New Trends in Mechanism Science

New Trends in Mechanism Science

MECHANISMS AND MACHINE SCIENCE Volume 5 Series Editor MARCO CECCARELLI For other titles published in this series, go to www.springer.com/series/8779

Doina Pisla Marco Ceccarelli Manfred Husty Burkhard Corves Editors New Trends in Mechanism Science Analysis and Design

Editors Prof. Dr. -Ing. Doina PISLA Technical University of Cluj-Napoca Memorandumului 28 400114 Cluj-Napoca Romania Doina.Pisla@mep.utcluj.ro Prof. Marco CECCARELLI University of Cassino Via Di Biasio 43 03043 Cassino (Fr) Italy ceccarelli@unicas.it Univ. Prof. Dr. Manfred HUSTY University Innsbruck Technikerstr.13 6020 Innsbruck Austria manfred.husty@uibk.ac.at Prof. Dr. -Ing. Burkhard J. CORVES RWTH Aachen University 52056 Aachen Germany corves@igm.rwth-aachen.de ISBN 978-90-481-9688-3 e-isbn 978-90-481-9689-0 DOI 10.1007/978-90-481-9689-0 Springer Dordrecht Heidelberg London New York Library of Congress Control Number: 2010933197 Springer Science+Business Media B.V. 2010 No part of this work may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, microfilming, recording or otherwise, without written permission from the Publisher, with the exception of any material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Cover design: estudio Calamar S.L. Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com)

Table of Contents Preface xiii COMPUTATIONAL KINEMATICS Design and Kinematic Analysis of a Multiple-Mode 5R2P Closed-Loop Linkage 3 C. Huang, R. Tseng and X. Kong Synthesis of Spatial RPRP Loops for a Given Screw System 11 A. Perez-Gracia Contributions to Four-Positions Theory with Relative Rotations 21 H.-P. Schröcker Cusp Points in the Parameter Space of RPR-2PRR Parallel Manipulators 29 G. Moroz, D. Chablat, P. Wenger and F. Rouiller Kinematics and Design of a Simple 2-DOF Parallel Mechanism Used for Orientation 39 T. Itul, D. Pisla and A. Stoica Special Cases of Schönflies-Singular Planar Stewart Gough Platforms 47 G. Nawratil The Motion of a Small Part on the Helical Track of a Vibratory Hopper 55 D.I. Popescu Kinematic Analysis of Screw Surface Contact 63 J. Svígler v

vi Table of Contents Aspects Concerning VRML Simulation of Calibration for Parallel Mechanisms 73 A. Capustiac and C. Brisan Protein Kinematic Motion Simulation Including Potential Energy Feedback 83 M. Diez, V. Petuya, E. Macho and A. Hermández Implementation of a New and Efficient Algorithm for the Inverse Kinematics of Serial 6R Chains 91 M. Pfurner and M.L. Husty Composition of Spherical Four-Bar-Mechanisms 99 G. Nawratil and H. Stachel MICRO-MECHANISMS Simulation and Measurements of Stick-Slip-Microdrives for Nanorobots 109 C. Edeler, I. Meyer and S. Fatikow Analysis and Inverse Dynamic Model of a Miniaturized Robot Structure 117 A. Burisch, S. Drewenings, R.J. Ellwood, A. Raatz and D. Pisla Design and Modelling a Mini-System with Piezoelectric Actuation 125 S. Noveanu, V.I. Csibi, A.I. Ivan and D. Mândru LINKAGES AND MANIPULATORS Some Properties of Jitterbug-Like Polyhedral Linkages 137 G. Kiper Servo Drives, Mechanism Simulation and Motion Profiles 147 B. Corves Azimuth Tracking Linkage Influence on the Efficiency of a Low CPV System 157 I. Visa, I. Hermenean, D. Diaconescu and A. Duta Multi-Objective Optimization of a Symmetric Schönflies Motion Generator 165 B. Sandru, C. Pinto, O. Altuzarra and A. Hernández Cyclic Test of Textile-Reinforced Composites in Compliant Hinge Mechanisms 173 N. Modler, K.-H. Modler, W. Hufenbach, M. Gude, J. Jaschinski, M. Zichner, E.-C. Lovasz, D. Mărgineanu and D. Perju

