Instant center is an important kinematic characteristic which can be used for velocity and singularity analysis, configuration synthesis dynamics modeling of multi-degree freedom (multi-DOF) planar linkage. The Aronhold–Kennedy theorem famous locating instant centers four-bar linkage, but single-loop multi-DOF linkages, it fails. Increasing with the number links lack link relationship makes ide...

The design of a knee joint is a key issue in robotics to improve the locomotion and the performances of the bipedal robots. We study a design for the knee joints of a planar bipedal robot, based on a four-bar linkage. We design walking reference trajectories composed of double support phases, single support phases and impacts. The single support phases are divided in two sub-phases. During the ...

A linkage-based chewing device is proposed to perform standardised chewing for use in food evaluation. The linkage for chewing is firstly specified in terms of the trajectory of the first molar and the chewing force, according to the in vivo measurements of the human chewing ranging from grinding (or lateral chewing) to crunching (or vertical chewing). A fourbar linkage is synthesized to achiev...