The results of this thesis concern folding of one-dimensional objects in two dimensions: planar linkages. More precisely, a planar linkage consists of a collection of rigid bars (line segments) connected at their endpoints. Foldings of such a linkage must preserve the connections at endpoints, preserve the bar lengths, and (in our context) prevent bars from crossing. The main result of this the...

Deepak Behera and Dr.J.Srinivas, Department of Mechanical Engineering, NIT-Rourkela 769 008 email: [email protected] Abstract: This paper presents the kinetostatic analysis and design of a two degree-offreedom five-bar underactuated compliant mechanism using a pseudo-rigid body modeling. Two of the joints in the linkage are flexible and actuation is provided to the crank. The slider connected ...

Besides the difficulties in control and gait generation, designing a full-sized (taller than 1.3m) bipedal humanoid robot that can walk with two legs is a very challenging task, mainly due to the large torque requirements at the joints combined with the need for the actuators' size and weight to be small. Most of the handful of successful humanoid robots in this size class that exist today util...

A computer-applicable linear mathematical model has been developed to determine Burmester’s curves for infinitely close relative positions (cubic of stationary curvature), which indirectly uses Carter-Hall’s circle. By varying a free parameter and using elements kinematic analytical geometry, an incomparably simpler solution is achieved than that obtained by the third-degree equations Burmester...

Abstract Classical dynamic balancing techniques do not consider the linkage elastic behavior. For mechanism or robot design purpose, taking into account flexibility of multibody system is utmost importance, in order to be able manufacture a mechanism/robot which stiff enough for given task. This paper deals with novel approach that allows mechanisms by means structural topology optimization whi...