Table of Contents vii The Optimization of a Bi-Axial Adjustable Mono-Actuator PV Tracking Spatial Linkage 181 D. Diaconescu, I. Visa, M. Vatasescu, R. Saulescu and B. Burduhos MECHANICAL TRANSMISSIONS Defect Simulation in a Spur Gear Transmission Model 191 A. Fernandez del Rincon, M. Iglesias, A. de-juan and F. Viadero On a New Planetary Speed Increaser Used in Small Hydros. Part I. Conceptual Design 199 C. Jaliu, D. Diaconescu, R. Săulescu and O. Climescu On a New Planetary Speed Increaser Used in Small Hydros. Part II. Dynamic Model 209 R. Săulescu, C. Jaliu, D. Diaconescu and O. Climescu Simplified Calculation Method for the Efficiency of Involute Helical Gears 217 M. Pleguezuelos, J.J. Pedrero and M. Sánchez Cam Size Optimization of Disc Cam-Follower Mechanisms with Translating Roller Followers 225 P. Flores The Dynamic Effects on Serial Printers Motion Transmission Systems 235 D. Comanescu and A. Comanescu Size Minimization of the Cam Mechanisms with Translating Roll Follower 245 D. Perju, E.-C. Lovasz, K.-H. Modler, L.M. Dehelean, E.C. Moldovan and D. Mărgineanu Kinematic Analysis of the Roller Follower Motion in Translating Cam-Follower Mechanisms 253 E. Seabra and P. Flores Kinematic Analysis of Cam Mechanisms as Multibody Systems 261 D. Ciobanu and I. Visa Peculiarities of Flat Cam Measurement by Results of Digital Photo Shooting 269 A. Potapova, A. Golovin and A. Vukolov Analyzing of Vibration Measurements upon Hand-Arm System and Results Comparison with Theoretical Model 277 A.F. Pop, R. Morariu-Gligor and M. Balcau

viii Table of Contents Elastic and Safety Clutch with Metallic Roles and Elastic Rubber Elements 285 I. Stroe MECHANISMS FOR BIOMECHANICS A New Spatial Kinematic Model of the Lower Leg Complex: A Preliminary Study 295 B. Baldisserri and V. Parenti Castelli Selected Design Problems in Walking Robots 303 T. Zielinska and K. Mianowski Numerical Simulations of the Virtual Human Knee Joint 309 D. Tarnita, D. Popa, N. Dumitru, D.N. Tarnita, V. Marcusanu and C. Berceanu Development of a Walking Assist Machine Using Crutches Motion for Ascending and Descending Steps 319 T. Iwaya, Y. Takeda, M. Ogata and M. Higuchi Human Lower Limb Dynamic Analysis with Applications to Orthopedic Implants 327 N. Dumitru, C. Copilusi, N. Marin and L. Rusu Forward and Inverse Kinematics Calculation for an Anthropomorphic Robotic Finger 335 C. Berceanu, D. Tarnita, S. Dumitru and D. Filip EXPERIMENTAL MECHANICS Theoretical and Experimental Determination of Dynamic Friction Coefficient for a Cable-Drum System 345 G. Bayar, E.I. Konukseven and A.B. Koku Modelling and Real-Time Dynamic Simulation of the Cable-Driven Parallel Robot IPAnema 353 P. Miermeister and A. Pott Horse Gait Exploration on Step Allure by Results of High Speed Strobelight Photography 361 A. Vukolov, A. Golovin and N. Umnov Simulation of the Stopping Behavior of Industrial Robots 369 T. Dietz, A. Pott and A. Verl

