New Trends in Mechanism Science - Analysis and Design (eBook)

New Trends in Mechanism Science - Analysis and Design (eBook)

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. TOC:November 2009: .- Tentative Table of contents: .- The papers of the book will include the following topics:.- 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.- Teaching methods.- History of mechanism science.- Industrial and non-industrial applications.

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

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Inhaltsangabe

Table of Contents ... 6
Preface ... 14
Computational Kinematics ... 16
Design and Kinematic Analysis of a Multiple-Mode 5R2P Closed-Loop Linkage ... 17
1 Introduction ... 17
2 Construction of the Multiple-Mode Linkage ... 18
3 Variations in the Construction of the 5R2P Linkage ... 20
4 Operation Modes and Transitional Configurations ... 21
5 Kinematic Analysis and Numerical Example ... 22
6 Conclusion ... 23
Acknowledgments ... 24
References ... 24
Synthesis of Spatial RPRP Loops for a Given Screw System ... 25
1 Introduction ... 25
2 Clifford Algebra Equations for the Synthesis ... 26
2.1 Forward Kinematics ... 26
2.2 Design Equations and Counting ... 28
3 Screw System for the RPRP Linkage ... 28
4 Dimensional Synthesis of the RPRP Linkage for a Prescribed Screw System ... 30
5 Example ... 30
6 Conclusions ... 32
References ... 32
Contributions to Four-Positions Theory with Relative Rotations ... 34
1 Introduction ... 34
2 Construction of Rotation Quadrilaterals ... 35
3 Homologous Points on a Circle ... 36
4 Homologous Planes Tangent to a Cone of Revolution ... 38
5 Homologous Lines on a Hyperboloid of Revolution ... 39
6 Conclusion and Future Research ... 40
References ... 41
Cusp Points in the Parameter Space of RPR-2PRR Parallel Manipulators ... 42
1 Introduction ... 42
2 Mechanism under Study ... 43
2.1 Kinematic Equations ... 43
2.2 An Algebraic Model ... 43
3 Main Tools from Computational Algebra ... 44
3.1 Basic Black-Boxes ... 45
3.2 Discriminant Varieties ... 46
3.3 The Complementary of a Discriminant Variety ... 47
3.4 Discussing the Number of Solutions of the Parametric System ... 48
4 Conclusion ... 49
Acknowledgement ... 50
References ... 50
Kinematics and Design of a Simple 2-DOF Parallel Mechanism Used for Orientation ... 51
1 Introduction ... 51
2 Description of the Studied 2-DOF Parallel Mechanism ... 52
3 The Geometric Model ... 53
4 The Kinematic Model ... 54
5 Workspace and Singularity Analysis ... 55
6 Optimal Design ... 55
7 Design of a CAD Model ... 57
8 Conclusions ... 58
Acknowledgement ... 58
References ... 58
Special Cases of Sch¨onflies-Singular Planar Stewart Gough Platforms ... 59
1 Introduction ... 59
1.1 Related Work and Notation ... 60
2 Case (2a) ... 60
3 Case (2b) ... 61
4 Case (2c) ... 63
5 Conclusion ... 66
References ... 66
The Motion of a Small Part on the Helical Track of a Vibratory Hopper ... 67
1 Introduction ... 67
2 The Helical Track and Its Movement ... 68
3 The Displacement of Small Parts on the Track ... 69
3.1 Model 1 – The Jump Is Assimilated with a Free Flight ... 70
3.2 Model 2 – Contact with Friction between Particle and Track during the Jump Stage ... 71
4 Conclusions ... 74
References ... 74
Kinematic Analysis of Screw Surface Contact ... 75
1 Introduction ... 75
2 Kinematic Screw ... 76
3 Force Screw ... 79
4 Contact Point of Surfaces ... 80
5 Application ... 81
6 Conclusions ... 83
Acknowledgment ... 83
References ... 84
Aspects Concerning VRML Simulation of Calibration for Parallel Mechanisms ... 85
1 Introduction ... 85
2 Partner Robots ... 86
3 Calibrations of Parallel Robots ... 86
