By Thomas Kerchever 1800-1853 Arnold, Henry 1804- Browne, J Wilhelm Fradersdorff

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It has been found that such loads cause hinge fracture, eventually resulting in the pantograph breaking down. It has also been found that the lifespan of the hinges increases when the force acting on the hinges is reduced to about one third by Horie [2]. Therefore, this study will theoretically calculate the force acting on the hinges and figure out the dimensions of the links using a computational algorithm so that the force on the hinges will be reduced. 2 Theoretical Analysis of Force Acting on the Hinges A pantograph model, consisting of rigid body links and revolute-pair hinges, is shown in Fig.

Furthermore, both mechanisms require highly accurate manufacturing processes for fabrication of wheels and shaft holes, thus high precision processing is required, and this is an obstacle for miniaturization of the robot. On the basis of the above considerations, we studied the travelling mechanism of nematodes and earthworms, which use peristalsis to move their bodies. Now, we consider the scale effect. In general, when the diameter of a machine decreases to 2-3 mm, the effects of inertia and gravity decrease and the effects of friction and surface tension increase.

The distance between the neutral line (embedded material) and the centre of mass x2 x1 x3 e1 Center of Mass e2 e3 Fig. 4 Beam with embedded material and with round cross section e2 e3 h e1 46 L. Zentner is h, which is small in comparison to the length and the radius of curvature of the implant. Therefore the parameter s in equation (4) corresponds approximately to the length of an arch of the neutral line. It is measured from the fixed end to the free end. e. vector of internal moments, where M1 is torsion moment, M2 , M3 are bending moments; P0 = pπ ri2 is force on the inner cross-section of the beam (implant).

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