On Biomimetics by Lilyana Pramatarova
To Design a Small Pneumatic Actuator Driven Parallel Link Mechanism forShoulder Prostheses for Daily Living Use 109 Designing a ...
110 On Biomimetics 3.1 Arm structure The details of the arm structure (in the following explanation, denoted as the Arm) are sho ...
To Design a Small Pneumatic Actuator Driven Parallel Link Mechanism forShoulder Prostheses for Daily Living Use 111 coordinate s ...
112 On Biomimetics 0 0 010 0 0 0 001 0) , 2 3 , 2 1 -( : 0), , 2 3 2 1 -( : 0), 0, ,( : 0), 0, (0, : ...
To Design a Small Pneumatic Actuator Driven Parallel Link Mechanism forShoulder Prostheses for Daily Living Use 113 2 2 2 2 2 ...
114 On Biomimetics 3.3 Jacobian matrix In order to evaluate the motion characteristics of the Arm, it is necessary to develop th ...
To Design a Small Pneumatic Actuator Driven Parallel Link Mechanism forShoulder Prostheses for Daily Living Use 115 ...
116 On Biomimetics From the above equation, the Jacobian matrix J 1 can be calculated. 3.4 Static mechanics Let force generated ...
To Design a Small Pneumatic Actuator Driven Parallel Link Mechanism forShoulder Prostheses for Daily Living Use 117 ratio of the ...
118 On Biomimetics through the acrominon. Positions of the acrominon are assumed as (0, ±170, 0). In Fig. 5(c), (d), the size of ...
To Design a Small Pneumatic Actuator Driven Parallel Link Mechanism forShoulder Prostheses for Daily Living Use 119 Fig. 5. The ...
120 On Biomimetics 4.5 Calculation and analysis All the calculation was calculated numerically by using Matlab (MathWorks, Inc.) ...
To Design a Small Pneumatic Actuator Driven Parallel Link Mechanism forShoulder Prostheses for Daily Living Use 121 NRA: Numbe ...
122 On Biomimetics 50250 0,1,2) (mm) 25170 l (ii h i R (^2) (34) Therefore, a total number of 25 combinations could be m ...
To Design a Small Pneumatic Actuator Driven Parallel Link Mechanism forShoulder Prostheses for Daily Living Use 123 Whereas, as ...
124 On Biomimetics In Fig. 12, the horizontal axis stands for the ID of combination, and vertical axis represents Mt(C) (Fig. 12 ...
To Design a Small Pneumatic Actuator Driven Parallel Link Mechanism forShoulder Prostheses for Daily Living Use 125 Fig. 12. Mt( ...
126 On Biomimetics NO. 2- 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 h 2 (mm) 100 107 114 121 128 135 142 149 156 163 10 ...
To Design a Small Pneumatic Actuator Driven Parallel Link Mechanism forShoulder Prostheses for Daily Living Use 127 Fig. 13. Q 3 ...
128 On Biomimetics Fig. 14. Plots of values of the estimative indexes of 8 selected configurations. It is certain that the selec ...
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