Static balance is the reduction or elimination of the actuating effort in quasi-static motion of a mechanical system by adding non-dissipative force interactions to the system. In recent years, there is increasing recognition that static balancing of elastic forces in compliant mechanisms leads to increased efficiency as well as good force feedback characteristics. The development of insightful and pragmatic design methods for statically balanced compliant mechanisms is the motivation for this work. In our approach, we focus on a class of compliant mechanisms that can be approximated as spring-loaded rigid-link mechanisms. Instead of developing static balancing techniques directly for the compliant mechanisms, we seek analytical balancing techniques for the simplified spring–loaded rigid–link approximations. Towards that, we first provide new static balancing techniques for a spring-loaded four-bar linkage. We also find relations between static balancing parameters of the cognates of a four-bar linkage. Later, we develop a new perfect static balancing method for a general n-degree-of-freedom revolute and spherical jointed rigid-body linkages. This general method distinguishes itself from the known techniques in the following respects: 1 It adds only springs and not any auxiliary bodies. 2 It is applicable to linkage shaving any number of links connected in any manner. 3 It is applicable to both constant(i.e., gravity type) and linear spring loads. 4 It works both in planar and spatial cases. This analytical method is applied on the approximated compliant mechanisms as well. Expectedly, the compliant mechanisms would only be approximately balanced. We study the effectiveness of this approximate balance through simulations and a prototype. The analytical static balancing technique for rigid-body linkages and the study of its application to approximated compliant mechanisms are among the main contributions of this thesis.

Existing classes of centrifugal clutch concepts were reviewed. The pseudo-rigid-body model (PRBM), rigid-body replacement synthesis, force-deflection analysis, compliance potential evaluation, and compliant concept evaluation were used to develop effective new centrifugal clutch concepts. These methods helped develop and model four novel compliant centrifugal clutch designs, model two existing designs, and identify a concept with excellent potential for low-cost centrifugal clutch applications. This concept, the floating opposing arm (FOA) clutch, doubles the torque capacity metric relative to existing compliant designs. Torque and engagement speed models for this clutch were developed and verified against four prototype clutches. Additional novel designs devel-oped through this work have lower torque capacities, but also show good potential because of other unique characteristics. All of the designs were prototyped and tested to measure their torque-speed relationships.

Reach truck masts are subjected to oscillations, which have significant impacts on the dynamics of the entire vehicle. Mast oscillations can cause undesirable outcomes in extreme situations and therefore it is desirable to be able to predict these outcomes before they occur. A forklift manufacturer in Mjölby initiated a thesis with the intention to obtain a model that can simulate mast sway for situations where oscillations occur. The objective of the thesis was to create a model of Triplex masts and find dependencies between model parameters and variables such as fork height and load. The thesis was conducted modelling the mast with a rigid multibody approach where torsion springs and dampers were used between mast parts to simulate mast elasticity. Clearance at the connections were considered and included in the model. The obtained model constitutes of 8 parameters that could be tuned to attain different oscillation characteristics. Parametric optimisation was carried out to find optimal sets of parameters for compliance with sway measurement tests with different load and fork height cases.  The thesis has resulted in a model that is able to simulate mast sway with different oscillation characteristics depending on model parameters. Performed parametric optimisation resulted in parameters that reveal useful information about how model parameters depend on load and fork height. The method used for obtaining optimal parameters can likewise be applied to other mast models in order to gain insight into model parameters as functions of load and fork height.

Physics engines have become increasingly prevalent in everyday technology. In the context of this thesis they are regarded as a readily available data set that has the potential to intuitively present the process of sonification to a wide audience. Unfortunately, this process is not the focus of attention when formative decisions are made concerning the continued development of these engines. This may reveal a missed opportunity when considering that the field of interactive sonification upholds the importance of physical causalities for the analysis of data through sound. The following investigation deliberates the contextual framework of this field to argue that the physics engine, as part of typical game engine architecture, is an appropriate foundation on which to design and implement a dynamic toolset for interactive sonification. The basis for this design is supported by a number of significant theories which suggest that the underlying data of a rigid body dynamics physics system can sustain an inherent audiovisual metaphor for interaction, interpretation and analysis. Furthermore, it is determined that this metaphor can be enhanced by the extraordinary potential of the computer in order to construct unique abstractions which build upon the many pertinent ideas and practices within the surrounding literature. These abstractions result in a mental model for the transformation of data to sound that has a number of advantages in contrast to a physical modelling approach while maintaining its same creative potential for instrument building, composition and live performance. Ambitions for both sonification and its creative potential are realised by several components which present the user with a range of options for interacting with this model. The implementation of these components effectuates a design that can be demonstrated to offer a unique interpretation of existing strategies as well as overcoming certain limitations of comparable work.

