Recently a method has been developed to decouple the equations of motion for multi-rigid body systems. In this paper, the method is first studied, then the equations of motion for a planar two degree-of-freedom robot with flexible joints are carried out using Lagarange's equations and Kane's equation with congruency transformations. Finally, the results obtained from both methods are throroughl...

in this short article, we observe that the path of particle of mass $m$ moving along $mathbf{r}= mathbf{r}(t)$ under pseudo-force $mathbf{a}(t)$, $t$ denotes the time, is given by $mathbf{r}_d= int(frac{dmathbf{r}}{dt} mathbf{a}(t)) dt +mathbf{c}$. we also observe that the effective force $mathbf{f}_e$ on that particle due to pseudo-force $mathbf{a}(t)$, is given by $ mathbf{f}_e= mathbf{f} mat...

it is nowadays less likely to findcomprehensive historical areas, which can represent all the typical features of a historical urban environment. most historical urban spaces have undergone modernization and have inevitably ceased to function as they were originally devised to. however, successful experiences of urban space construction provethat modern urban areascan both meet the present day ...

Objectives: Despite numerous studies, having the best outcome is challenging after flexor tendon repairs in zone 2. This study were done to test the hypothesis that immediate postoperative active mobilization will achieve similar outcomes to passive mobilization. Methods: Fifty fingers in 38 patients with flexor tendon repair in zone 2 were enrolled in this trial. The patients randomly assig...