New Trends in Mechanism Science: Analysis and Design

ISBN-13: 9789048196883 / Angielski / Twarda / 2010 / 710 str.

Doina Pisla;Marco Ceccarelli;Manfred Husty

Opis

After two succesful conferences held in Innsbruck (Prof. Manfred Husty) in 2006 and Cassino in 2008 (Prof Marco Ceccarelli) with the participation of the most important well-known scientists from the European Mechanism Science Community, a further conference was held in Cluj Napoca, Romania, in 2010 (Prof. Doina Pisla) to discuss new developments in the field. This book presents the most recent research advances in Mechanism Science with different applications. Amongst the topics treated are papers on Theoretical kinematics, Computational kinematics, Mechanism design, Mechanical transmissions, Linkages and manipulators, Mechanisms for biomechanics, Micro-mechanisms, Experimental mechanics, Mechanics of robots, Dynamics of multi-body systems, Dynamics of machinery, Control issues of mechanical systems, Novel designs, History of mechanism science etc.

Spis treści

COMPUTATIONAL KINEMATICS.- Design and Kinematic Analysis of a Multiple-Mode 5R2P Closed-Loop Linkage.- Synthesis of Spatial RPRP Loops for a Given Screw System.- Contributions to Four-Positions Theory with Relative Rotations.- Cusp Points in the Parameter Space of RPR-2PRR Parallel Manipulators.- Kinematics and Design of a Simple 2-DOF Parallel Mechanism Used for Orientation.- Special Cases of Schönflies-Singular Planar Stewart Gough Platforms.- The Motion of a Small Part on the Helical Track of a Vibratory Hopper.- Kinematic Analysis of Screw Surface Contact.- Aspects Concerning VRML Simulation of Calibration for Parallel Mechanisms.- Protein Kinematic Motion Simulation Including Potential Energy Feedback.- Implementation of a New and Efficient Algorithm for the Inverse Kinematics of Serial 6R Chains.- Composition of Spherical Four-Bar-Mechanisms.- MICRO-MECHANISMS.- Simulation and Measurements of Stick-Slip-Microdrives for Nanorobots.- Analysis and Inverse Dynamic Model of a Miniaturized Robot Structure.- Design and Modelling a Mini-System with Piezoelectric Actuation.- LINKAGES AND MANIPULATORS.- Some Properties of Jitterbug-Like Polyhedral Linkages.- Servo Drives, Mechanism Simulation and Motion Profiles.- Azimuth Tracking Linkage Influence on the Efficiency of a Low CPV System.- Multi-Objective Optimization of a Symmetric Schönflies Motion Generator.- Cyclic Test of Textile-Reinforced Composites in Compliant Hinge Mechanisms.- The Optimization of a Bi-Axial Adjustable Mono-Actuator PV Tracking Spatial Linkage.- MECHANICAL TRANSMISSIONS.- Defect Simulation in a Spur Gear Transmission Model.- On a New Planetary Speed Increaser Drive Used in Small Hydros. Part I. Conceptual Design.- On a New Planetary Speed Increaser Drive Used in Small Hydros. Part II. Dynamic Model.- Simplified Calculation Method for the Efficiency of Involute Helical Gears.- Cam Size Optimization of Disc Cam-Follower Mechanisms with Translating Roller Followers.- The Dynamic Effects on Serial Printers Motion Transmission Systems.- Size Minimization of the Cam Mechanisms with Translating Roll Follower.- Kinematic Analysis of the Roller Follower Motion in Translating Cam-Follower Mechanisms.- Kinematic Analysis of Cam Mechanisms as Multibody Systems.- Peculiarities of Flat Cam Measurement by Results of Digital Photo Shooting.- Analyzing of Vibration Measurements upon Hand-Arm System and Results Comparison with Theoretical Model.- Elastic and Safety Clutch with Metallic Roles and Elastic Rubber Elements.- MECHANISMS FOR BIOMECHANICS.- A New Spatial Kinematic Model of the Lower Leg Complex: A Preliminary Study.- Selected Design Problems in Walking Robots.- Numerical Simulations of the Virtual Human Knee Joint.- Development of a Walking Assist Machine Using Crutches – Motion for Ascending and Descending Steps.- Human Lower Limb Dynamic Analysis with Applications to Orthopedic Implants.- Forward and Inverse Kinematics Calculation for an Anthropomorphic Robotic Finger.- EXPERIMENTAL MECHANICS.- Theoretical and Experimental Determination of Dynamic Friction Coefficient for a Cable-Drum System.- Modelling and Real-Time Dynamic Simulation of the Cable-Driven Parallel Robot IPAnema.