scholarly journals Basic Study on the Six-Legged Locomotion Machine Using an Approximate Straight-Line Mechanism

1985 ◽  
Vol 21 (6) ◽  
pp. 624-631 ◽  
Author(s):  
Minoru ABE ◽  
Makoto KANEKO ◽  
Shoichiro NISHIZAWA
Keyword(s):  
Legged Locomotion ◽  
Basic Study ◽  
Straight Line ◽  
Straight Line Mechanism

Design and Development of a Novel Infant Surgical Table for 4-DOF Patient Manipulation

2007 ◽  
Author(s):  
Kimberly Ryland ◽  
Carl A. Nelson ◽  
Thomas Hejkal
Keyword(s):  
Premature Infants ◽  
Laser Photocoagulation ◽  
Occupational Injury ◽  
Quality Care ◽  
Blood Vessel Development ◽  
Locking Mechanism ◽  
Straight Line ◽  
Vessel Development ◽  
Straight Line Mechanism ◽  
Standard Table

Retinopathy of Prematurity, caused by abnormal blood vessel development in the retina of premature infants, is a leading cause of childhood blindness. It is treated using laser photocoagulation. Current methods require the surgeon to assume awkward standing positions, which can result in injury to the surgeon if repeated often. To assist surgeons in providing quality care and prevent occupational injury, a new infant surgical table was designed. The engineered solution is an attachment to a standard surgical table, saving cost and space. This takes advantage of the adjustable height and tilt provided by the standard table, while 360° rotation designed into the attachment allows the surgeon to sit during surgery. The critical cords and tubes are routed through the attachment to avoid pulling and kinking. A four-bar locking mechanism allows easy attachment to standard medical railing. Finally, a straight line mechanism provides positive locking of the rotation, allowing precise positioning of the infant.

Mathematical Model for Face-Hobbed Straight Bevel Gears

2012 ◽  
Vol 134 (9) ◽  
Author(s):  
Yi-Pei Shih
Keyword(s):  
Mathematical Model ◽  
Bevel Gear ◽  
Tooth Contact Analysis ◽  
Rolling Circle ◽  
High Productivity ◽  
Bevel Gears ◽  
Straight Line ◽  
Base Circle ◽  
Straight Line Mechanism ◽  
Straight Lines

Face hobbing, a continuous indexing and double-flank cutting process, has become the leading method for manufacturing spiral bevel gears and hypoid gears because of its ability to support high productivity and precision. The method is unsuitable for cutting straight bevel gears, however, because it generates extended epicycloidal flanks. Instead, this paper proposes a method for fabricating straight bevel gears using a virtual hypocycloidal straight-line mechanism in which setting the radius of the rolling circle to equal half the radius of the base circle yields straight lines. This property can then be exploited to cut straight flanks on bevel gears. The mathematical model of a straight bevel gear is developed based on a universal face-hobbing bevel gear generator comprising three parts: a cutter head, an imaginary generating gear, and the motion of the imaginary generating gear relative to the work gear. The proposed model is validated numerically using the generation of face-hobbed straight bevel gears without cutter tilt. The contact conditions of the designed gear pairs are confirmed using the ease-off topographic method and tooth contact analysis (TCA), whose results can then be used as a foundation for further flank modification.

Straight-Line Mechanisms as One Building Element of Small Precise Robotic Devices

2014 ◽  
Vol 613 ◽  
pp. 96-101 ◽  
Author(s):  
Jaroslav Hricko
Keyword(s):  
Compliant Mechanisms ◽  
Building Blocks ◽  
Linear Motion ◽  
Kinematics Analysis ◽  
Positioning Accuracy ◽  
Building Element ◽  
Revolute Joints ◽  
Straight Line ◽  
Robotic Devices ◽  
Straight Line Mechanism

Small precise robotic devices, working on principle of compact compliant mechanisms, must meet the conditions to high positioning accuracy what mean moving in straight-line too. But, compliant mechanisms are usually produced by equivalent of revolute joints, therefore in design of small robotic devices is necessary apply knowledge from design of one type of specialized mechanisms – straight-line mechanisms. This paper presents some straight-line mechanism and its applications to design of some small precise robotic devices. According to kinematics analysis most known straight-line mechanisms are evaluated for their application in compliant mechanisms. Such devices are transformed to flexure structures. Consequently, these devices are important building blocks to design some linear-motion stages and/or micro-grippers.

