In this paper, 1) We design and built a prototype of a LARM tripod leg mechanism with low-cost easy-operation features that can be useful in a biped locomotor; 2) We present an experimental layout for investigating operational performance of the built prototype; 3) We characterize and analyze the system behaviour by follow a prescribed step movement of the foot platform under consideration with human walking.

This paper deals with an elasto-static analysis of a 2-DOF spherical parallel wrist where the links and the joints are considered flexible. An FEM approach is used to analyze the problem in a series of configurations of the wrist. The results are elaborated in order to obtain continuous maps of the positioning and orientation errors over the workspace of the machine.

The study provides contributions to motion control systems with friction, especially for micro-motion systems. Five most used friction models in the micro-motion systems were compared. The plausible reasons for the difference in performance among these models applied in micro stick-slip motion were discussed. This study also demonstrates an idea of using displacement measurement of micro motion system and system identification technique to investigate the dynamic friction in micro motion level.

The problem of dimensional synthesis of mechanisms to trace a given closed curve is solved by (a) representation of curve shape using normalized Fourier descriptors and (b) learning the relation between Fourier descriptors and mechanism dimensions by an artificial neural network (ANN). The ANN developed suggests dimensions of a four-bar mechanism with coupler curve of shape similar to the one desired. The dimensions are further refined by optimization.

The prime novelty of the present research is the numerical finite-difference solution of Navier-Stokes equations in the curl transfer form for the viscous workpiece flow through 2θ acute-angled angular dies of Segal geometry during Equal Channel Angular Pressing, taking into account the classical rectangular (2θ0=90º) and novel modified 2θ0-inclined or 2θ0-beveled punch shapes with 2θ0=2θ.

This paper proposes a modified 3-DOF TPM 3-CRU. The mobility of the mechanism is analyzed based on screw theory. Both inverse and forward position analyses are performed, and the analytical solutions are obtained with respect to these two problems. The proposed TPM has explicit solutions for the inverse and forward kinematics issues. Both the path planning and control problems of the mechanism are very simple. The Jacobian matrix of the mechanism and reachable workspace are obtained.

This paper presents a numerical investigation in which thermal performance characteristics of pin fin heat sinks enhanced with phase-change materials (PCM) designed for electronic devices cooling are studied. The main purpose of this article is to investigate different effective parameters on the heat sink base temperature and melt fraction. The studied geometric parameters are the number, thickness and height of fins.