Computational modeling of joints and their function, a developing field, is becoming a significant health and wellness tool of our modern age. Due to familiarity of prior research focused on the lower extremity, a foot and ankle 3D computational model was created to explore the potential for these computational methods. The method of isolating CT scanned tissue and rendering a patient specific anatomy in the digital domain was accomplished by the use of MIMICS™ , SolidWorks™, and COSMOSMotion™ – all available in the commercial domain. The kinematics of the joints are driven solely by anatomically modeled soft tissue applied to articulating joint geometry. Soft tissues are based on highly realistic measurements of anatomical dimension and behavior. By restricting all model constraints to true to life anatomical approximations and recreating their behavior, this model uses inverse kinematics to predict the motion of the foot under various loading conditions. Extensive validation of the function of the model was performed. This includes stability of the arch (due to ligament deficiency) and joint behavior (due to disease and repair). These simulations were compared to a multitude of studies, which confirmed the accuracy of soft tissue strain, joint alignment, joint contact force and plantar load distribution. This demonstrated the capability of the simulation technique to both qualitatively recreate trends seen experimentally and clinically, as well as quantitatively predict a variety of tissue and joint measures. The modeling technique has further strength by combining measurements that are typically done separate (experimental vs. clinical) to build a more holistic model of foot behavior. This has the potential to allow additional conclusions to be drawn about complications associated with repair techniques. This model was built with the intent to provide an example of how patient specific bony geometry can be used as either a research or surgical tool when considering a disease state or repair technique. The technique also allows for the repeated use of anatomy, which is not possible experimentally or clinically. These qualities, along with the accuracy demonstrated in validation, prove the integrity of the technique along with demonstrating its strengths.

The use of computational modeling is an increasingly commonplace technique for the investigation of biomechanics in intact and pathological musculoskeletal systems. Moreover, given the robust and repeatable nature of computer simulation and the prevalence of software techniques for accurate 3-D reconstructions of tissues, the predictive power of these models has increased dramatically. However, there are no patient-specific kinematic models whose function is dictated solely by physiologic soft-tissue constraints, articular shape and contact, and without idealized joint approximations. Moreover, very few models have attempted to predict surgical effects combined with postoperative validation of those predictions. Given this, it is not surprising that the area of foot/ankle modeling has been especially underserved. Thus, we chose to investigate the pre- and postoperative kinematics of Adult Acquired Flatfoot Deformity (AAFD) across a cohort of clinically diagnosed sufferers. AAFD was chosen as it is a chronic and degenerative disease wherein degradation of soft-tissue supporters of the medial arch eventually cause gross malalignment in the mid- and hindfoot, along with significant pain and dysfunction. Also, while planar radiographs are still used to diagnose and stage the disease, it is widely acknowledged that these 2-D measures fail to fully describe the 3-D nature of AAFD. Thus, a population of six patient-specific rigid-body computational models was developed using the commercially available software packages Mimics® and SolidWorks® in order to investigate foot function in patients with diagnosed Stage IIb AAFD. Each model was created from patient-specific sub-millimeter MRI scans, loaded with body weight, individualized muscle forces, and ligament forces, in single leg stance. The predicted model kinematics were validated pre- and postoperatively using clinically utilized radiographic angle distance measures as well as plantar force distributions. The models were then further exploited to predict additional biomechanical parameters such as articular contact force and soft-tissue strain, as well as the effect of hypothetical surgical interventions. Subsequently, kinematic simulations demonstrated that the models were able to accurately predict foot/ankle motion in agreement with their respective patients. Additionally, changes in joint contact force and ligament strain observed across surgical states further elucidate the complex biomechanical underpinnings of foot and ankle function.

