This paper deals with the development of single actuator walking robots designed by coupling two mechanisms. The advantages such are simplicity design and its control system. In this paper, three various concepts carried out via units which four-bar linkages, slider-crank mechanisms, a cam mechanism pantograph linkage. geometrical syntheses these mechanisms have been analyzed, based on them, an...

This work is an extension of the authors’ published work on a planar four-bar motion generation search algorithm with Grashof, transmission angle and linkage perimeter conditions [1]. This latest work considers planar four-bar path generation with a coupler point load, crank static torque, crank transverse deflection and follower buckling in a modified search algorithm. As demonstrated in the e...

In this paper, a new method for dynamic balancing of double four-bar crank slider mechanism by metaheuristic-based optimization algorithms is proposed. For this purpose, a proper objective function which is necessary for balancing of this mechanism and corresponding constraints has been obtained by dynamic modeling of the mechanism. Then PSO, ABC, BGA and HGAPSO algorithms have been applied for...

Repeated and intensive gait training can improve muscle strength movement coordination of patients with neurological or orthopedic impairments. However, conventional physical therapy by a physiotherapist is laborious expensive. Therefore, this not accessible for the majority patients. This paper presents six-bar linkage mechanism human rehabilitation natural ankle trajectory. Firstly, selected ...

Enabled by advances in both integrated circuit technology and micro electrome-chanical systems (MEMS), the continuing miniaturization and integration of electronics, sensors, actuators and mechanisms will make it feasible to create insect-sized autonomous microrobots. We propose to create a class of autonomous crawling microrobots the size on the order of 1cm 3 and equipped with a power source,...

In general, joints are assumed without clearance in the dynamic analysis of multi-body echanical systems. When joint clearance is considered, the mechanism obtains two uncontrollable degrees of freedom and hence the dynamic response considerably changes. The joints’ clearances are the main sources of vibrations and noise due to the impact of the coupling parts in the joints. Therefore, the syst...

This paper classifies the movement of the RRSS spatial linkage in terms of its link dimensions. The constraint equation for this chain relates the rotation angles of the input crank and coupler around the two revolute joints. The condition for a real valued solution for the coupler angle as a function of the input angle yields a quartic polynomial. We use three polynomial discriminants obtained...

the main objective of this paper is to introduce a new intelligent optimization technique that uses a predictioncorrectionstrategy supported by a recurrent neural network for finding a near optimal solution of a givenobjective function. recently there have been attempts for using artificial neural networks (anns) in optimizationproblems and some types of anns such as hopfield network and boltzm...