SYROM 2009 - Proceedings of the 10th IFToMM International Symposium on Science of Mechanisms and Machines, held in Brasov, Romania, october 12-15, 2009

191387_1_En_BookFrontmatter_OnlinePDF

191387_1_En_1_Chapter_OnlinePDF

Challenges for Mechanism Design

Introduction

Mechanism Design and IFToMM Activity

Future Challenges

Conclusions

References

191387_1_En_2_Chapter_OnlinePDF

Mechatronics and Mechanisms: From Drive to Process

Introduction

Mechatronic Machine Architecture

Mechatronics in Glass Machinery

Pneumatic Actuation

Servo Electric Actuation

Pressing Process

Intelligent Control Scheme

Simulation and Verification

Mechatronic Sewing Plant

Kinematic and Dynamic Modelling of the Parallel Manipulator

Kinematic and Dynamic Modelling of the Sewing Head

Motion Design

Simulation Model

An Adjustable Gripper as a Reconfigurable Robot

New Manipulation Concept

Topology Synthesis

Dimensional Synthesis

Conclusion

References

191387_1_En_3_Chapter_OnlinePDF

Comparative Study of Two Index Two Methods Applied to Original ADAMS Computer Program

Introduction

Theoretical Considerations

The 2-Steps Method

Numerical Example

Conclusion

References

191387_1_En_4_Chapter_OnlinePDF

Structural Synthesis of the Planar Cam-Linkage Mechanisms as Multibody Systems

Introduction

Defining a Mechanical System as Multibody System

Designing a Mechanical System as a Multibody System with a Minimum Number of Bodies

