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...

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...

The dimensional synthesis is done by using Genetic Algorithm to achieve a desired trajectory. Three problems are analyzed having different curvature. The program is authored in MATLAB ® 2010a. The error is seen to be in the permissible prescribed limit. The prototyping of straight line trajectory analysis is also done in ADAMS ® .

Passive linkages were developed to improve grasp functionality and minimize a prosthetic terminal device's number of user-controlled inputs. The linkages act to stabilize grasped objects and substitute for the palp of normal anatomical fingers. The Southampton Hand Assessment Procedure was used to compare the normal anatomical hand, this prototype, and a commercially available (Hosmer) hook. In...