Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 21 for “"four-bar linkage"”.
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Adaptive control of a four-bar linkage
… controllers are developed and applied to Four-bar linkage velocity control to reduce the input link velocity fluctuations without compromising the control system velocity transient response. The successful control techniques use the known mechanism kinematics and the mechanism input link …
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Modularizing transformations : a goal-oriented design tool of a modular four-bar linkage mechanism
Recent advances in materials science and manufacturing technology have not only provided promising opportunities for industrial and product design but have also catalyzed the emerging areas of transformable material design. This field of transformable material design is a multidisciplinary subject …
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The synthesis of four-bar linkage coupler curves using derivatives of the radius of curvature
Procedures for the synthesis of four-bar kinematic linkages with approximate portions of their coupler point curves specified are developed. The necessary equations are derived and computer programs using these equations which have been integrated into a complete synthesis procedure are set forth. …
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Kinematic Analysis Of A Two Body Articulated Robotic Vehicle
… kinematic analysis of an articulated twin body, four-wheel, robotic vehicle is presented. Polaris, a research platform and contending robotic vehicle in the Intelligent Ground Vehicle Competition (IGVC) at Virginia Tech, was redesigned in 2006 to improve the mobility of the vehicle by …
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Development of a low-cost high-impact resistant compliant myoelectric prosthetic hand
… the design and evaluation of a compliant four-bar linkage mechanism that makes the fingers of a prosthetic hand more impact resistant and the integration of electromyographic (EMG) motor control and sensory substitution. The mechanism of our design replaces both the rigid input and coupler …
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Kinematics of beam flexure four-bar linkages with applications in a compound bow
… important aspects. First, one grounded link of a four-bar linkage is replaced by a cantilevered beam in flexure to produce a force generating mechanism. Second, the synthesis method presented here allows the generation of these mechanisms in closed form for prescribed force generation. A compound …
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Beta-prototype of a rickshaw suspension system
… rickshaws more comfortable for the drivers. A four bar linkage with a rising rate spring was chosen as the design. An unconventional material-tire rubber-was used as the spring material because it is inexpensive, requires limited tooling, and is in vast supply near The Rickshaw Bank's factory …
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Design of plane four-bar function generators by curve matching
This thesis presents two methods for designing four-bar function generators by matching a plot of the desired function with curves and charts derived from the computer solution of the displacement equation relating the input and output angles of the four-bar linkage. A series of curves and charts …
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Design of load-lock door for unit dose continuous lyophilization process for complex biologics
… the load-lock door functional requirements, a four-bar linkage load-lock door and a load-lock door with ground pivots offset from the sealing surface were designed. Because the driving performance parameters cannot be reliably modeled, the seal performance, particle generation, and seal …
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Development and Analysis of Linkage-based Overground Gait Rehabilitation Robots
… to be easy to use, simple and compact. The Linkage-based Gait Trainer (LGT) was the first device developed and is an overground gait rehabilitation device consisting of a four-bar linkage end-effector mechanism. The literature review suggested the design could be an effective gait …
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Design and testing of a nonlinear mechanical advantage demonstration mechanism
A four-bar linkage with prescribed nonlinear mechanical advantage has been synthesized and tested. This tool is intended to in1prove cognition of linkage synthesis theory through interactive demonstrations and has both industrial and educational applications. Industrial applications include use as …
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Applied design and implementation of straight-line mechanisms
… selecting sliding devices or selecting pinned linkages. Although they are more complex to design and implement, linkages will often prove a less expensive, more efficient, and generally more satisfactory option than simple sliders. The objective of this thesis is to provide a tool to the …
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A gait generation mechanism for leg rehabilitation therapy
… thesis focuses on the dimensional synthesis of a four-bar linkage to reproduce the desired ankle trajectory in the sagittal plane. The data of sagittal flexion/extension at the hip and knee joints from healthy people are used to define the desired ankle trajectory during normal gait cycle. A path …
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Stored waveform adaptive motor control
… severe load cases - a periodic step load and a four-bar linkage load. Simulation studies showed the schedule control method to be stable and in comparison to the PID controller to have 1) nearly the same speed of response but without the overshoot found in PID control, 2) nearly the same mean …
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Telerehabilitation Devices for Motion Detection and Trunk Training
… a design of a semi-active assist as needed four-bar linkage trunk rehabilitation device. This work tested the concept of semi-active activation force, which can be implemented in future devices to increase independency of trainings. Chapter four studied flexible joints with compliance to …
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Material Handling for Continuous Lyophilization Process
… space compared to the previous rotary designs, four-bar linkage and simple pivot doors. The wedge door has a length normalized leak rate of [︀formula]︀, and lifetime of 41,992 cycles before service is required which is 9.2 months of operation of the lyophilization machine. In order to seal the …
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Design and Control of a Robotic Exoskeleton Glove Using a Neural Network Based Controller for Grasping Objects
… design of the glove consists of rigid double four-bar linkage mechanisms actuated through series elastic actuators (SEAs) by DC motors. It also contains a novel rotary series elastic actuator (RSEA) which uses a torsion spring to measure torque, passive abduction and adduction mechanisms, and …
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Rolling contact orthopaedic joint design
… therefore be more efficient. A well-established four-bar linkage knee model, in a sagittal plane that encapsulates with the knee's flexion/extension degree of freedom, is used to link human anatomy to the shape of rolling cam surfaces. The first embodiment of the design is a flexure …
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Biologically inspired underwater propulsion and adhesion mechanisms
… waves to emulate propulsion mechanisms of fish. Four iterations of experiments are developed in total to verify the hypothesis, take measurements and improve the performance of the propulsion mechanism. It is proven that a continuous passive compliant structure driven by a DC motor through a four …
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On Non-rigid Linkages
Linkage mechanisms and pin-jointed truss structures have been central to engineering design for centuries, providing the fundamental models through which motion transmission and structural rigidity have been understood. Conventional kinematic theory assumes perfectly rigid links joined by ideal …
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