Objetiva-se discutir e explorar as consequências da conservação do momento angular em situações físicas que apresentem dissipação de energia. Frequentemente, sistemas mecânicos dissipativos são omitidos nas formulações matemáticas da mecânica clássica. No entanto, a conservação da energia mecânica é uma idealização drasticamente incompatível, a longos períodos de tempo, com a maioria das situações reais. Apesar de parecer controversa, esta abordagem é compreensível desde que é incluída na dissipação toda a complexidade dos sistemas mecânicos, os quais não podemos modelar completamente. Espera-se assim que os resultados obtidos sejam parcialmente comprovados em experimentos, sendo que a discrepância é atribuída à parte desconhecida do fenômeno, que muitas vezes é considerada irrelevante para fins práticos. Devido à mencionada complexidade de fenômenos dissipativos, a postura adotada nesta dissertação foi analisar específicos exemplos, de natureza distinta, simplificados, que apresentem as duas propriedades em questão. Concentrou-se especialmente no problema de dissipação de energia em corpos deformáveis na ausência de estímulos externos. / The goal of this work is to study physical systems where angular momentum is a conserved quantity while energy is dissipated. It is a common practice among people working on classical mechanics to neglect energy dissipation. While this hypothesis leads to beautiful mathematical theories, it is strongly violated by the majority of real world systems. The physical complexity of the many ways in which energy is dissipated turns the mathematical modelling of dissipative forces troublesome. There is essentially no general mathematical model for dissipative forces in good agreement with a wide range of experiments. This is in contrast to the very few accepted conservative force models: gravity, elasticity and magneto-electricity. The dissipative force model usually varies among the various physical situations. So, in this work several systems where energy is dissipated while angular momentum is conserved will be considered. The main example will be the motion of a deformable body free from external forces and torques.

O presente trabalho dedica-se a uma modelagem da interação entre corpos celestes, em regime Newtoniano, levando-se em consideração as influências que suas deformações e viscosidades internas exercem sobre seus movimentos orbitais e suas velocidades angulares. A abordagem adotada é uma variação do conhecido problema do corpo pseudo-rígido, a qual simplifica drasticamente a determinação dos equilíbrios relativos e torna a questão da dinâmica matematicamente acessível. Com este tratamento, podemos relacionar ou comparar os resultados com aqueles estabelecidos na literatura, dentre eles: formato de equilíbrio de um fluido isolado em rotação, deformação de maré causada pela interação gravitacional e o torque de maré induzido no mesmo. Pela simplicidade do modelo pode-se ainda fazer uma análise qualitativa da dinâmica do sistema e obter estimativas sobre a velocidade com que se aproxima dos equilíbrios. / The present work is devoted to model the interaction among celestial bodies, in a Newtonian regime, but considering the role played by the internal deformation and viscosity on the orbital motion and angular velocities of the components of the system. The work is mainly developed with an alternative approach to the pseudo-rigid body model, which simplifies the determination of the relative equilibria and allows precise conclusions about the dynamics. So, we are able to compare the results of this theory with those established in the literature, namely: the equilibrium shape of an isolated fluid in rotation, the tidal elongation induced by gravitational interaction and the tidal torque. Due to its simplicity, we can further perform a qualitative analysis of the dynamics of the system and estimate the velocity of attraction of the equilibrium states.

Rigid body targets in exo-atmospheric free fall undergo motions defined by classical dynamics. Radar signatures provide a platform for estimation of various parameters relating to the motion and scattering characteristics of the target. This thesis provides a Radar based, physics constrained, estimator of the motion which generates these signatures. As part of this analysis, it defines a motion model for a ``nearly' axially symmetric target in terms of its inertial parameters. We show that the time-varying range to a point on the rigid body can be expressed in the form of an amplitude and frequency modulated signal. The frequency decomposition of this range function is used to estimate the target's elliptic modulus, an inertial parameter directly related to the asymmetry. This result has immediate application as a tool to assist the radar analyst in further target characterization and constitutes and essential step to the full reconstruction of a target's geometry from its signature.

<p>The purpose of this report is to cover the procedure of creating and explaining how to use a tool kit that allows the haptic Application Programming Interface (API) H3D from SenseGraphics to be used in conjunction with an advanced physics simulator from Meqon. Both haptic applications and physics engines have developed rapidly the last couple of years but they are rarely used together. If such a connection would be created it would be possible to interact with complex environments in a new way and a variety of haptic applications can be produced.</p><p>The physics engine from Meqon has gained recognition for its abilities to produce realistic results due to efficient implementation of collision detection system, friction models and collision handling, among other things. H3D is a completely open source API that is based on standards such as OpenGL and X3D. H3D consists of a data base containing nodes, an XML parser to extract a scene graph from the data base and functionality to produce a graphic and haptic interface.</p><p>The tool kit produced in this thesis is an extension to H3D. A fundamental function of the tool kit is to communicate with the Meqon system and still be a part of the H3D structure. The Meqon system has a modular structure where each module has its own abilities. Only the rigid body module is utilised by the tool kit, which however is the most important module. It is possible to define global settings of the engine and rigid body module, add rigid bodies with several elements and insert constraints on the motion of the rigid bodies into the engine. All of these operations are done from the X3D file format that H3D uses, thus letting all functionality of the H3D system available.</p>