Conclusions

References

191387_1_En_5_Chapter_OnlinePDF

Helical Gear Dimensions in the Case of the Minimal Equalized Specific Sliding

Introduction

Sliding Coefficients at Helical Gears

Determination of the Geometrical Dimensions of the Helical Gears

Equalization of the Specific Sliding

Minimization of the Equalized Sliding Coefficients

Conclusions

References

191387_1_En_6_Chapter_OnlinePDF

Mathematical Model for Two Degree of Freedom Motion

Introduction

Mathematical Model

Control Problem Statement

Conclusions

References

191387_1_En_7_Chapter_OnlinePDF

Design and Simulation of Kursk Robot for In-Pipe Inspection

Introduction

Kursk Robot for In-Pipe Inspection

Mathematic Model of Robot´s Motion

A Numerical Characterization of Operation Features

Result of Experimental Testing

Conclusion

References

191387_1_En_8_Chapter_OnlinePDF

Conceptual Design of an Omni-directional Mobile Robot

Introduction

Previous Work

Mecanum Wheel

Robot Design

Robot Kinematics

Robot Control

Line Follower Mode

Remote Control Mode

Autonomous Mode

The Second Prototype

Conclusion

References

191387_1_En_9_Chapter_OnlinePDF

Structural Design of the Fundamental Plane Kinematic Chains

Introduction

Outlines Connections. Calculus

Algorithm for Establishing of the Structural Schemes

Application

Conclusions

References

191387_1_En_10_Chapter_OnlinePDF

Structural Design of the Plane Mechanisms with Linkages and Gears

Introduction

The Structural Magnitudes of MeBaRd

Structural Synthesis Criteria of MeBaRd

Numerical and Structural Solutions of MeBaRd

Conclusions

References

191387_1_En_11_Chapter_OnlinePDF

Design of LegVan Wheel-Legged Robot´s Mechanical and Control System

Introduction

Wheel-Legged Robot´s Suspension System

Structure of Robot Suspension System

Geometric Synthesis

LegVan´s Control System

Robot´s Software

Robot Functions

Experimental Results

Conclusions

References

191387_1_En_12_Chapter_OnlinePDF

Mathematical and Virtual Modelling of a Spur Gear

Introduction

Geometric Parameters of a Spur Gear

The Involute Function

Spur Gears with Solid Edge Software

Conclusions

References

191387_1_En_13_Chapter_OnlinePDF

Conceptual Synthesis of Speed Increasers for Renewable Energy Systems

Introduction

Requirements List

Identification of the Speed Increaser Function

Detailing of the Speed Increaser Function

Development of the Solving Structures

Development (Synthesis) of the Structural Solving Variants

Establishment of the Solving Structures

Evaluation of the Solving Structures

Conclusions

References

191387_1_En_14_Chapter_OnlinePDF

Mobile Minirobots Structures

Introduction

The In-Pipe Developed Minirobot

The Power and Control System

The Developed Omnidirectional Minirobot

Conclusion

References

191387_1_En_15_Chapter_OnlinePDF

Synthesis of Linkages for Tracking Systems with Increased Angular Stroke

Introduction

The Tracking Requirements

Geometrical Generation of the Planar Four-Bar Linkage

Analytical Synthesis of the Tracking Planar Linkage

Generation and Analysis of an Equivalent Spatial Linkage

Conclusions

References

191387_1_En_16_Chapter_OnlinePDF

Upon Applying Closed Contours Method in Plane Mechanisms with Higher Pairs

Introduction

Theoretical Remarks

Solution for Velocities

Accelerations Analysis

Conclusions

Appendix

References

191387_1_En_17_Chapter_OnlinePDF

Correlating Requirements Regarding the Command and the Mechanical Structure of the Automotive Steering System

Introduction

Functional Requirements for the Steering Linkage Mechanism (Steering Law, Induced Steering, Angular Capability)

Kinematic Requirement for the Steering Box with Rack (Variable Transmission Ratio)

Conclusions

References

191387_1_En_18_Chapter_OnlinePDF

Optimal Design of a Low-Mobility Schönflies Parallel Manipulator

Introduction

Manipulator´s Description

Kinematics

Dynamics

Trajectory Based Criteria

Workspace and Volume

Dexterity

Input Energy Per Output Cycle

Pareto-Optimally Based Multiobjective

Conclusions

References

191387_1_En_19_Chapter_OnlinePDF

Dynamic Transmission Error Prediction of Spur Gear Pairs with Friction Consideration

Introduction

The Dynamic Model of Spur Gear

Friction Force

Instantaneous Coefficient of Friction

Friction Forces

Mesh Stiffness

Case Illustrations

Conclusion

References

191387_1_En_20_Chapter_OnlinePDF

Designing Aspects of Differential Transmission with Balls

Introduction

The Determination of Transmission Ratio

The Kinetostatic Study of the One Cell SBS

Transmission of Forces and Torques

Conclusions

References

191387_1_En_21_Chapter_OnlinePDF

Meshing Forces Distribution Analysis on Gearing Teeth with Precession Movement

References

191387_1_En_22_Chapter_OnlinePDF

Basic Aspects Concerning Development of the Hybrid Road and Driving Simulator

Introduction

The Model and the Equations of the Vertical Oscillations

The Time Response of the Linear Model of the Suspension

The Oscillations and Vibrations

Simulation of the Road Roughness

Conclusions

References

191387_1_En_23_Chapter_OnlinePDF

On Link Effects of Ring Workspace of Three-Revolute Manipulators

Introduction

The Workspace Boundary Envelope

Effect of Chain Parameters on Shapes

Tables of Workspace Topology

Effect of Twist Angles

Effect of Link Offsets

Effect of Link Lengths

Volume Evaluation

Numerical Algorithm

Effect of Chain Parameters on Volume

Conclusion

References

191387_1_En_24_Chapter_OnlinePDF

Contributions to the Dynamic Study of a Modular Serial Industrial Robot of TRTRR Type

Introduction

The Dynamic Equations

Conclusions

References

191387_1_En_25_Chapter_OnlinePDF

Contributions to the Palletization of Auto Batteries Using the Finite Displacements Theory

Introduction

Relations of Dependency Between the Initial and the Final Position of Auto Batteries and the Kinematic Parameters of the Robot

