The wheel loader is modeled as a mechanical manipulator with four degrees of freedom (DOFs), which comprises a seven-bar linkage using the symbolic notation of Denavit and Hartenberg. Homogeneous transformation matrices are used to capture the spatial configuration between adjacent links. The forward kinematics method is used to formulate the kinematics equations by attaching Cartesian coordina...

Robust nonlinear control of flexible-joint robots requires that the link position, velocity, acceleration, and jerk be available. In this paper, we derive the dynamic model of a nonlinear flexible-joint robot based on the governing Euler-Lagrange equations and propose extended and unscented Kalman filters to estimate the link acceleration and jerk from position and velocity measurements. Both o...

The suspension basically comprises of a linkage which is a 3D mechanism SRRS (Spherical, Revolute, Revolute, Spherical). On the basis of six included angles of this four bar chain, position of kingpin axis is determined. Once the position of kingpin axis is decided corresponding steering parameters can be determined. In such complex phenomenon involving non-linear kinematics where validation of...

Legs are the most important elements for accomplishing human physical work including transportation or displacement. The article presents a mechanical reproduction of the human walking apparatus. Using design rules, a final mechanism configuration is achieved such that the crank is a binary link connected to a binary ground link. The resulting linkage is a single degree-of-freedom (DOF) eight-b...

This document describes the design and construction of a mechanical device that allows subject with ectrodactyly to perform power grip. For this purpose, coupled bar mechanism for emulation finger is presented, system allows, from single movement, large diameter grip, considering variables obtained anthropometric goniometric measurement techniques. complemented by kinematic static analysis, in ...

A new haptic feedback mechanism with five active degrees of freedom (dof), part of a training simulator for urological operations, is presented. The mechanism consists of a 2-dof 5-bar linkage, and a 3dof spherical joint. To reproduce very small forces and moments, the mechanism has low friction, inertia and mass, is statically balanced, and has a simple mass matrix. Roll-pitch-yaw motions of t...

We consider the relationship between the lengths of the two diagonals in the four-bar planar linkage. For convex and crossing linkages one diagonal increases if, and only if, the other decreases. On the other hand, for non-convex simple linkages one diagonal increases if, and only if, the other increases. We present simple elementary proofs of this geometric property. The proofs are simpler tha...

Adaptive variation in the craniofacial skeleton is a key component of resource specialization and habitat divergence in vertebrates, but the proximate genetic mechanisms that underlie complex patterns of craniofacial variation are largely unknown. Here we demonstrate that the Hedgehog (Hh) signaling pathway mediates widespread variation across a complex functional system that affects the kinema...