This paper presents a simple procedure that can be used to determine the stiffness matrix of 6R serial manipulator in selected points of the work space with joint stiffness coefficients taking into account. Elastokinematical model for the robot manipulator FANUC S-420F was considered as spatial and serial kinematical chain composed of six rigid links, connected by ideal revolute joint (without ...

It is known that marine sediments can support both compressional and shear waves. However, published work on scattering from irregular elastic media has not examined the influence of shear on sea bed scattering in detail. A perturbation model previously developed by the authors for joint roughness-volume scattering is used to study the effects of elasticity for three sea bed types: sedimentary ...

We present the procedure for the optimization of the stiffness of the prosthetic foot. The procedure allows the selection of the elements of the foot and the materials used for the design. The procedure is based on the optimization where the cost function is the minimization of the difference between the knee joint torques of healthy walking and the walking with the transfemural prosthesis. We ...

We present the procedure for the optimization of the stiffness of the prosthetic foot. The procedure allows the selection of the elements of the foot and the materials used for the design. The procedure is based on the optimization where the cost function is the minimization of the difference between the knee joint torques of healthy walking and the walking with the transfemural prosthesis. We ...

It is well known that Korn's inequality plays a central role in the theory of linear elasticity. In their recent work Grabovsky and Truskinovsky (2007) proved a connection between the Korn inequalities and buckling problems coming from nonlinear elasticity. It has been shown that when the general buckling theory by Grabovsky and Truskinovsky is applicable, then Korn's inequality gives a lower b...

The paper considers the problem of dynamic joint work a structure with base during seismic actions propagating from level mountain massif through layered group medium in direction structure. main attention is focused on extreme case vertically transverse waves, their reflections and transitions soil. Wave equations elasticity theory are used to describe processes.

this paper presents optimal control method to path planning of mobile robots with flexible joints. dynamic equations are derived and additional kinematic constraints are used to solve the extra dofs arose from base mobility. then with modeling the elasticity at each joint as a linear torsinal spring, the set of equations are formed. the hamiltonian function is formed and the necessary condition...

BACKGROUND Animal studies have shown that local application of platelet-rich plasma (PRP) stimulates tendon repair. Preliminary results from a retrospective case series have shown faster return to sports. HYPOTHESIS Autologous PRP stimulates healing of acute Achilles tendon ruptures. STUDY DESIGN Randomized controlled trial; Level of evidence, 2. METHODS Thirty patients were recruited con...

This paper explores both theoretically and empirically whether or not the willingness to pay (WTP) for pollution control varies with income. Our model indicates that the income elasticity of the marginal WTP for pollution reduction is only constant under very restrictive conditions, which are not necessary for an environmental Kuznets curve relationship between pollution and income. Our empiric...