Fig. 1 Isometric and top views of the asymmetric beam with its fixed grounding and loaded endpoint, where a pair of mirrored loadings about the desired symmetry plane are shown as a demonstration. In the top view, desired displacements upon sides and front loadings with F = 100 N are shown with ... More

Fig. 2 Each beam shape formed up based on a B-spline curve through control points and its sectional parameters More

Fig. 3 The isometric view ( a ), and top view ( b ) of the beam which its shape is constrained to be on a curved plane as described in Eq. (4) More

Fig. 4 ( a ) The experimental setup with a rotational clamp at the grounding point and a load at the endpoint and ( b ) a printed version of Beam 4 in seven loading angles where the beam base rotates instead of the endpoint load angle. The transparent beam shows the deformed state, and the solid b... More

Fig. 5 The isoforce and mirrored-force mapping of the resulting beams in the desired range, and the isometric view of undeformed (yellow) and deformed (orange) shape of the beam under 100 N force in Y direction. All beams are defined based on the optimized parameters described in Table 1 . More

Fig. 1 A 3-UPU parallel mechanism More

Fig. 2 Coordinate frames setup on a 3-UPU PM More

Fig. 3 A Type S3b 3-UPU PM that the moving platform undergoes 3-DOF (finite) translation and 1-DOF infinitesimal rotation More

Fig. 4 A novel 3-UPU TPM More

Fig. 5 Constraint singularity locus of the 3-UPU TPM More

Fig. 6 A novel 3-UPU PM in ( a ) 3-DOF translation mode IV and ( b ) 3-DOF general operation mode V More

Fig. 1 The fully assembled bipedal robot seen anteriorly without inflation of the synovial joints More

Fig. 2 Overview of creating a solid model using medical scans via the 3D slicer software. After importing the model into 3D slicer , the threshold tool is used to select bones automatically. The automatic selection is then manually corrected and then extruded. More

Fig. 3 The 3D slicer model is smoothed by using the tangent continuity tool in mesh mixer and exported for use in solidworks ® More

Fig. 4 Geometric considerations for designing the hip joint and head of the femur: ( a ) The quadriceps angle (q-angle) is the angle the quadriceps muscle attaches to the patella and is measured using the anterior superior iliac spine, midpoint of the patella, and the tibial tubercle and ( b ) Nar... More

Fig. 5 Sagittal view of the assembled knee joint during ( a ) full flexion and at and ( b ) full extension More

Fig. 6 ( a ) Sagittal and cutaway view of the knee showing the 4-bar linkage. Link 1 is in the forward position when the knee is fully extended. However, it cannot move further forward because of and ( b ) the mechanical stop created to prevent further rotation of the linkage. More