Sharif Digital Repository

Featuring a nonlinear novel design, Gimbal transmission, is a replacement for traditional robotic joints like gearboxes and revolute joints. This mechanism is one of the most recent types of nonlinear direct transmission (DT) methods in robots. As an alternative for traditional drive methodologies - herein called direct drive transmission (DD) methods, DT provides dynamic coupling and joint interaction attenuation while its capability to be adjusted for a desired task space point, smooth input-output characteristic, and varying reduction ratio lead to a desired force and motion behavior for the whole manipulator. In this paper, design optimization of a gimbal mechanism used as a replacement... 

A two-dimensional seven link biped dynamic model was developed to investigate the mechanical characteristics of the normal and amputee locomotion during the complete gait cycle. The foot-ground contact was simulated using a five-point penetration contact model. The equations of motion were derived using Lagrange method. Optimization of the normal human walking model provided constant coefficients for the driving torque equations that could reasonably reproduce the normal kinematical pattern. The resulting torques were then applied to the intact joints of the amputee model with a prosthetic leg equipped with a kinematical driver controller for the ankle and either a hydraulic, elastic or... 

Loss of lower extremities has been one of the main problems in human life. Although most of the available knee devices are aesthetically acceptable, there is a necessity for lighter and more compact mechanisms, especially for younger amputees. This problem can be solved by the combining compliant mechanism design with traditional mechanism design methods. In this study, one group of the prosthetics that is known as the compliant knee mechanisms" is evaluated. At first, the different knee mechanisms, such as fourand six-bar knee linkages are investigated to calculate the values of the control moments (actuator torque). Then, the suitable location (where the actuator torque is to be exerted)... 

The heat-affected zone (HAZ)softening is considered one of the most significant challenges during welding of ferrite–martensite dual-phase (DP) steels. In fact, the strain localization in the softened area results in a premature fracture that degrades the mechanical properties of the joint. Herein, the objective is to investigate the effectiveness of improved cooling using a high thermal diffusivity backing plate (BP) to reduce HAZ softening and enhance the mechanical properties of friction stir-welded DP700 steel. Accordingly, friction stir butt welding of DP700 steel was conducted using copper and mild steel BPs. The findings show that the replacement of steel BP with copper significantly... 

The heat-affected zone (HAZ) softening is considered one of the most significant challenges during welding of ferrite–martensite dual-phase (DP) steels. In fact, the strain localization in the softened area results in a premature fracture that degrades the mechanical properties of the joint. Herein, the objective is to investigate the effectiveness of improved cooling using a high thermal diffusivity backing plate (BP) to reduce HAZ softening and enhance the mechanical properties of friction stir-welded DP700 steel. Accordingly, friction stir butt welding of DP700 steel was conducted using copper and mild steel BPs. The findings show that the replacement of steel BP with copper significantly... 

A dynamic model of an above-knee prosthesis during the complete gait cycle was developed. The model was based on a two-dimensional multi-body mechanical system and included a hydraulic and an elastic controller for the knee and a kinematical driver controller for the prosthetic ankle. The equations of motion were driven using Lagrange method. Simulation of the foot contact was conducted using a two-point penetration contact model. The knee elastic and hydraulic controller units, the knee extension stop, and the kinematical driver controller of the ankle were represented by a spring and a dashpot, a nonlinear spring, and a torsional spring-damper within a standard prosthetic configuration....