On Dimension Synthesis of Hart’s Inversor III Straight-Line Mechanism As a Precision Robotic End-of-Arm Tool

2019 ◽  
Author(s):  
Ming Z. Huang
Keyword(s):  
Flexible Manufacturing ◽  
Flexible Manufacturing Systems ◽  
High Performance ◽  
Manufacturing Systems ◽  
Analytical Approach ◽  
Industrial Robot ◽  
Mechanical Advantage ◽  
Design Considerations ◽  
Straight Line ◽  
Straight Line Mechanism

Abstract In flexible manufacturing systems, straight line motions are often required in part handling, assembly, cutting, sealing, or welding operations. Rather than using a high performance industrial robot to execute the path directly, employment of a less precise robot outfitted with an end-of-arm tool comprising an exact straight line mechanism could be more effective in both performance and in cost. Exact straight line mechanisms with pin connections are easy to manufacture and assemble, in comparison to those realized by translational joints where alignment of linear axes or surface could be problematic. Such an issue becomes even more difficult when relatively large stroke and/or high precision of straight line motion is required. In this paper, a study of the kinematic characteristics of a special class of exact straight line mechanisms, Hart’s Inversor Type III, with emphasis toward dimension synthesis, is presented. An analytical approach for sizing the link lengths with respect to a desirable straight line stroke constraint is developed and illustrated with examples. Also presented are stiffness and mechanical advantage characteristics for additional design considerations.

A Modified Design for λ-Type Double-Cranks to Approximate a Straight Line

1988 ◽  
Vol 110 (4) ◽  
pp. 446-451
Author(s):  
E. A. Dijksman
Keyword(s):  
Degrees Of Freedom ◽  
Maximum Deviation ◽  
Straight Line ◽  
Transmission Angle ◽  
The One ◽  
Straight Line Mechanism

Double-cranks containing a Chebyshev-dyad are investigated for their use as a straight-line mechanism. The three available design degrees of freedom have been used for the optimization of the minimum transmission angle, for the minimization of the maximum deviation and for the length L of the straight-stretch in the coupler curve. The resulting double-cranks are shown to have deviations that are about half as large as for those in which the coupler point lies on the extension of the coupler. For any maximum deviation, the length L of the straight-stretch also appears to be about 1.5 times as long as the one obtained when Ball’s point lies at the base of the design. A graph showing the maximum deviation as a function of L allows the designer to pick his choice mechanism. A table also will be of help to find accurate dimensions of the mechanism that yields a given deviation or a given length L of the straight part in the coupler curve.

A novel prism deployable mechanism based on straight-line mechanism

2013 ◽  
Vol 1 (2/3) ◽  
pp. 185
Author(s):  
Shengnan Lu ◽  
Dimiter Zlatanov ◽  
Xilun Ding ◽  
Rezia Molfino
Keyword(s):  
Straight Line ◽  
Deployable Mechanism ◽  
Straight Line Mechanism

On the Analysis and Synthesis of Type I Spatial 6R Overconstrained Mechanism

1994 ◽  
Author(s):  
Chung-Ching Lee
Keyword(s):  
Computer Animation ◽  
Matrix Algebra ◽  
Optimization Method ◽  
Type I ◽  
Numerical Examples ◽  
Synthesis Technique ◽  
Straight Line ◽  
Analysis And Synthesis ◽  
Clamping Device ◽  
Straight Line Mechanism

Abstract Based on matrix algebra and its differentiation, we derive the general analytical kinematic solutions and simple stationary configurations of Type I spatial 6R overconstrained mechanism. This mechanism is a general form of Sarrus 6R mechanism. Its coupler point of a certain link has straight-line motion and this is used for the synthesis of straight-line mechanism by the optimization method. Moreover, a graphical synthesis technique with descriptive geometry is presented to design the linkage type of double-toggle mechanism for spatial clamping device. Two numerical examples are given for illustration and their results are verified by computer animation of motion.

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