The purpose of this article is to inform clinicians of the relevant knowledge gained from research in the field of prosthetics. From a biomechanical point of view, clinicians need relevant knowledge in order to properly prescribe a lower limb prosthesis, including prosthetic components. In this context, and due to the lack of data regarding their utility, a strength-weakness analysis of 8 types...

This paper deals with the development of single actuator walking robots designed by coupling two mechanisms. The advantages such are simplicity design and its control system. In this paper, three various concepts carried out via units which four-bar linkages, slider-crank mechanisms, a cam mechanism pantograph linkage. geometrical syntheses these mechanisms have been analyzed, based on them, an...

Within the multibody systems literature, few attempts have been made to use automatic differentiation for solving forward multibody dynamics and evaluating its computational efficiency. The most relevant implementations are found in the sensitivity analysis field, but they rarely address automatic differentiation issues in depth. This paper presents a thorough analysis of automatic differentiat...

Abstract— Four-bar motion generation is used to synthesize a mechanism which passes through or approximate prescribed rigid-body positions. This work will discuss the motion generation of four-bar mechanism with position tolerance variations due to joint running clearance. The tolerance variations study will be based on the standards of American National Standard Institute (ANSI). The new desig...

Linkage mechanisms are perhaps the simplest mechanical structures in engineering, but they can exhibit significant nonlinearity which can in principle be exploited. In this paper a simple smart structure model is developed based on such nonlinearity to investigate the reconfiguration of a four-bar mechanism through phase space connections. The central idea is based on heteroclinic connections i...

In this paper, a piezoelectrically actuated four-bar mechanism with two flexible links is proposed to be used in a micromechanical flying insect robot wing thorax for stroke amplification. PZT-5H and PZN-PT based unimorph actuators are utilized at the input link of the four-bar for a compact and light weight thorax transmission mechanism. The kinematics and dynamics of the proposed wing structu...

In the present work, graphical enumeration technique is applied for structural synthesis of mechanically constrained planar parallel robot formed by single loop 6bar chain or two 3R chains. Two RR chains are added to the considered system to mechanically constraint the movement of its end-effector. Structural code has been proposed as a new systematic methodology to detect isomorphic graphs. Th...