Table of Contents ix Mechanical and Thermal Testing of Fluidic Muscles 377 E. Ravina Structural Dynamic Analysis of Low-Mobility Parallel Manipulators 387 J. Corral, Ch. Pinto, M. Urizar and V. Petuya DYNAMICS Spatial Multibody Systems with Lubricated Spherical Joints: Modeling and Simulation 397 M. Machado, P. Flores and H.M. Lankarani Comparison of Passenger Cars with Passive and Semi-Active Suspension Systems Based on a Friction Controlled Damper 405 S. Reich and S. Segla Dynamic Balancing of a Single Crank-Double Slider Mechanism with Symmetrically Moving Couplers 413 V. van der Wijk and J.L. Herder Evaluation of Engagement Accuracy by Dynamic Transmission Error of Helical Gears 421 V. Atanasiu and D. Leohchi The Influence of the Friction Forces and the Working Cyclogram upon the Forces of a Robot 429 I. Turcu, C. Birleanu, F. Sucala and S. Bojan Dynamic Aspects in Building up a Flight Simulator 437 A. Pisla, T. Itul and D. Pisla APPLICATIONS AND TEACHING METHODS Robotic Control of the Traditional Endoscopic Instrumentation Motion 449 M. Perrelli, P. Nudo, D. Mundo and G.A. Danieli Ethics in Robotic Surgery and Telemedicine 457 F. Graur, M. Frunza, R. Elisei, L. Furcea, L. Scurtu, C. Radu, A. Szilaghyi, H. Neagos, A. Muresan and L. Vlad Optimal Control Problem in New Products Launch Optimal Path Using a Single Command 467 I. Blebea, C. Dobocan and R. Morariu Gligor

x Table of Contents Mechanical Constraints and Design Considerations for Polygon Scanners 475 V.-F. Duma and J.P. Rolland Training Platform for Robotic Assisted Liver Surgery The Surgeon s Point of View 485 F. Graur, L. Scurtu, L. Furcea, N. Plitea, C. Vaida, O. Detesan, A. Szilaghyi, H. Neagos, A. Muresan and L. Vlad Teaching Mechanisms: From Classical to Hands-on-Experiments and Research-Oriented 493 V.-F. Duma Models Created by French Engineers in the Collection of Bauman Moscow State Technical University 503 D. Bolshakova and V. Tarabarin The Models of Centrifugal Governors in the Collection of Bauman Moscow State Technical University 511 N. Manychkin, M. Sakharov and V. Tarabarin Advanced Approaches Using VR Simulations for Teaching Mechanisms 519 S. Butnariu and D. Talaba NOVEL DESIGNS Preliminary Design of ANG, a Low-Cost Automated Walker for Elderly 529 J-P. Merlet An Active Suspension System for Simulation of Ship Maneuvers in Wind Tunnels 537 T. Bruckmann, M. Hiller and D. Schramm Mechanism Solutions for Legged Robots Overcoming Obstacles 545 M. Ceccarelli, G. Carbone and E. Ottaviano CONTROL ISSUES OF MECHANICAL SYSTEMS Dynamic Reconfiguration of Parallel Mechanisms 557 J. Schmitt, D. Inkermann, A. Raatz, J. Hesselbach and T. Vietor Development of a Voice Controlled Surgical Robot 567 C. Vaida, D. Pisla, N. Plitea, B. Gherman, B. Gyurka, F. Graur and L. Vlad

Table of Contents xi Modeling and Simulation of the Tracking Mechanism Used for a Photovoltaic Platform 575 C. Alexandru The Modular Robotic System for In-Pipe Inspection 583 O. Tatar, C. Cirebea and A. Alutei MECHANISM DESIGN Geometric and Manufacturing Issues of the 3-UPU Pure Translational Manipulator 595 A.H. Chebbi and V. Parenti-Castelli Workspace Determination and Representation of Planar Parallel Manipulators in a CAD Environment 605 K.A. Arrouk, B.C. Bouzgarrou and G. Gogu A Theoretical Improvement of Stirling Engine PV Diagram 613 N.M. Dehelean, L.M. Dehelean, E.-C. Lovasz and D. Perju Cylindrical Worm Gears with Improved Main Parameters 625 T.A. Antal and A. Antal Multi-Objective Optimization of Parallel Manipulators 633 A. de-juan, J.-F. Collard, P. Fisette, P. Garcia and R. Sancibrian A Design Method of Crossed Axes Helical Gears with Increase Uptime and Efficiency 641 T.A. Antal and A. Antal Dual Axis Tracking System with a Single Motor 649 Gh. Moldovean, B.R. Butuc and R. Velicu The Determination of the Exact Surfaces of the Spur Wheels Flank with the Unique Rack-Bar 657 S. Bojan, C. Birleanu, F. Sucala and I. Turcu Choosing the Actuators for the TRTTR1 Modular Serial Robot 665 R.M. Gui, V. Ispas, Vrg. Ispas and O.A. Detesan MECHANICS OF ROBOTS Stiffness Modelling of Parallelogram-Based Parallel Manipulators 675 A. Pashkevich, A. Klimchik, S. Caro and D. Chablat

