Mechanisms and Machine Science

Transcription

1 Mechanisms and Machine Science Volume 52 Series editor Marco Ceccarelli LARM: Laboratory of Robotics and Mechatronics DICeM: University of Cassino and South Latium Via Di Biasio 43, Cassino (Fr), Italy

2 More information about this series at

3 Mehmet Ismet Can Dede Mehmet İtik Erwin-Christian Lovasz Gökhan Kiper Editors Mechanisms, Transmissions and Applications Proceedings of the Fourth MeTrApp Conference

4 Editors Mehmet Ismet Can Dede Department of Mechanical Engineering Izmir Institute of Technology Izmir Turkey Mehmet İtik Department of Mechanical Engineering Karadeniz Technical University Trabzon Turkey Erwin-Christian Lovasz Faculty of Mechanical Engineering Polytechnic University of Timisoara Timisoara Romania Gökhan Kiper Department of Mechanical Engineering Izmir Institute of Technology Izmir Turkey ISSN ISSN (electronic) Mechanisms and Machine Science ISBN ISBN (ebook) DOI / Library of Congress Control Number: Springer International Publishing AG 2018 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictional claims in published maps and institutional affiliations. Printed on acid-free paper This Springer imprint is published by Springer Nature The registered company is Springer International Publishing AG The registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland

5 Preface The first MeTrApp (Mechanisms, Transmissions and Applications) was organized in Timisoara, Romania, in 2011, as a workshop. Following the first MeTrApp, the next ones are organized every two years. The second one in the series of this conference was organized in Bilbao, Spain, in 2013, and the third one was organized in Aachen, Germany, in MeTrApp 2017 is the fourth one of the conference series organized in Trabzon, Turkey, between the dates July 3 5, This book gathers the technical papers that are submitted and presented in the fourth Conference on Mechanisms, Transmissions and Applications co-organized by Karadeniz Technical University and Izmir Institute of Technology, Turkey. MeTrApp conference series is organized under the patronage of International Federation for Promotion of Mechanism and Machine Science (IFToMM), and it is joint event of two technical committees of IFToMM namely Linkages and Mechanical Controls and Gearing and Transmissions. MeTrApp 2017 is the first conference of IFToMM conference series that is organized in Turkey. MeTrApp 2017 aims to bring together the researchers, scientists, industry experts, and students from all over the world to provide them a platform to share their state-of-the-art work in the fields of mechanisms, transmissions, and their applications. Hence, promoting the exchange of ideas and collaboration is one of the expected outcomes of this conference. Another outcome of the conference is this edited proceedings book within the Springer Mechanism and Machine Science series, which enlarges the sharing platform to all researchers, scientists, industry experts, and students that are interested in the fields of mechanisms and transmissions. The content of this book is presented in six parts for the reader to easily navigate between the proceedings that fall into certain subject areas as follows: Mechanism Design, Cam Mechanisms, Parallel Manipulators, Control Applications, Mechanical Transmissions, and Dynamics of Machinery. A total of 30 submissions and two invited talk papers were received from authors of 10 different countries for MeTrApp The invited speakers were Prof. Dr. Yavuz Yaman, Middle East Technical University, and Dr. Murat Gültekin, Aselsan Inc. After an initial plagiarism check and rigorous two-stage double-blind review process by at least two reviewers for each paper, 29 papers were accepted to appear v

6 vi Preface in this book and to be presented in MeTrApp We sincerely thank all the reviewers for their contribution to the review process timely with their strong expertise and scientific background. We also thank all the authors for their strong will to contribute to this conference during the tough period that Turkey is going through. We believe that this displays the true spirit of the founding fathers of IFToMM promoting science without borders. We thank all who helped in organizing this book and MeTrApp We thank Karadeniz Technical University, MAKTED (IFToMM Turkey), and Izmir Institute of Technology for all their support and sponsorship. Finally, we thank all the staff at Springer for all the help they provided in editing this book and their quick response times with minimal oscillations. Our wish is that the excellent works that are presented in MeTrApp 2017 will be cherished by a larger number of readers with the help of this book, and participation to the next MeTrApp will be much higher. April 2017 Mehmet Ismet Can Dede Mehmet İtik Gökhan Kiper Erwin-Christian Lovasz

7 Organization Conference Chairman Mehmet İtik Conference Co-chairmen Mehmet Ismet Can Dede Gökhan Kiper Erwin-Christian Lovasz Daizhong Su Izmir Institute of Technology, Turkey İzmir İnstitute of Technology, Turkey Politehnica University of Timisoara, Romania Nottingham Trent University, UK Program Committee Burkhard Corves Marco Ceccarelli Martin Bilek Domenico Mundo Takaaki Oiwa Victor Petuya Doina Pisla Hidetsugu Terada Giuseppe Quaglia Yan Chen İbrahim Uzmay Eres Söylemez RWTH Aachen University, Germany University of Cassino and South Latium, Italy Technical University of Liberec, Czech Republic Università della Calabria, Italy Shizuoka University, Japan University of the Basque Country UPV/EHU, Spain Technical University of Cluj-Napoca, Romania University of Yamanashi, Japan Politecnico di Torino, Italy Tianjin University, China Erciyes University, Turkey Middle East Technical University, Turkey vii

