By Giovanni Boschetti, Alessandro Gasparetto
This quantity includes the lawsuits of the 1st overseas convention of IFToMM Italy (IFIT2016), held on the collage of Padova, Vicenza, Italy, on December 1-2, 2016. The booklet includes contributions at the most up-to-date advances on Mechanism and desktop technological know-how. The fifty-nine papers take care of such themes as biomechanical engineering, background of mechanism and laptop technology, linkages and mechanical controls, multi-body dynamics, reliability, robotics and mechatronics, transportation equipment, tribology, and vibrations.
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IOS Press A Kinematic Solution of a Novel Leg Mechanism with Parallel Architecture Matteo Russo and Marco Ceccarelli Abstract In this paper, a novel parallel mechanism for a biped robot leg is presented with the designed structure and its characteristics. The synthesis of the kinematic chain of the mechanism is described and the kinematic problem is solved. Keywords Robot design robots ⋅ Leg mechanism design ⋅ Kinematics ⋅ Parallel 1 Introduction In general, leg mechanisms for walking robots are based on serial mechanisms, such as the ones used in Honda’s Asimo  and Nao .
10, noticing that in this case only the ﬁrst, third and fourth angles are subject to variations. This is only an example, but is possible to simulate practically all types of exercises. As well as it will be possible on the robot to execute them. DARTAGNAN a Self-balanced Rehabilitation Robot … 29 Fig. 8 - Arm extension process in the horizontal plane as seen from the top Fig. 9 Robot and arm assumed positions during the previous motion Fig. 10 Angles assumed by the robot during the previous procedure Note also that it is possible for a rehabilitation operator to program special procedures simply choosing the option on the control PC and attacking his forearm or leg to the robot, then moving it according to the calibration procedure in order to supply the robot his/hers limb dimensions, then execute the desired exercise, while the robot records the motion in passive mode.
The needle has a wing structure similar to the design in , which allows the needle to be actuated from the back. The cross section of the segments was optimized using the technique described in , where several parameters of the needle design are adjusted to create an interlock optimized against two failure modes. The cross section and wing structure can be seen in Fig. 1 AA: Rear View. ). ) can be attached, to allow translational and rotational tracking of the needle tip during insertion.