xii Table of Contents Incorporating Flexure Hinges in the Kinematic Model of a Planar 3-PRR Parallel Robot 683 R.J. Ellwood, D. Schütz and A. Raatz On the Dynamics of a 5 DOF Parallel Hybrid Robot Used in Minimally Invasive Surgery 691 D. Pisla, B.G. Gherman, M. Suciu, C. Vaida, D. Lese, C. Sabou and N. Plitea Author Index 701 Subject Index 705

Preface The European Conference on Mechanism Science (EUCOMES 2010 Conference) is the third event of a series that has been started in 2006. EUCOMES has been started as a conference initiative to be a forum mainly for the European community working in Machine and Mechanism Science in order to facilitate aggregation and sharing interests and results for a better collaboration and activity visibility. The previous EUCOMES conferences were successfully held in Innsbruck, Austria (2006) and Cassino, Italy (2008). EUCOMES 2010 is taking place in Cluj-Napoca, Romania from 14 to 18 September 2010. EUCOMES 2010 is organized by the Center for Industrial Robots Simulation and Testing (CESTER) at the Faculty of Machine Building, Technical University of Cluj-Napoca under the patronage of IFToMM, the International Federation for the Promotion of Mechanism and Machine Science. The aim of the conference is to bring together researchers, industry professionals and students from the broad ranges of disciplines referring to Mechanism Science, in an intimate, collegial and stimulating environment. The EUCOMES 2010 Conference aims to provide a special opportunity for the scientists to exchange their scientific achievements and build up national and international collaboration in the mechanism science field and its applications. This book presents the most recent research results in the mechanism science, intended to improve a variety of applications in daily life and industry. The book is published in the Springer series Machine and Mechanism Science. The issues addressed are: 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. EUCOMES 2010 received 100 papers and after careful review with at least two reviews for each paper, 79 papers have been accepted for publication and presentation at the conference. We would like to express grateful thanks to IFToMM, the Romania IFToMM National Committee, the members of the International Steering Committee for the EUCOMES Conference for their co-operation: Marco Ceccarelli (University of Cassino, Italy), Burkhard Corves (University of Aachen, Germany), Manfred Husty xiii

xiv Preface (University of Innsbruck, Austria), Jean-Pierre Merlet (INRIA, France), Doina Pisla (Technical University of Cluj-Napoca, Romania), Fernando Viadero (University of Cantabria, Spain) and Teresa Zielinska (Warsaw Technical University, Poland), the members of the International Award Committee and the members of the Honorary Committee. We thank the authors who have contributed excellent papers on different subjects, covering many fields of Mechanism Science, and we are grateful to the reviewers for the time and effort they spent evaluating the papers. We thank the Technical University of Cluj-Napoca and Faculty for Machine Building for hosting the EUCOMES 2010 Conference and we would like to thank our colleagues: Adrian Pisla, Tiberiu Itul, Tiberiu Antal, Calin Vaida, Bogdan Gherman, Marius Suciu, Dorin Lese, Ovidiu Detesan from the Local Organizing Committee, and the sponsors of this conference for their help. Furthermore, we thank the Romanian National Authority for Scientific Research ANCS for the financial support awarded for the EUCOMES 2010 Conference and the printing of this book. We also thank the staff at Springer, including Nathalie Jacobs (editor), and Jolanda Karada (Karada Publishing Services) for their excellent technical and editorial support. Cluj-Napoca, April 2010 The editors