The manipulator had two mechanisms: the upper mechanism attached to the UFS and the lower one.
The white arrow head indicates the universal force/moment sensor (UFS) attached to the upper mechanism.
The tibial cylindrical molded end was connected to the upper mechanism of 6-axis manipulator (black arrow), while the femoral end was connected to the lower one (white arrow).
The upper mechanism was linked to two translational-axis actuators SGDS-01F12AA; Yaskawa Electric, Fukuoka, Japan) and three rotational-axis actuators (HA 800B 3A; Harmonic Drive Systems, Tokyo, Japan), while the lower one was linked to one translational-axis actuator.
The tibial cylindrical molded end was connected firmly to the upper mechanism of the manipulator via a specially designed aluminum clamp, while the femoral end was connected firmly to the lower one (Fig. 1).
The lower parallel mechanism offers three DOFs for planar motion, and the upper parallel mechanism mounted on the lower mechanism provides the remaining three DOFs for a total of six DOFs; thus, the workspace can be extended into a full six DOF representation.
Similar coupling has also been proposed for Kir channels (Schulte et al, 2001; Rapedius et al, 2007; Clarke et al 2010) and recent X-ray crystal structures of the KcsA channel in multiple different conformations suggest that subtle movements within the selectivity filter itself are responsible for this upper gating mechanism (Cuello et al, 2010a, 2010b).
The robot is designed by inserting an intermediate mechanism between upper and lower leg mechanisms.
As shown in the upper panel, focal mechanisms varied widely even for short focal distances in this plot.
But if an upper layer of mechanism had been built, and lost, these extra gears could have modelled the motions of the three other planets known at the time Mars, Jupiter and Saturn.