8 viii Organization M. Kemal Özgören Middle East Technical University, Turkey Miroslav Václavík VÚTS, Czech Republic Rasim Alizade Azerbaijan Technical University, Azerbaijan Local Organizing Committee at Karadeniz Technical University Ertan Baydar Murat Eray Korkmaz Mustafa Yavuz Coşkun Caner Sancak Karadeniz Technical University, Turkey Karadeniz Technical University, Turkey Karadeniz Technical University, Turkey Karadeniz Technical University, Turkey Under the Patronage of IFToMM Marco Ceccarelli Teresa Zielinska Erwin-Christian Lovasz Daizhong Su President Secretary-General Chair of the Technical Committee for Linkages and Mechanical Controls Chair of the Technical Committee for Gearings and Transmissions

9 Contents Mechanism Design Morphing Wings and Control Surfaces: A New Approach in Aircraft Design... 3 Yavuz Yaman Designing Human Powered Balers for Straw Bale Construction in Developing Countries: The Case of Haiti Carlo Ferraresi, Walter Franco, and Giuseppe Quaglia Guiding Linkages with Remote Centre of Rotation for Thermal Cutting Processes Carsten Teichgräber, Jörg Müglitz, and Maik Berger Structural Synthesis of 2R1T Type Mechanisms for Minimally Invasive Surgery Applications Abdullah Yaşır and Gökhan Kiper 3R1H Pseudo-Rigid-Body Model for Compliant Mechanisms with Inflection Beams Yue-Qing Yu and Shun-Kun Zhu A Spatial Four-Bar Linkage RSPS for Ball-Bar to Test R-pair Delun Wang, Zhi Wang, Xiaopeng Li, Huimin Dong, and Shudong Yu Leg Mechanisms Motion Characteristics Adriana Comanescu, Elisabeta Banica, and Dinu Comanescu Design and Dimensional Optimization of a Novel Walking Mechanism with Firefly Algorithm Özgün Selvi and Samet Yavuz ix

10 x Contents Cam Mechanisms Improving the Kinematics of Motion Curves for Cam Mechanisms Using NURBS Thi Thanh Nga Nguyen, Stefan Kurtenbach, Mathias Hüsing, and Burkhard Corves Assessment of the Rolling Contact Fatigue Monika Hejnová The Stress Distribution in the Contact Region of a Cam Mechanism General Kinematic Pair Jiri Ondrášek Parallel Manipulators 5 DoF Haptic Exoskeleton for Space Telerobotics Shoulder Module Dan Margineanu, Erwin-Christian Lovasz, Corina Mihaela Gruescu, Valentin Ciupe, and Santra Tatar Kinematic Design of a Tripod Parallel Mechanism for Robotic Legs Matteo Russo and Marco Ceccarelli Parallel Manipulators: Practical Applications and Kinematic Design Criteria. Towards the Modular Reconfigurable Robots Alfonso Hernández, Mónica Urízar, Erik Macho, and Victor Petuya Two-Degree-of-Freedom Special Parallel Manipulator for Laser Interferometry-Based Tracker Baris Celik, Takaaki Oiwa, Kenji Terabayashi, and Junichi Asama Control Applications Design of Artificial Neural Network Predictor for Trajectory Planning of an Experimental 6 DOF Robot Manipulator Şahin Yıldırım and Burak Ulu Fault-Tolerance Experiments with a Kinematically Redundant Holonomic Mobile Robot Osman Nuri Şahin, Onur Çelik, and Mehmet İsmet Can Dede Dual-Loop Motion Control for Geometric Errors and Joint Clearances Compensation of a Planar 2-PRP+1-PPR Manipulator Santhakumar Mohan, Jayant Kumar Mohanta, Mathias Huesing, and Burkhard Corves The Effects of Admittance Term on Back-Drivability Ogulcan Işıtman, Orhan Ayit, and Mehmet İsmet Can Dede

11 Contents xi Design and Proposed Model Reference Trajectory Control of a Snake like Robot Şahin Yildirim and Kirakoya Abdoulaye Ben-Aziz Mechanical Transmissions Free Vibration and Sensitivity Analysis of RV Reducer Yuhu Yang and Chuan Chen Proof of Existence of a Gear Variator as Wheelwork with Constant Engagement of Toothed Wheels Konstantin S. Ivanov Parameterized Substructure Model of PGT for Finite Element Contact Analysis Huimin Dong, Chu Zhang, Jili Zhang, and Delun Wang On the Impact of Transmission Error on the Dynamic Behavior of Geared-Linkages Domenico Mundo, Shadi Shweiki, and Piervincenzo Catera Effect of the Coil Shape on Magnetic Field of an Electromagnet for Contactless Power Transmission to Microrobots Abdulkareem Alasli, Nail Akçura, and Levent Çetin Dynamics of Machinery The Edge of Chaos in Kinematics and Dynamics of Mechanism Zhaohui Liu, Jin Xie, and Yong Chen Dynamics of Orthogonal Mechanism of Vibrating Table in View of Friction Zharilkassin Iskakov, Kuatbay Bissembayev, and Nutpulla Jamalov Design of Neural Network Predictor for Vibration Analysis of a Drill Column Machine During Drilling Plastic Work-Pieces Şahin Yıldırım and Emir Esim Railway Vehicle Model Developed by ASELSAN Mustafa Nicem Tanyeri and H. Murat Gültekin Author Index