- Horse Gait Exploration on “Step” Allure by Results of High Speed Strobelight Photography.- Simulation of the Stopping Behavior of Industrial Robots.- Mechanical and Thermal Testing of Fluidic Muscles.- Structural Dynamic Analysis of Low-Mobility Parallel Manipulators.- DYNAMICS.- Spatial Multibody Systems with Lubricated Spherical Joints: Modeling and Simulation.- Comparison of Passenger Cars with Passive and Semi-Active Suspension Systems Based on a Friction Controlled Damper.- Dynamic Balancing of a Single Crank-Double Slider Mechanism with Symmetrically Moving Couplers.- Evaluation of Engagement Accuracy by Dynamic Transmission Error of Helical Gears.- The Influence of the Friction Forces and the Working Cyclogram upon the Forces of a Robot.- Dynamic Aspects in Building up a Flight Simulator.- APPLICATIONS AND TEACHING METHODS.- Robotic Control of the Traditional Endoscopic Instrumentation Motion.- Ethics in Robotic Surgery and Telemedicine.- Optimal Control Problem in New Products Launch – Optimal Path Using a Single Command.- Mechanical Constraints and Design Considerations for Polygon Scanners.- Training Platform for Robotic Assisted Liver Surgery – The Surgeon’s Point of View.- Teaching Mechanisms: from Classical to Hands-on-Experiments and Research-Oriented.- Models Created by French Engineers in the Collection of Bauman Moscow State Technical University.- The Models of Centrifugal Governors in the Collection of Bauman Moscow State Technical University.- Advanced Approaches Using VR Simulations for Teaching Mechanism.- NOVEL DESIGNS.- Preliminary Design of ANG, a Low-Cost Automated Walker for Elderly.- An Active Suspension System for Simulation of Ship Maneuvers in Wind Tunnels.- Mechanism Solutions for Legged Robots Overcoming Obstacles.- CONTROL ISSUES OF MECHANICAL SYSTEMS.- Dynamic Reconfiguration of Parallel Mechanisms.- Development of a Voice Controlled Surgical Robot.- Modeling and Simulation of the Tracking Mechanism Used for a Photovoltaic Platform.- The Modular Robotic System for In-pipe Inspection.- MECHANISM DESIGN.- Geometric and Manufacturing Issues of the 3-UPU Pure Translational Manipulator.- Workspace Determination and Representation of Planar Parallel Manipulators in a CAD Environment.- A Theoretical Improvement of a Stirling Engine PV Diagram.- Cylindrical Worm Gears with Improved Main Parameters.- Multi-Objective Optimization of Parallel Manipulators.- A Design Method of Crossed Axes Helical Gears with Increase Uptime and Efficiency.- Dual Axis Tracking System with a Single Motor.- The Determination of the Exact Surfaces of the Spur Wheels Flank with the Unique Rack-Bar.- Choosing the Actuators for the TRTTR1 Modular Serial Robot.- MECHANICS OF ROBOTS.- Stiffness Modelling of Parallelogram-Based Parallel Manipulators.- Incorporating Flexure Hinges in the Kinematic Model of a Planar 3-PRR Parallel Robot.- On the Dynamics of a 5 DOF Parallel Hybrid Robot Used in Minimally Invasive Surgery.

O autorze

Univ.-Prof. Dr.-Ing. Burkhard Corves, Direktor des Instituts für Getriebetechnik und Maschinendynamik an der RWTH Aachen.

Blurb

EUCOMES (European Conference on Mechanism Science) has been established as an international forum within the European Community to provide an informal, friendly and stimulating environment for discussions and exchanges on achievements in all aspects of Mechanism Science in order to facilitate international collaboration mainly within a European framework. After two successful conferences held in Innsbruck in 2006 and Cassino in 2008 with the participation of the important and well-known scientists from the European Mechanism Science Community, a further conference was held in Cluj Napoca, Romania, in 2010 to discuss new developments in the field. This book presents the most recent research advances in Mechanism Science with different applications. Amongst the topics treated are papers on Computational Kinematics, Micro-mechanisms, Mechanism Design, Mechanical Transmissions, Linkages and Manipulators, Mechanisms for Biomechanics, Experimental Mechanics, Mechanics of Robots, Dynamics, Control Issues of Mechanical Systems, Novel Designs, Applications and Teaching Methods.