Numerical Application

Conclusions

References

191387_1_En_26_Chapter_OnlinePDF

Unconventional Mathematical Model for Complex Mechanical Structures

Introduction

General Structure of Mathematical Models

The Mathematical Model $$ \left[ {{\hbox{A}} \cap {\hbox{C}}} \right] $$

Numerical Example

Unconventional Mathematical Model for Deformable Elements

Conclusions

References

191387_1_En_27_Chapter_OnlinePDF

On the Power Losses of Cylindrical and Bevel Gears Used in Wind Turbines and Tracking Systems for Photovoltaic Platforms

Introduction

Theoretical Basis

Results and Discussions

Conclusions

References

191387_1_En_28_Chapter_OnlinePDF

New Formulations on Acceleration Energy in the Robot Dynamics

Introduction

The Forward Kinematics Equations

Matrix Exponentials in the Forward Kinematics

The Acceleration Energy in the Robot Dynamics

The Explicit Expression of the Acceleration Energy

The Matrix Expression of the Acceleration Energy

Conclusions

References

191387_1_En_29_Chapter_OnlinePDF

Dynamics of a Parallel Platform for Helicopter Flight Simulation Considering Friction

Introduction

Geometrical Model

Kinematic Model

Dynamic Model Without Friction

Dynamic Model with Computation of Additional Drive Generalized Forces Caused by Friction

Simulation Results

Conclusions

References

191387_1_En_30_Chapter_OnlinePDF

One D.O.F. Parallel Manipulator Based on Bricard Rectangular Mechanism

Introduction

Closure Equations

New Spatial Disposition

Conclusion

References

191387_1_En_31_Chapter_OnlinePDF

Theoretical and Experimental Research on the Dynamics of a 4DOF Isoglide 4-T3R1 Parallel Robot