4 Mathematical Modeling of Partner Robots ... 87
5 Mathematical Modeling of the Wire Robot ... 89
6 Simulation Results ... 90
7 Conclusions ... 91
Acknowledgment ... 92
References ... 92
Protein Kinematic Motion Simulation Including Potential Energy Feedback ... 94
1 Introduction ... 94
2 Protein Modelling ... 94
3 Protein Structure Normalization ... 96
4 Protein Function Simulation ... 98
Acknowledgements ... 101
References ... 101
Implementation of a New and Efficient Algorithm for the Inverse Kinematics of Serial 6R Chains ... 102
1 Introduction ... 102
2 Algorithm for the Inverse Kinematics ... 103
2.1 Solving the Inverse Kinematics Problem ... 104
3 Description of the Software ... 104
3.1 Input as a Text File ... 105
3.2 Using the Graphical User Interface ... 105
4 Examples ... 106
4.1 Single End Effector Pose ... 106
4.2 Batch Processing ... 106
5 Singularity Analysis Along a Path ... 107
6 Conclusions ... 109
Acknowledgement ... 109
References ... 109
Composition of Spherical Four-Bar-Mechanisms ... 110
1 Introduction ... 110
2 Transmission by a Spherical Four-Bar Linkage ... 111
3 Composition of Two Spherical Four-Bar Linkages ... 114
4 Conclusions ... 117
Acknowledgement ... 117
References ... 117
Micro-Mechanisms ... 118
Simulation and Measurements of Stick-Slip-Microdrives for Nanorobots ... 119
1 Introduction ... 119
2 Measurements ... 122
3 Simulation ... 124
4 Conclusions ... 125
5 Outlook ... 125
References ... 126
Analysis and Inverse Dynamic Model of a Miniaturized Robot Structure ... 127
1 Introduction ... 127
2 The Miniaturized Robot Parvus ... 128
3 Analysis of the Parallel Robot Structure ... 128
4 Approach to Optimize the Dynamic Behavior ... 129
4.1 The Analytical Inverse Dynamic Model of the Parvus ... 130
4.2 Verification of the IDM by a Multi-Body Simulation ... 132
5 Conclusions and Outlook ... 134
Acknowledgement ... 134
References ... 134
Design and Modelling a Mini-System with Piezoelectric Actuation ... 135
1 Introduction ... 135
2 The Structure of the Mini-System ... 136
2.1 Piezoelectric Actuators ... 137
2.2 Mini-Mechanisms ... 137
3 Modelling and Simulation of the Mini-System ... 138
4 Experimental Results ... 140
5 Conclusions ... 142
Acknowledgments ... 142
References ... 142
Linkages and Manipulators ... 144
Some Properties of Jitterbug-Like Polyhedral Linkages ... 145
1 Introduction ... 145
2 Observations and a Formal Definition ... 146
3 Some Properties of Suitable Spatial Loops ... 148
4 The Spherical Indicatrix AssociatedWith the Loops ... 149
5 Conclusions and Further Studies ... 151
Acknowledgements ... 152
References ... 152
Servo Drives, Mechanism Simulation and Motion Profiles ... 154
1 Introduction ... 154
2 Modeling ... 155
2.1 Servo Drive and Current Controller ... 155
2.2 Mechanical Motion System ... 157
2.2.1 Servo Drive System with Screw and Nut ... 157
2.2.2 Servo Drive System Slider Crank Mechanism ... 158
2.3 Position Control ... 159
3 MotionProfiles ... 159
4 Simulation Results and Conclusions ... 160
References ... 162
Azimuth Tracking Linkage Influence on the Efficiency of a Low CPV System ... 163
1 Introduction ... 163
2 Geometric Modeling ... 164
3 Numerical Simulations ... 167
4 Conclusions ... 169
Acknowledgment ... 170
References ... 170
Multi-Objective Optimization of a Symmetric Schonflies Motion Generator ... 171
1 Introduction ... 171
2 Manipulator’s Description ... 172
3 Circular Trajectories Based Criteria ... 174
3.1 Singularity Free Volume ... 175
3.2 Dexterity ... 176
4 Multiobjective Optimization Design ... 176
5 Conclusions ... 177
Acknowledgements ... 178
References ... 178
Cyclic Test of Textile-Reinforced Composites in Compliant Hinge Mechanisms ... 179
