Ti6Al4V titanium alloy is considered a biocompatible material, suitable to be used for manufacturing medical devices, particularly cranioplasty plates. Several methods for processing titanium alloys are reported in the literature, each one presenting both advantages and drawbacks. A decision-making method based upon AHP (analytic hierarchy process) was used in this paper for choosing the most recommended manufacturing process among some alternatives. The result of AHP indicated that single-point incremental forming (SPIF) at room temperature could be considered the best approach when manufacturing medical devices. However, Ti6Al4V titanium alloy is known as a low-plasticity material when subjected to plastic deformation at room temperature, so special measures had to be taken. The experimental results of processing parts from Ti6Al4V titanium alloy by means of SPIF and technological aspects are considered.

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This paper was carried out objectively to explore and describe the inverse kinematics solutions of an anthropomorphic redundant robotic structure with seven degrees of freedom and human like workspace. Traditional inverse kinematics methods can have an unacceptably slow pace for the today's extremely redundant systems. The presented method uses the Adaptive Neuro-Fuzzy Inference Systems (ANFIS) editor and the Fuzzy Logic toolbox from MATLAB® which allow the investigation of various kinematical suitable solutions. ANFIS supports the determination of one degree of freedom, remaining therefore only six undetermined degrees. For better understanding of the simulations a CAD model that mimics the real robotic arm was created into SolidWorks® environment, followed by the conversion of the CAD parts into Simulink®-SimMechanics model. The results of this method are more interactive in response and more reliable. In the last few years the kinematics solution of a redundant PDQLSXODWRU KDV EHen a hot research and this topic presented o ORW RI LQWHUHVW IRU PDQ\ >@ >@ >@ >@ >@ $ URERWLF DUP ZLWK VHYHQ GHJUHHV RI IUHHGRP '2) VKRZV JUHDW SRWHQWLDO EHFDXVH LW JDLQV D YDVW ZRUNLQJ VSDFH DQG D KLJK PRELOLW\ DQG WKHUHIRUH LW FDQ EH XVHG Ln the DXWRPRWLYH DHURVSDFH LQGXVWU\ DQG PDQ\ RWKHUV >@ >@ >@ >@ 7KH PDLQ DGYDQWDJHV RI URERW UHGXQGDQF\ DUH WR LPSURYH WKH PRELOLW\ IOH[LELOLW\ DQG YHUVDWLOLW\ RI D URERW DQG WR implement a collision-free and singularity avoidance motion in the ZRUNVSDFH EDVHG RQ WKH UHGXQGDQW '2) 0DQ\ VROXWLRQV IRU WKH LQYHUVH NLQHPDWLF SUREOHP KDYH EHHQ SUHVHQWHG DQG SURSRVHG VR IDU IRU H[DPSOH WKH JHQHUDOL]HG LQYHUVH -DFRELDQ PDWUL[ SVHXGRLQYHUVH J † =J T -ā-T -DUH ZLGHO\ DSSOLHG IRU UHGXQGDQW URERWV >@ 7he ELJJHVW GUDZEDFN RI WKLV PHWKRG LV WKDW SVHXGRLQYHUVH RIWHQ OHDGV WKH URERW LQWR VLQJXODULWLHV $QRWKHU PHWKRG XVHG LQ redundancy resolution is the inertia weighted pseudoinverse J I †