Introduction

On the Kinematics of the Isoglide4-T3R1 Parallel Robot

Dynamic Modelling of the Isoglide4-T3R1 Parallel Robot

Virtual Model and Experimental Testing of the Isoglide4-T3R1 Parallel Robot

Isoglide4-T3R1 CAD Model

Dynamic Experimental Testing of the Isoglide4-T3R1 Parallel Robot

Conclusions

References

191387_1_En_32_Chapter_OnlinePDF

The Monitorisation of the Motion of Differential Gears

Introduction

The Description of the Mathematical Model (AC) Having Monitored Kinematics

The Experimental Results

Conclusions

References

191387_1_En_33_Chapter_OnlinePDF

Structure, Kinematics and CAD Model of a Mobile Telethesis

Introduction

Structure for a Reference Telethesis

The Kinematics for the Reference Telethesis

Forward Kinematics

Inverse Kinematics

Structure and Kinematic for the Gripper of the Telethesis

Structural Synthesis

Structural Analysis

Kinematic Synthesis

Kinematic Analysis

Static Synthesis and Analysis

Constructive Design, CAD Model and CAD Simulation

Conclusions

References

191387_1_En_34_Chapter_OnlinePDF

Asymptotic Analysis of Parametrically Excited Spring Pendulum

Introduction

Formulation of the Problem

Stability of the Fixed Points

Example

Conclusions

References

191387_1_En_35_Chapter_OnlinePDF

Simple Mechanical Clutch with Multiple Functions

Introduction

Elastic and Safety Clutch

Derivation Proceeding from the Structural Schemes

Construction of the Clutch

The Torque Moment and Its Elastic Characteristics

Theoretical and Experimental Researches

References

191387_1_En_36_Chapter_OnlinePDF

Analysis of the Direct Kinematic Problem in 3-DOF Parallel Manipulators

Introduction

Computing Workspace with One Input Constant

Visualizing the Reduced Configuration Space

Finding All DKP Solutions

Path Planning Between Different DKP Solutions

Conclusions

References

191387_1_En_37_Chapter_OnlinePDF

Kinematical Analysis of Mechanical Systems by Results of Digital Video Recording

Target Setting

Peculiarities of Digital Video Recording Process and the Subject of Inquiry

Peculiarities of Digital Video Recording Process

Subject of Inquiry Peculiarities Description

Sources of Errors of the Recording Process

Data Analysis Methodology Description

Results of Experimental Data Treatment. Slider Phase Trajectory Plotting

Conclusions

References

191387_1_En_38_Chapter_OnlinePDF

Dynamics of Mobile Vibration-Driven Robots

Introduction

Mathematical Model of a 1-D Robot with a Vibrating Internal Mass

Mathematical Model and Design of a 1-D Robot with Variable Shape of the Robot´s Body

Vibration-Driven Robot with Two Rotating Masses

Experimental Studies

Conclusions

References

191387_1_En_39_Chapter_OnlinePDF

Experimental Aspects Concerning Self-locking Angle

Introduction

Theoretical Consideration

Experimental Evidences

Test Rig Design and Testing Method

Experimental Work and Conclusions

References

191387_1_En_40_Chapter_OnlinePDF

Strategy for Optimizing the Synchronous Belt Drives Design

Introduction

Tooth Loading

Multi-body Based Model of the Belt Drive

Description Test and Results

Conclusion

References

191387_1_En_41_Chapter_OnlinePDF

Control Design and Simulations of the Linear Actuator LX-80-L

Introduction

Linear Actuator Parker LX-80L-Mechatronics Laboratory

Mathematical Model

Implementation of the Mathematical Model in Matlab-Simulink

Testing the System Using Determined Kp, Ki, Kd Parameters

Conclusions

References

191387_1_En_42_Chapter_OnlinePDF

The Analysis of a Dwell Mechanism for Alpha -Stirling Engine

On the Working Cycle of Stirling Engine

A New Dwell Mechanism Dedicated to a-Stirling Engine

On the Movement Functions of the Mechanism

The Schmidt Analysis Insertion Paragraph

Conclusion

References

191387_1_En_43_Chapter_OnlinePDF

A Digital Model of a Dwell Mechanism for Alpha-Stirling Engine

Introduction

The Kinetostatic Analysis of the Mechanism

Digital Simulations of the Dwell Mechanism

Conclusion

References

191387_1_En_44_Chapter_OnlinePDF

AutoCad Simulations and Experiments on the Manufacturing of Gears

Introduction

Experimental Simulations

Experimental Stall

Results

AUTOCAD Simulations of the Manufacturing of Gears

Conclusions

References

191387_1_En_45_Chapter_OnlinePDF

Modeling a Galvoscanner with an Optimized Scanning Function

Introduction

Equations of the Galvoscanners

Linear and Sinusoidal Scanning Function

Active Torque and Command Function

Conclusions

References

191387_1_En_46_Chapter_OnlinePDF

Simulation of a Pressure Controlled Hose Type Joint Using F.E.M.

