Abstract. The manuscript presents the development of a flexible multibody model to study behavior distributed-compliance helical transmission joint. This kind joint has not already been studied in literature and its simulation challenges with complexities. approach breaks through these provides some interesting results. It’s exposed first upon kinematic joint; then stress analysis is provided; ...

This paper presents a practical study on how to improve the ℋ∞ performance and meet input–output constraints of two-degrees-of-freedom (DOF) flexible-joint manipulator system (FJMS) with parameter uncertainties external disturbances. For this reason, robust constrained moving-horizon controller is designed while still satisfying uncertain system. First, controlled model two-DOF FJMS established...

In this paper we provide a vibration analysis model and the modeling method for a fully flexible 3-Parallel-Revolute-joint-and-Spherical-joint (3PRS) manipulator—a sliding-leg tripod with flexible links and joints. A series of tripod configurations are set by rigid kinematics for simulation and experiment. All the links are modeled by finite elements: triangular membranes combined with bending ...

Key words: phenotypic plasticity, effect of use on Hominoid ankle shape, effect of habitat on behavior. The hominin fossil record is punctuated by variation and rapid change in talo-crural articular joint shape. Prior studies in a diverse Catarrhine sample using Singular Warp analysis has revealed that similar shape is observed across superfamilies due to substrate use, but genera can differ in...

Arthrodesis of the first metatarsophalangeal joint is indicated for hallux valgus associated with degenerative changes, severe deformity, or rheumatoid arthritis and those for whom primary hallux valgus surgery has failed. Open approach requires extensive soft tissue dissection. The purpose of this Technical Note was to report the details of arthroscopic arthrodesis of the first metatarsophalan...