A new coupling solution for transmitting the rotation motion between two shafts with crossed axes is proposed. Based on structural considerations, a planar (P) pair introduced into structure of mechanism, presenting advantage reduced costs due to constructive and manufacturing simplicity high reliability. The proposed mechanism RRPRR type, symmetry simplifies substantially construction mechanism. parameters are angle distance driving driven shaft also length common normal revolute (R) pairs,...

This paper examines the influence of eight assembling modes 3-RRR planar manipulator on its workspace. The workspace is analyzed considering both first-type and second-type singularities. Understanding these issues crucial in process designing such manipulators to avoid unfavorable cases. Additionally, a modular platform concept, suitable for experimental testing informed by numerical results presented here, proposed. outcomes tests will be addressed future work.

Pharmaceuticals and dyes are a very important part of the nonbiodegradable or hard biodegradable substances present in wastewater. Microorganisms already known to be effective biosorbents, but use free microbial cells involves difficulties their separation from effluents limits application wastewater treatment. Thus, this study aimed develop biosorbents by immobilizing Saccharomyces cerevisiae, pastorianus residual biomass on natural polymers (alginate chitosan) evaluate biosorptive...

The ankle joint (AJ) is a crucial in daily life, responsible for providing stability, mobility, and support to the lower limbs during routine activities such as walking, jumping, running. Ankle injuries can occur due sudden twists or turns, leading ligament sprains, strains, fractures, dislocations that cause pain, swelling, limited mobility. When AJ trauma occurs, instability happens, causing mobility limitations even loss of rehabilitation therapy necessary. critical those recovering from...

In the present study, capacity of two commercial NiTi and NiTiCu shape memory alloy (SMA) wires to develop work-generating (WG) constrained-recovery (CR) effects (SMEs), as well a NiTiFe super-elastic wire act cold-shape restoring element, have been investigated. Using differential scanning calorimetry (DSC), reversible martensitic transformation austenite three NiTi-based under study was emphasized by means an endothermic minimum heat flow variation with temperature. fragments were further...

The paper deals with a workspace problem of the 3 RRR planar parallel mechanism, used as robot structure. Depending on dimensional parameters and constructive characteristics, authors search to depict shape particularities mechanism mechanism. This characterization depending can be usefull in designing accorded some functional also help avoiding singular configurations.

As walking robots are requested to perform tasks in rough terrain, the development of actuators capable flexibly adapt unstructured environment becomes more and necessary. The conventional mechanisms with stiff joints make complex, heavy, large expensive. Shape Memory Alloys a category artificial muscles which can be used as for robot. Even if they exhibit changes shape when heated cooled, only one part their de-formation used, we want maximize actuator life. This is why smart that convert...

We propose a rehabilitation device that we intend to be low cost and easy manufacture. The system will ensure functionality but also have small dimensions mass, considering the physiological of foot lower leg. To avoid injure ankle joint, this is equipped with compliant joint between motor mechanical transmission. torque intended adjustable, according degree damage. choose material in paper perform first stress simulation. minimum calculated, while maximum given by preliminary chosen actuator.

Transformable structures in architecture can adapt their shape or function offering dynamic answers to modern problems, such as deployement for creating temporary spaces, responsiveness climatic influences and change of use, a society which embraces the concept sustainable design. Depending on how transformation is carried out, transformable be deployable demountable, kit-parts system. According structural system, also classified four main groups: spatial bar structures; foldable plate...

Purpose At present, more than 100 million undetonated landmines left over from wars remain buried worldwide. These mines kill or injure approximately 3,000 individuals each year (80 persons per day), most of them civilians. They represent a particularly acute problem in developing countries and nations already economically hard hit by war. The unexploded has become serious international issue, with many people striving to find solution. purpose this paper is examine the requirements robotic...

In recent decades a considerable number of mobile robots with different locomotion systems have been developed. This paper is an overview on the designs hybrid locomotion. Some solutions mechanisms and control methods are presented. Most included in this category using wheel-leg as systems. way, efficiency leg for moving rough terrain combined design simplicity low energy consumption wheel, when robot structured environment.

People with walking disorders, due accidents or stroke, can be treated to regain their mobility. Conventional therapy is laborious and time consuming. Therefore a new tendency was born, facilitate the rehabilitation reduce spent on machines. Rehabilitation robotics field in continuous expansion recently novel mechanisms have been designed help humans In this paper short overview of ankle recovery systems presented.

This paper discusses structural and kinematic aspects of a novel ankle rehabilitation device. device will facilitate the recovery, providing two types motions: pitch roll. The platform is design to be light weight, easy realize low cost (comparing actual devices on market). difficulty exercises can gradually increased until we reach full recovery.

Purpose The purpose of this paper is to address optimal positioning a group mobile robots for successful manipulation and transportation payloads any shape. Design/methodology/approach chosen methodology achieve the around payload lift it transport while maintaining geometric multi-robot formation presented. This appropriate configuration set obtained by combining constraints ensuring stable safe lifting payload. A suitable control law then used track virtual structure in which each...