This paper presents a method to optimize the energy efficiency of walking bipedal robots by more than 50 % in a speed range from 0.3 to 2.3m/s using elastic couplings – mechanical springs with movement speed independent parameters. The considered robot consists of a trunk, two stiff legs and two actuators in the hip joints. It is modeled as underactuated system to make use of its natural dynami...

conclusions bilateral anterior shoulder dislocation is rare. it could be undiagnosed, especially when there is no clear history of major trauma. by awareness of such unusual possibility, early diagnosis, treatment, and reduction can provide desirable outcome. introduction shoulder dislocation is the most common presentation of joint dislocation in emergency department (ed). bilateral shoulder d...

In this paper, the initial part of a laboratory and numerical experimental campaign dedicated to historical masonry is described. One leaf panels with regular texture are built in order simulate material characterised by strong resisting elements weak mortar joints. Laboratory tests first components then behaviour compression panels, which applied both orthogonal parallel bed joints, highlight ...

Objectives: Nowadays, Snap-fits are used in the automotive industry as a proper alternative for mechanical joints, cabling joints, and car interior lining joints. Due to the special form of these joints, which are assembled manually, the contact area between Snap-fits and the worker’s fingertips can be too small. This can cause skin pain on the worker’s  fingertips. Therefore, ...

The mechanical characteristics and orientation of joints determine the behaviour of rock masses, including the strength, the stiffness, and all forms of conduction and diffusion. Furthermore, the preferential orientation of joints renders the medium anisotropic. In turn, these properties affect the velocity and damping of propagating elastic waves. The purpose of this study is to investigate th...

The effect of joint size on the loading capacity of wood single lap joints was studied with an orthogonal experimental design. The maximum load, modulus of elasticity, and modulus of rupture were the three mechanical indexes used to evaluate wood joint quality. A simulation model of bending tests was established using the finite element method. The stress distributions of the joints were analyz...

Many algorithms for the modelling and calculation of the dynamics of rigid parallel manipulators already exist, and are based on two approaches: The Newton-Euler method and the Lagrangian principle. For the Newton-Euler method the dynamics equations are generated by the complete analysis of all forces and torques of each rigid body in the robot’s structure (Featherstone & Orin, 2000, Spong & Vi...

Thin soft elastic layers serving as joints between relatively rigid bodies may function as sealants, thermal, electrical, or mechanical insulators, bearings, or adhesives. When such a joint is stressed, even though perfect adhesion is maintained, the exposed free meniscus in the thin elastic layer becomes unstable, leading to the formation of spatially periodic digits of air that invade the ela...