1 Introduction ... 179
2 Selection of Materials ... 180
3 Experimental Analysis of Pure Bending (without Shear Force) ... 181
3.1 Mechanisms Technical Task for the Realization a Testing Device ... 182
3.1.1 Obtaining the Bending Angle ... 182
3.1.2 Bending Moment Input ... 183
3.1.3 Kinematik Test Stand ... 184
3.1.4 Elementary Cyclic Tests ... 185
4 Conclusions ... 185
Acknowledgement ... 186
References ... 186
The Optimization of a Bi-Axial Adjustable Mono-Actuator PV Tracking Spatial Linkage ... 187
1 Introduction ... 187
2 Linkage Synthesis Optimization ... 188
3 Numerical Simulations and Comparative Analysis ... 191
4 Conclusions ... 194
Acknowledgments ... 194
References ... 194
Mechanical Transmissions ... 195
Defect Simulation in a Spur Gear Transmission Model ... 196
1 Introduction ... 196
2 General Model of Gear Transmission ... 197
3 Defect Modeling ... 198
4 Application Example ... 199
5 Conclusions ... 202
Acknowledgement ... 203
References ... 203
On a New Planetary Speed Increaser Drive Used in Small Hydros. Part I. Conceptual Design ... 204
1 Introduction ... 204
2 The Requirements List ... 205
3 The Development of the Solving Structures ... 206
4 Kinematical and Dynamic Features ... 207
5 Conclusions ... 210
Acknowledgment ... 211
References ... 211
On a New Planetary Speed Increaser Drive Used in Small Hydros. Part II. Dynamic Model ... 213
1 Introduction ... 213
2 Kinematical and Dynamic Features ... 213
3 Premises for Dynamic Modeling ... 215
4 Dynamic Modeling ... 216
5 Numerical Simulations ... 217
6 Conclusions ... 218
Acknowledgment ... 220
References ... 220
Simplified Calculation Method for the Efficiency of Involute Helical Gears ... 221
1 Introduction ... 221
2 Model of Load Distribution ... 222
3 Model of Efficiency ... 224
4 Approximate Equation for the Efficiency ... 225
5 Results ... 226
6 Conclusions ... 227
Acknowledgment ... 227
References ... 227
Cam Size Optimization of Disc Cam-Follower Mechanisms with Translating Roller Followers ... 229
1 Introduction ... 229
2 Disc Cams with Translating Roller Followers ... 230
3 Cam Profile Generation ... 231
4 Cam Synthesis and Objective Function ... 233
5 Results and Discussion ... 234
6 Conclusions ... 236
References ... 236
The Dynamic Effects on Serial Printers Motion Transmission Systems ... 238
1 Introduction ... 238
2 Duffing’s Particular Case ... 241
3 The Case of a Wire Mechanical Transmission ... 242
4 Conclusions ... 247
References ... 247
Size Minimization of the Cam Mechanisms with Translating Roll Follower ... 248
1 Introduction ... 248
2 The Pressure Angle ... 249
3 The Basic Circle’s Radius ... 250
4 The Guiding Size ... 251
5 The Total Size of a Cam Mechanism with Translating Roll Follower ... 252
6 Example Problems ... 252
7 Conclusions ... 253
References ... 253
Kinematic Analysis of the Roller Follower Motion in Translating Cam-Follower Mechanisms ... 255
1 Introduction ... 255
2 Kinematics of the Follower Motion ... 256
3 Analysis of the Roller Follower Motion ... 258
4 Results and Discussion ... 259
5 Conclusions ... 260
References ... 261
Kinematic Analysis of Cam Mechanisms as Multibody Systems ... 262
1 Introduction ... 262
2 Theoretical Aspects ... 263
2.1 Geometrical Model of the Cams ... 263
3 Geometrical Model of the Follower ... 264
3.1 Cam-Follower Geometrical Restriction ... 265
3.1.1 Cam and Follower Profiles Defined by Functions ... 265
3.1.2 Cam Profile Defined by Points and Follower Profile by Functions ... 267
4 Conclusions ... 269
Acknowledgments ... 269
References ... 269
Peculiarities of Flat Cam Measurement by Results of Digital Photo Shooting ... 270