Introduction

Hose Design

Mathematical Model

Numerical Simulation

Conclusions

References

191387_1_En_47_Chapter_OnlinePDF

Workspace and Singularity Analysis for a Reconfigurable Parallel Robot

Introduction

Kinematics of the ROPAR4 Parallel Robot

The Reconfigurable Parallel Robot

Kinematics

Singularities of the ROPAR4 Robot

Workspace of the ROPAR4 Robot

The Geometrical Method

The Analytical Method

Conclusions

References

191387_1_En_48_Chapter_OnlinePDF

Kinematics and Movement Control of a Six-Legged Mobile Robot

Introduction

Kinematics of the Mobile Robot

Command and Control System of the Six-Legged Mobile Robot

Conclusions

References

191387_1_En_49_Chapter_OnlinePDF

LabView Based Control and Simulation of a Construction Robot

Introduction

Robot Functionality and Operating Modes for Construction Tasks

Modeling and Embedded Motion Control of Robot Arm

Geometric Models of the Robotic Arm

Embedded Control of the Construction Robot

Experimental Work Conclusions

References

191387_1_En_50_Chapter_OnlinePDF

Synthesis Method of Planar Mechanisms Approximating Open Paths

Introduction

Method Description

Numerical Solutions

Conclusions

References

191387_1_En_51_Chapter_OnlinePDF

Kinematic Calculus Modelling of a Handling Arm Driving System

Introduction

Cinematic Analysis Modelling

Synthesis Proposed Version

Conclusions

References

191387_1_En_52_Chapter_OnlinePDF

Synthesis of a Bi-Axial Tracking Spatial Linkage with a Single Actuator

Introduction

Kinematic Modelling of the R-R-S-S Linkage

Geometrical Synthesis

Numerical Simulations

Conclusions

References

191387_1_En_53_Chapter_OnlinePDF

Dimensional Synthesis of Suspension System of Wheel-Legged Mobile Robot

Introduction

Mechanism Structure

Dimensional Synthesis

Formulation of the Problem

The Synthesis Method

Stage One - Two-Link Chain ACE

Stage Two - Four-Bar Mechanism

Calibration of l1 and l3

Stage Three - Drive q1 Parameters

Genetic Algorithm

Results of Optimisation

Conclusions

References

191387_1_En_54_Chapter_OnlinePDF

Cam Mechanism with Flat/Tangential Translating Follower and Its Size

Introduction

The Forces´ Equilibrium and Guiding´s Size Establishment

The Total Size of a Cam Mechanism with Flat Translating Follower and the Influence´s Factors of It

Case Studies

Case Study 1

Case Study 2

Conclusions

References

191387_1_En_55_Chapter_OnlinePDF

A Design of Compliant Mechanism with Integrated Actuators

Introduction

Design Study of a Flaps Mechanism Demonstrator

Analytically Based Structural Pre-Choice

Drive´s Values

Differential Design

Integrally Design

Numerical Analysis

Conclusions

References

191387_1_En_56_Chapter_OnlinePDF

Software Platform for Analyzing and Optimizing the Mechanical Systems

Introduction

Virtual Prototyping Concept

Virtual Prototyping Platform

Case Study

Final Conclusions

References

191387_1_En_57_Chapter_OnlinePDF

Considerations Regarding the Transdisciplinary Nature of the Homeokinesis Concept, as a Result of Its Integration in the Theor

Introduction

Self-organized Complex Systems

The Self-organization of the Behaviour of Complex Mechatronical System Through Homeokinetic Learning

The Transdisciplinary Nature of the Homeokinesis Concept

Conclusions

References

191387_1_En_58_Chapter_OnlinePDF

Design of a Clamp Mechanism

Introduction

Functional Diagram

Profile of Cam

Assembly of Some 3D Components

Assembly Preparation for Analysing

Transformation of the Assembly into a Mechanism

A Contact Joint Creation

Insertion of a Force

Analysis of the Mechanism

Profiles Comparison

Conclusions

References

191387_1_En_59_Chapter_OnlinePDF

New Orientation Mechanism (Wrist) Used on the Industrial Robots

Introduction

Unitary Kinematic Analysis Method

Symmetrical Kinematic Schema of OrM-3R

A New Kinematic Schema of OrM-3R

Conclusions

References

191387_1_En_60_Chapter_OnlinePDF

Modular Orthopedic Devices Based on Shape Memory Alloys

Introduction

Modular Adaptive Implant

Intelligent Coupling and Catching System in External Implants

Conclusions

References

191387_1_En_61_Chapter_OnlinePDF

Loading Cases and Forces on Azimuthal Solar Tracking Systems with Linear Actuators

Introduction

External Loads and Loading Cases

Wind Load

Weight

Snow

Seismic Load

Loading Cases

Preliminary Design Forces

Calculus Relations

Numerical Results

FEM Analysis

Conclusions

References

191387_1_En_BookBackmatter_OnlinePDF

: Index