Mechanisms and Machine Science

Transcription

1 Mechanisms and Machine Science Volume 17 Series Editor Marco Ceccarelli, Cassino, Italy For further volumes:

2 Victor Petuya Charles Pinto Erwin-Christian Lovasz Editors New Advances in Mechanisms, Transmissions and Applications Proceedings of the Second Conference MeTrApp 2013 ABC

3 Editors Victor Petuya Mechanical Engineering Department University of the Basque Country Bilbao Spain Erwin-Christian Lovasz Mechanical Engineering Faculty Politehnica University of Timisoara Timisoara Romania Charles Pinto Mechanical Engineering Department University of the Basque Country Bilbao Spain ISSN ISSN (electronic) ISBN ISBN (ebook) DOI / Springer Dordrecht Heidelberg New York London Library of Congress Control Number: c Springer Science+Business Media Dordrecht 2014 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. Exempted from this legal reservation are brief excerpts in connection with reviews or scholarly analysis or material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Duplication of this publication or parts thereof is permitted only under the provisions of the Copyright Law of the Publisher s location, in its current version, and permission for use must always be obtained from Springer. Permissions for use may be obtained through RightsLink at the Copyright Clearance Center. Violations are liable to prosecution under the respective Copyright Law. 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. While the advice and information in this book are believed to be true and accurate at the date of publication, neither the authors nor the editors nor the publisher can accept any legal responsibility for any errors or omissions that may be made. The publisher makes no warranty, express or implied, with respect to the material contained herein. Printed on acid-free paper Springer is part of Springer Science+Business Media (

4 Preface The Second Conference on Mechanisms, Transmissions and Applications, MeTrApp 2013, has been organized by the Department of Mechanical Engineering of the University of the Basque Country, and has been held in the Bizkaia Aretoa building in the city of Bilbao, Spain, during the period 2 4 October This conference constitutes the consolidation of the new born MeTrApp conference, which was held for the first time in Timisoara. The International Federation for the Promotion of the Mechanism and Machine Science, IFToMM, has several technical committees, two of them being the Technical Committee on Linkages and Mechanical Controls and the Technical Committee on Micromachines. One of the main efforts of these two committees is directed to promoting the interaction among university professors and researchers, engineers that work in industry and postgraduate students, with the purpose of testing hypothesis and sharing knowledge in the field of Machine Theory. In this sense, this Conference constitutes the most suitable atmosphere to achieve this target. The contents of this conference are brought together in this book formed by a collection of 50 peer-reviewed papers, dealing with important and up-todate topics in the field of mechanisms and robotics. The main areas covered in this conference are mechanism and machine design, mechanical transmissions, automotive applications, biomechanical applications, parallel mechanisms, walking mechanisms, and computational and experimental methods. A significant number of authors have contributed to the success of this conference. The research papers included in this book are a compilation of relevant results developed by active research groups from many universities and institutions all over the world such as: Canada, Germany, Japan, Italy, France, Poland, Romania, Russia, Turkey, and Spain. We are grateful to the authors for their contributions and to all reviewers for their critical and valuable recommendations. Also, we want to thank IFToMM, the Spanish Association of Mechanical Engineering and the MeTrApp 2013 International Scientific Committee for their cooperation and support. A special recognition is also due to all members of the Local

5 VI Preface Organizing Committee for their continuous work during the preparation of the meeting. Finally, we kindly appreciate the work done by the staff of Springer in assisting to prepare this book. Prof. Alfonso Hernández Conference Chairman

6 Contents Automotive Applications Kinetostatic Benchmark of Rear Suspension Systems for Motorcycle... 1 A. Noriega, D.A. Mántaras, D. Blanco Interconnected Suspension System on Sport Motorcycles... 9 C. Moreno-Ramírez, P. García-Fernández, A. de-juan, M. Tomas-Rodríguez Simulation Tool for Motorbike Prototype Design P. García-Fernández, J. Gutierrez de Quevedo, C. Moreno-Ramírez, A. Fernández del Rincón Modelling and Control of a Semi-active Suspension System A.Colina,G.Lerma,I.Cabanes,I.Iglesias Topological Synthesis of a Novel Parallel Mechanism for Vehicle Rear Suspensions F. Malvezzi, T.A.H. Coelho Vibration Model of a POM Chain Conveyor for the Automobile Industry A.F. Cubero, M. Artés Mechanical Transmissions Development of a Trochoidal Gear Reducer with a Slipping Rollers Type Torque Limiter H. Terada, M. Kobayashi, K. Imase

7 VIII Contents Uncertainty Propagation in the Grinding Process of High Contact Ratio Gears for a Planetary Geared Turbofan A. Martínez-Ciudad, L.N. López de Lacalle, J. Sánchez Efficiency Analysis of Shifted Spur Gears A. Diez-Ibarbia, A. Fernández del Rincón, M. Iglesias, F. Viadero Interactive Geometric Design of Closed External Single-Range Gearing with Straight Toothing A.A. Golovin, A.M. Duzhev Adaptive Mechanical Continuously Variable Transmission K.S. Ivanov, A.D. Dinassylov, E.K. Yaroslavceva Design and Characterization of a New Planetary Gear Box G. Balbayev, Marco Ceccarelli The Issues of Spurious Residual Oscillations in the Displacement Laws of Cam Systems M. Václavík, P. Dostrašil, P. Jirásko Biomechanical Applications Mechanism of a Leg Exoskeleton for Walking Rehabilitation Purposes C. Copilusi, Marco Ceccarelli, G. Carbone, A. Margine Human Finger Kinematics and Dynamics Fai Chen Chen, Silvia Appendino, Alessandro Battezzato, Alain Favetto, Mehdi Mousavi, Francesco Pescarmona Design and Simulation of a Simplified Mechanism for Sit-to-Stand Assisting Devices Erika Ottaviano, Pierluigi Rea, Peru Errea, Charles Pinto Collision Free Design of Dental Prosthesis E. Solaberrieta, L. Barrenetxea, E. Bilbao, O. Etxaniz, N.Goikoetxea,R.Minguez,E.Sierra,A.Uribarri Kinematics Simulation and Validation of a Medical Robot A. Szilaghyi, D. Pisla, C. Vaida, B. Gyurka, N. Plitea Experimental Design and Control Approach of an Active Knee Prosthesis with Geared Linkage E.-C. Lovasz, V. Ciupe, K.-H. Modler, C.M. Gruescu, U. Hanke, I. Maniu, D. Mărgineanu

