979 and in 1983 a Dr. techn. both from TU-Graz; he joined the Institut of Mathematics and Applied Geometry of Montan University Leoben, Austria and got the Habilitation in geometry in 1988 from Montan University Leoben. 1993/94 he obtained an Erwin Schrödinger scholarship and went to McGill University, Montreal. Since 1994 he is associate member of the Centre of Intelligent Machines (CIM) of McGill University. He became Full Professor of geometry in 2000 at University Innsbruck. From 2004-2009 he was Dean of Engineering, University Innsbruck. He teaches several course in geometry, CAD, and kinematics at both the undergraduate and graduate level. His research activities are supported by grants from several agencies. His main research interests are: Mathematical geometrical and problems in robotics, computational kinematics, non-Euclidean differential geometry, theory of surfaces, Lie groups and kinematics. He is member of Austrian mathematical society, Chairmen of IFToMM Austria and past chairman of IFToMM TC Computational Kinematics, editor in chief of IBDG, member of the editorial board of CSME Transactions and member of scientific committees of several international conferences (ARK, Computational Kinematics, EUCOMES, MUSME, CCToMM, etc.)

If you need more information about Prof. Husty’s visit, please contact the host: Professors Bahram Ravani 304-3095 (bravani@ucdavis.edu)

Date/Time
Date(s) - 02/16/2017
2:00 pm - 3:00 pm

Location
1016 Academic Surge

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