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Machine Theory
Mechanism and Machine Theory 43 (2008) 147–159
ate/mechmt
Screw-theoretic analysis models for felid jaw mechanisms
Michael J. Delsignore, Venkat N. Krovi *
Department of Mechanical and Aerospace Engineering, State University of New York at Buffalo, 318 Jarvis Hall,
Buffalo, NY 14260, United States
Received 30 June 2006; received in revised form 5 February 2007; accepted 28 February 2007
Available online 20 April 2007
Abstract
In this paper, we examine the development of quasi-putational models for musculoskeletal analysis, leverag-
ing screw-theoretic techniques traditionally employed for the analysis of articulated multibody systems (MBS). The case
study of analysis of bite- and muscle-forces in the articulated jaws of members of the felid (cat) family is used to highlight
the critical aspects. In particular, musculoskeletal systems with multiple muscles superimposed on an underlying articu-
lated skeleton share many features with the subclass of cable actuated parallel MBS (including redundancy in actuation
and unidirectional nature of actuation forces). The screw-theoretic formulation facilitates the development of puta-
tional model for resolving such redundancy while retaining explicit geometric meaning in terms of lines-of-action, motions
and forces. The plexity of the ensuing quasi-static models makes them well-suited both for: (a) iter-
ative/parametric studies of the roles of geometry (muscle locations) or physiology (muscle-parameters) on skeletal load-
distributions, as well as (b) implementing online inverse-dynamics-based muscle-force planners for biomimetic physical
prototypes. A MATLAB Graphical User Interface was also developed to aid lay users (putational scientists)
in performing iterative parametric force optimization and muscle location studies.
Ó 2007 Elsevier Ltd. All rights reserved.
Keywords: Screw-theory; Musculoskeletal systems; Optimization; Cable-driven parall