Throughout history, humans have observed living or non-living things in nature and then imitated them in relation to these observations. This is due to the fact that the energy found in nature is generally consumed at an optimal level in order for it to endure. Biomimetic inspiration in many designs and applications is widely displayed, including within the field of engineering. In this paper, we were inspired by the double set of jaws found in the moray eel, which gives this fish a huge advantage while hunting, with a mobile pharyngeal jaw that works together with its oral jaw in order to overcome ineffective suction capabilities. A procedure that mimics the hunting motion of the moray eel was utilized by considering the overall movement as a single degree of freedom with multiple outputs on account of the repeating motion that is required during hunting. This procedure includes structural and dimensioning synthesis, wherein the latter was utilized with analytic kinematic synthesis for each linkage transfer. The flexibilities in parameters were taken into account with a novel multiple iterative kinematic synthesis algorithm that resulted in various mechanisms with the same purpose. Among the excessive number of resultant mechanisms, the optimization was carried out by considering the highest torque transmission ratio at critical timings that were specified as bio-constraints. In the end, the kinematic movement validation was utilized.
Throughout recent history, medical robots have gained a lot of popularity in robotic assisted radiotherapy. Integration of robot manipulators into the field of radiotherapy has improved the chances of patient recovery by increasing system precision, operation reliability and treatment efficiency. In order to prevent healthy tissues from radiation exposures during treatments, linear accelerators of radiotherapy robots have been enhanced by the implementation of active collimator designs. Addition of collimator mechanisms to these systems has also increased possibilities of treatments by allowing adjustable beam geometries on the targets. However, as the collimator leaves are additional obstacles on the path of the beam, beam scattering has become one of the most crucial issues waiting to be improved for these systems. In order to propose a solution for this problem, current paper tries to implement function generation synthesis into a multi-leaf active collimator design, where the individual collimator blocks are stacked vertically. This study demonstrates the proposed approach by utilizing two single degree of freedom planar systems positioned side by side for a point beam source. Throughout the study, kinematic synthesis approach was introduced to design these planar systems to adjust beam contour geometries on a single axis. At the end of the study, proposed procedure was verified by a numerical example and the results were used to design four degrees of freedom collimator that is able to adjust beam contour geometries on the plane. The prototype of the system was also modelled in order to ensure the realization of the collimator design for contour adjustments.
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