8 Contents IX Motion Control and Fall Prevention for an Active Walker Mobility Aid S. Irgenfried, H. Wörn Workspace and Tension Analysis of a Cable-Based Parallel Manipulator for Lower Limb Rehabilitation J.C.M. Carvalho, A.M. Barbosa, R.S. Gonçalves Walking Mechanisms Tool for the Analysis of New Skills Biped Pasibot H. Rubio, A. Bustos, C. Castejón, J. Meneses, J.C. García-Prada Hybrid Quadruped Robot Mechanical Design and Gait Modelling M. Olinski, J. Ziemba Wheel-Legged Robot Construction and Obstacle Detection Sensors A. Gronowicz, P. Sperzyński, J. Szrek, J. Jakubiak Control of Constrained Dynamic System of Leg of Wheel-Legged Mobile Robot P. Sperzyński, J. Szrek Planning an Optimal Step Motion for a Hybrid Wheeled-Legged Hexapod F. Gómez-Bravo, M.J. Aznar, G. Carbone Mechanism and Machine Design Geometrical Synthesis Approach for Compliant Mechanisms Design of Applications Exploiting Fibre Reinforced Material Characteristics J. Ehlig, U. Hanke, E.-C. Lovasz, M. Zichner, K.-H. Modler Derivation of Input/Output Relationships for the Bennett 6R Linkages Based on the Method of Decomposition R.I. Alizade, G. Kiper, M.İ.C. Dede, E. Uzunoğlu Non-smooth Behaviour of a Linkage Mechanism with Revolute Clearance Joints A. Krinner, T. Thümmel Design of a Dynamometric Wheel Rim Jesús Blasco, Francisco Valero, Antonio Besa, Francisco Rubio

9 X Contents Design of a Feeder with the Use of the Path Synthesis Method J. Buśkiewicz A Fairly Simple Mechanism Design for a Rural Water Pump Marco Ceccarelli, Jorge Alencastre Miranda Adjustable Low-Cost Robot Link C. Teichgräber, M. Berger, J. Müglitz 2D Scan-Head Motion Characterization and Machine-Tool Integration E. Ukar, S. Martínez, A. Lamikiz, I. Tabernero Development of a Pneumatic End-Effector for a 3-DOF Robotic Local Structure S. Kurtenbach, M. Kochniss, A. Cousin, B. Corves Enhancement of Mechanism Design Process by Interaction with Haptic Feedback-Systems T. Kölling, M Hüsing, B. Corves Giuseppe Antonio Borgnis and Significance of His Handbooks on Representation and Terminology of Machines Michela Cigola, Marco Ceccarelli A Comparative Study on Application of Decomposition Method in Function Generation Synthesis of Over-Constrained Mechanisms O.W.N. Maaroof, M.İ.C. Dede Parallel Mechanisms A Novel 4 DoFs (3T-1R) Parallel Manipulator with Actuation Redundancy Workspace Analysis Samah Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François Pierrot Two Parallel Robots with Actuators Situated on the Base A.V. Kozyrev, V.A. Glazunov Geometric, Kinematic and Dynamic Analysis of Four Degrees of Freedom Manipulating Robot, Using Methods of Nonlinear Programming A. Evgrafov, A. Kornishov

10 Contents XI Robust Model Based Predictive Control for Trajectory Tracking of Parallel Robots A. Zubizarreta, I. Cabanes, M. Marcos, Charles Pinto, J. Corral A Calibration Method for a Six-Degree-of-Freedom Parallel Manipulator with a Redundant Passive Chain T. Oiwa, H. Ikuma Non-singular Transitions Based Optimal Design Methodology for Parallel Manipulators M. Urízar, V. Petuya, M. Diez, E. Macho, A. Hernández Computational and Experimental Methods On the Fatigue Strength of Ball Burnished Mechanical Elements R. Avilés, J. Albizuri, A. Rodríguez, L.N. López de Lacalle Models for Determining the Static Stiffness of Collet Sleeves E. Soriano, H. Rubio, J.C. García-Prada Measuring How Well a Structure Supports Varying External Wrenches François Guay, Philippe Cardou, Ana Lucia Cruz-Ruiz, Stéphane Caro Effects of Plasticity Induced by Assembly Process on Contact Pressure of Shrink Fits with Grooved Hubs J.C. Pérez-Cerdán, M. Lorenzo, C. Blanco Study of the Stress Intensity Factor of an Unbalanced Rotating Cracked Shaft B. Muñoz-Abella,L.Rubio,P.Rubio Automatic Identification of the Inertia and Friction of an Electromechanical Actuator C. Roldán, F.J. Campa, O. Altuzarra, E. Amezua Author Index