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.

Robot usage in the industry increase every year by the developments in technology. Industrial robots not only timesaver but also ensures the quality of the products in machining operations. Robots specialized for machine tool operations have limited utilization compared to those which for assembly, welding, or pick & place operations. In this paper we focused on the development and verification of a planar manipulator path trajectory which will going to do surface finishing operation on a work piece. To do this first we define a desired path and the unknown coefficients of joint variables have been calculated by performing direct and inverse kinematic analysis and applying the conditions of position, velocity, and acceleration of the given trajectory. Obtained trajectory of the end effector has been tested on both simulation and real task space. Results of theoretically calculated trajectory have been verified by computational simulation and end-effector trajectory of the prototype has been verified via motion tracking system with cameras.