Download Advances in Italian Mechanism Science: Proceedings of the by Giovanni Boschetti, Alessandro Gasparetto PDF

By Giovanni Boschetti, Alessandro Gasparetto

This quantity comprises the complaints of the 1st overseas convention of IFToMM Italy (IFIT2016), held on the collage of Padova, Vicenza, Italy, on December 1-2, 2016. The e-book comprises contributions at the most up-to-date advances on Mechanism and laptop technological know-how. The fifty-nine papers take care of such subject matters as biomechanical engineering, background of mechanism and computing device technology, linkages and mechanical controls, multi-body dynamics, reliability, robotics and mechatronics, transportation equipment, tribology, and vibrations.

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This needle is the first prototype of this size that is capable of steering in 3D, due to the four segment design. This was achieved by pushing the boundaries of the additive layer manufacturing technique used in this work. ) however, a novel approach was required in order to produce a four segment needle at this scale. Multi-target Planar Needle Steering with a Bio-inspired Needle Design 53 Fig. 1 3D render (Left) and side profile (A) of one of the segments of the new STING needle prototype, showing the wing and tip designs and the ‘composite’ body structure made up of soft (black) and rigid (white) sections.

References 1. Chestnutt J, Lau M, Cheung G, Kuffner J, Hodgins J, Kanade T (2005) Footstep planning for the Honda Asimo humanoid. In: Proceedings of the 2005 IEEE international conference on robotics and automation, 2005. ICRA 2005. IEEE, pp 629–634 2. Gouaillier D, Collette C, Kilner C (2010) Omni-directional closed-loop walk for NAO. In: 2010 10th IEEE-RAS international conference on humanoid robots (humanoids). IEEE, pp 448–454 A Kinematic Solution of a Novel Leg Mechanism … 49 3. Lim HO, Takanishi A (2007) Biped walking robots created at Waseda University: WL and WABIAN family.

The expressions of αb, αf, αl and β can be written as functions of the joint parameters from Eqs. 20–23 as cos αb = s2f − s2b − 4ðb − aÞ2 4ðb − aÞsb ð24Þ cos αf = s2f − s2b + 4ðb − aÞ2 4ðb − aÞsf ð25Þ 46 M. Russo and M. Ceccarelli cos αl = s2f − s2b 4ðb − aÞsl vffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi h i u u8ðb − aÞ2 2s2 − s2 − s2 + 16ðb − aÞ4 u l f b sin β = u h i2 t ½4ðb − aÞsl Š2 − s2f − s2b ð26Þ ð27Þ Therefore, direct kinematics is solved by substituting Eqs.

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