By Giovanni Boschetti, Alessandro Gasparetto
This quantity includes the court cases of the 1st overseas convention of IFToMM Italy (IFIT2016), held on the collage of Padova, Vicenza, Italy, on December 1-2, 2016. The ebook includes contributions at the most up-to-date advances on Mechanism and laptop technology. The fifty-nine papers take care of such issues as biomechanical engineering, background of mechanism and laptop technological know-how, linkages and mechanical controls, multi-body dynamics, reliability, robotics and mechatronics, transportation equipment, tribology, and vibrations.
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Additional info for Advances in Italian Mechanism Science: Proceedings of the First International Conference of IFToMM Italy
Similar equations have been deﬁned and solved for other planned motions of the end effector. The above-mentioned equations have been used for validating the operation of the proposed design solution within Solidworks Motion environment. 5 Numerical Simulations Numerical simulations have been carried out both by using the models given by Eqs. (1) and (2) and a 3D CAD model within Solidworks Motion simulation toolbox. In particular, Fig. 5a, b, c show snapshots taken from the Solidworks Motion simulation of the adduction training movement: when the forearm is at 0°, 45°, and 90°, respectively.
Needle steering technologies oﬀer an alternative means of therapy compared to standard percutaneous intervention techniques. Using a ﬂexible needle and typically a robotic system, a needle can be guided along a curved path within the tissue. This potentially enables therapies that would otherwise not be available with a straight line path, for example steering around a critical region in the tissue, and alternative treatments for multiple lesions which could be accessed through a single insertion.
6. For the closed loop kinematic chain, showed in Fig. 7, it is not possible to apply the canonical Denavit-Hartemberg method. The transformation between frame 1 and 2, was so calculated by using the Denavit-Hartemberg method extended to closed loop kinematic chain obtaining the transformation matrix of Fig. 7. Since the forearm represents the robot’s end effector position, the position in which the axis of the ﬁfth joint crosses the end effector axis is well known. Calling xh, yh, zh the hand coordinates and xe, ye, ze those of the end effector point of Fig.
Advances in Italian Mechanism Science: Proceedings of the First International Conference of IFToMM Italy by Giovanni Boschetti, Alessandro Gasparetto