This paper presents the design optimization of a linkage-based wheel mechanism with two degrees of freedom, for stable step climbing. The mechanism has seven rotational joints and one prismatic joint. Kinematic and dynamic analyses of the mechanism were performed. The design was optimized in terms of linkage length and architecture to better manipulate the mechanism in its workspace, which was defined here by the targeted step size, as well as to ensure stability while climbing stairs. Optimization by genetic algorithm was performed using MATLAB. The optimized mechanism exhibited enhanced torque transmission from the input torque to the exerted for at the lobe of the wheel. Compliance control of the transformation will be addressed in the future.
Download full-text PDF |
Source |
|---|---|
| http://www.ncbi.nlm.nih.gov/pmc/articles/PMC9547076 | PMC |
| http://dx.doi.org/10.1038/s41598-022-21410-1 | DOI Listing |
Publication Analysis
Top Keywords
Similar Publications
Improving Understanding of Fexofenadine Pharmacokinetics to Assess Pgp Phenotypic Activity in Older Adult Patients Using Population Pharmacokinetic Modeling.
Clin Pharmacokinet
January 2025
Clinical Pharmacology and Toxicology Service, Anesthesiology, Pharmacology and Intensive Care Department, Geneva University Hospitals, 4 Rue Gabrielle Perret-Gentil, 1205, Geneva, Switzerland.
Background And Objective: Fexofenadine is commonly used as a probe substrate to assess P-glycoprotein (Pgp) activity. While its use in healthy volunteers is well documented, data in older adult and polymorbid patients are lacking. Age- and disease-related physiological changes are expected to affect the pharmacokinetics of fexofenadine.
View Article and Find Full Text PDFCan We Maintain Muscle Mass on a Plant-Based Diet?
Curr Nutr Rep
January 2025
Department of Internal Medicine, Mayo Clinic, Rochester, MN, USA.
Purpose Of Review: This review aims to determine whether muscle mass and function can be effectively maintained without relying on animal-based protein sources. We evaluate the quality, digestibility, and essential amino acid profiles of plant-based proteins to understand their potential in preventing and managing sarcopenia.
Recent Finding: Recent studies indicate that while animal-based proteins have traditionally been considered the gold standard for supporting muscle protein synthesis, certain plant-based protein blends, fortified with leucine or other essential amino acids, can produce comparable anabolic responses.
Eu-ion doped strontium molybdate perovskite quantum dots as a turn-off-on fluorescent sensor for simultaneous detection of hypoxanthine biomarker and Fe ions.
Mikrochim Acta
January 2025
Department of Chemistry, Sardar Vallabhbhai National Institute of Technology, Surat, Gujarat, 395 007, India.
A fluorescence "turn-off-on" nanoprobe is designed by using europium-doped strontium molybdate perovskite quantum dots (Eu:SMO PQDs) for the sequential detection of hypoxanthine (Hx) and Fe. The Eu:SMO PQDs were prepared by the sol-gel method using Sr(NO), (NH)MoO.4HO, and Eu(OCOCH) as precursors.
View Article and Find Full Text PDFModeling and Elucidating the Behavior of a Thermoresponsive LCST Ionic Liquid.
J Chem Inf Model
January 2025
Donostia International Physics Center (DIPC), 20018 Donostia-San Sebastián, Spain.
Desalination of seawater by forward osmosis is a technology potentially able to address the global water scarcity problem. The major challenge limiting its widespread practical application is the design of a draw solute that can be separated from water by an energetically efficient process and then reused for the next cycle. Recent experiments demonstrate that a promising draw solute for forward-osmosis desalination is tetrabutylphosphonium 2,4,6-trimethylbenzenesulfonate ([P][TMBS]).
View Article and Find Full Text PDFConstruction of Mn-Defective S/MnCdS for Promoting Photocatalytic N Reduction.
Inorg Chem
January 2025
Key Laboratory of Green and Precise Synthetic Chemistry and Applications, Ministry of Education, Huaibei Normal University, Huaibei, Anhui 235000, P. R. China.
Improving catalytic performance by controlling the microstructure of materials has become a hot topic in the field of photocatalysis, such as the surface defect site, multistage layered morphology, and exposed crystal surface. Due to the differences in the metal atomic radius (Mn and Cd) and solubility product constant (MnS and CdS), Mn defect easily occurred in the S/MnCdS (S/0.4MCS) composite.
View Article and Find Full Text PDFWant AI Summaries of new PubMed Abstracts delivered to your In-box?
Enter search terms and have AI summaries delivered each week - change queries or unsubscribe any time!