1 Introduction ... 270
2 Target Setting ... 271
3 Experiment on Location: Planning and Providing ... 271
4 Data Analysis Methodology Description ... 272
4.1 True Scale Determination ... 272
4.2 Reference Point Definition ... 273
4.3 Cam Profile Recovering ... 274
5 Error-Making Factors and Compensation of Errors ... 274
5.1 Pixelation Errors ... 275
5.2 Shadow Blurring ... 276
5.3 Final Model ... 276
6 Conclusions ... 276
References ... 277
Analyzing of Vibration Measurements upon Hand-Arm System and Results Comparison with Theoretical Model ... 278
1 Introduction ... 278
2 Experimental Considerations ... 279
3 Mechanical Model of the Hand-Arm System ... 279
4 Transmissions of Mechanic Vibrations ... 283
5 Conclusions ... 285
References ... 285
Elastic and Safety Clutch with Metallic Roles and Elastic Rubber Elements ... 286
1 Introduction ... 286
2 Elastic and Safety Clutch ... 287
2.1 The Structural Schemes of Clutch ... 288
2.2 Construction of the Clutch ... 288
3 The Torque Moment ... 290
4 Determination of the Elastic Characteristic of the Clutch ... 291
5 Conclusion ... 292
References ... 293
Mechanisms for Biomechanics ... 294
A New Spatial Kinematic Model of the Lower Leg Complex: A Preliminary Study ... 295
1 Introduction ... 295
2 Modelling Basic Assumptions ... 296
3 The Proposed Model of the TFC Joint ... 298
4 Conclusion ... 301
Acknowledgement ... 302
References ... 302
Selected Design Problems inWalking Robots ... 303
1 Introduction: Role of Adjusted Foot Design ... 303
2 Spring Loaded Foot ... 305
3 Conclusions ... 307
Acknowledgement ... 308
References ... 308
Numerical Simulations of the Virtual Human Knee Joint ... 309
1 Introduction ... 309
2 The Modeling of the Virtual Knee Joint ... 310
3 The Kinematic and Dynamic Analysis of the Human Knee Joint ... 312
3.1 The Results from the Kinematic and Dynamic Analysis ... 312
4 3DP Technology Used to Prototype the Knee Joint Components ... 315
5 Conclusions ... 316
Acknowledgements ... 316
References ... 316
Development of a Walking Assist Machine UsingCrutches – Motion for Ascending and Descending Steps ... 318
1 Introduction ... 318
2 Walking Assist Machine Using Crutches ... 320
3 Motion Synthesis for Ascending and Descending Steps ... 321
3.1 Reference Trajectory and Parameters ... 321
3.2 Dynamic Simulation and Determination of the Motion ... 322
4 Experimental Investigations ... 324
5 Conclusions ... 325
References ... 325
Human Lower Limb Dynamic Analysis with Applications to Orthopedic Implants ... 326
1 Introduction ... 326
2 Human Lower Limb Dynamic Analysis ... 327
3 Dynamic Results Application on a Human Ankle Joint Virtual Model with Orthopedic Implant ... 330
4 Conclusions ... 331
Acknowledgments ... 332
References ... 332
Forward and Inverse Kinematics Calculation for an Anthropomorphic Robotic Finger ... 334
1 Introduction ... 334
2 The Anthropomorphic Hand and Finger ... 335
3 A Method to Compute the Solution of the Direct and Inverse Kinematics Problems of the Robotic Fingers ... 336
4 The Direct Kinematic Problem ... 338
5 The Inverse Kinematic Problem ... 339
6 Conclusions ... 340
Acknowledgement ... 340
References ... 341
Experimental Mechanics ... 342
Theoretical and Experimental Determination of Dynamic Friction Coefficient for a Cable-Drum System ... 343
1 Introduction ... 343
2 Design of a Cable-Drum System ... 344
3 Modeling ... 345
4 Simulation Studies ... 347
5 Experimental Set-up ... 348
6 Conclusions ... 349
References ... 350
Modelling and Real-Time Dynamic Simulation of the Cable-Driven Parallel Robot IPAnema ... 351
1 Introduction ... 351
2 Dynamic Model of a Cable-Driven Parallel Robot ... 352
