This paper analyzes the behavior of a force transducer that has the form of a Stewart platform with instrumented elastic legs. The algebraic relationship between externally applied wrench and resulting leg extensions is derived, using the algebra of dual vectors. Using this model, and by suitable choice of dimensions, it is shown how the transducer can be designed to give the most advantageous behavior. A simple illustrative example is given.

This paper reviews a method of representing the finite twist motion of a rigid body, and applies this concept to the problem of describing the motion capabilities of planar serial manipulators. In particular, this finite twist representation describes the position and orientation of the end-effector link relative to a defined reference position and orientation. The transformations associated with the joint motions are used to investigate the range of end-effector motion, including the effects of limits of joint travel. The finite twist representations are then extracted from such transformations and presented in an image space so that the motion of the manipulator is fully characterized. Further, the reachable and dexterous workspaces are predicted by the same general means. Examples of planar serial manipulators with two (RR) and three revolute (RRR) joints are given to illustrate the approach.

This paper describes the design of a six-component contact force measuring device, the purpose of which is to verify a system of theories that predict the forces found in robotic grasping. The geometry of the device is based upon that of the Stewart platform manipulator, configured symmetrically. The elastic properties of the device as a whole, and of its legs, are analysed and chosen so that the device possesses appropriate characteristics. The resulting design is described, and its calibration and use are reported. Particular attention is paid to the synthesis of the elastic properties of the system, including an elastic central strut to maintain tension in the legs, which themselves are designed for acceptable sensitivity. The whole device is shown to give good results in contact force measurements.

This study demonstrates that, compared to antacid/alginate liquid 10 mL q.d.s., omeprazole 10 mg o.m. is more effective in the management of dyspepsia symptoms and is the patients' preferred treatment.

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