3 Modelling of Robot Mechanics ... 353
4 Modelling of Robot Electrics ... 355
5 Implementation and Validation ... 356
6 Conclusions ... 358
References ... 358
Horse Gait Exploration on “Step” Allure by Results of High Speed Strobelight Photography ... 359
1 Introduction ... 359
2 Target Setting ... 360
2.1 Selected Gait Description Using the Existing System ... 361
2.2 Tasks of Experimental Exploration ... 362
3 Experiment on Location: Planning and Providing ... 362
4 Automatism of the Gait ... 363
4.1 Ground Surface Feedback ... 363
4.2 Transversal Control of Legs ... 365
5 Conclusions ... 365
Acknowledgements ... 366
References ... 366
Simulation of the Stopping Behavior of Industrial Robots ... 367
1 Introduction ... 367
2 Robot Model ... 368
3 BrakeModel ... 370
3.1 Model Purpose and Assumptions ... 370
3.2 A State-Based Brake Model ... 370
3.3 General Model Behavior ... 371
4 Experimental Model Validation ... 372
5 Conclusions and Outlook ... 373
Acknowledgement ... 374
References ... 374
Mechanical and Thermal Testing of Fluidic Muscles ... 375
1 Introduction ... 375
2 Experimental Setup ... 377
3 Mechanical Testing ... 378
4 Thermal Testing ... 379
5 Relationships ... 382
6 Conclusions ... 383
References ... 383
Structural Dynamic Analysis of Low-Mobility Parallel Manipulators ... 385
1 Introduction ... 385
2 Case Study: DAEDALUS I Manipulator ... 386
3 Structural Behaviour Analysis ... 387
3.1 Static Stiffness of the Manipulator ... 387
3.2 Dynamics: Normal Modes and Natural Frequencies ... 389
4 Analytical, Numerical and Experimental Results ... 390
5 Conclusions ... 391
Acknowledgments ... 392
References ... 392
Dynamics ... 393
Spatial Multibody Systems with Lubricated Spherical Joints: Modeling and Simulation ... 394
1 Introduction ... 394
2 Proposed Methodology ... 395
3 Results and Discussion ... 397
4 Conclusions ... 400
Acknowledgments ... 401
References ... 401
Comparison of Passenger Cars with Passive and Semi-Active Suspension Systems Based on a Friction Controlled Damper ... 402
1 Introduction ... 402
2 Friction Model and Semi-Active Control ... 403
3 Passenger Car Models ... 404
4 Optimization and Results ... 405
5 Conclusions ... 408
References ... 408
Dynamic Balancing of a Single Crank-Double Slider Mechanism with Symmetrically Moving Couplers ... 410
1 Introduction ... 410
2 ForceBalance ... 411
3 Moment Balance ... 413
4 Discussion ... 415
5 Conclusion ... 416
References ... 417
Evaluation of Engagement Accuracy by Dynamic Transmission Error of Helical Gears ... 418
1 Introduction ... 418
2 Meshing Characteristics ... 419
3 Dynamic Model of a Gear Pair ... 420
4 Time-Varying Mesh Stiffness ... 421
5 Simulation Results ... 421
6 Conclusions ... 423
Acknowledgement ... 424
References ... 424
The Influence of the Friction Forces and the Working Cyclogram upon the Forces of a Robot ... 426
1 Introduction ... 426
2 Theoretical Considerations ... 427
3 The Robot Presentation ... 428
4 The Method and the Calculation Stages ... 429
5 Results and Conclusions ... 430
References ... 433
Dynamic Aspects in Building up a Flight Simulator ... 434
1 Introduction ... 434
2 Functional Modeling ... 435
3 Dynamic Modeling ... 436
4 Results ... 439
5 Conclusions ... 441
Acknowledgements ... 441
References ... 441
Applications and Teaching Methods ... 443
Robotic Control of the Traditional Endoscopic Instrumentation Motion ... 444
1 Introduction ... 444
2 Possible Solutions for the End Effector ... 446
3 The Traditional Instrument Actuator ... 449
4 Conclusions ... 450
References ... 450
Ethics in Robotic Surgery and Telemedicine ... 452
1 Introduction ... 452
2 Ethical Issues ... 452
2.1 Ethics of Implementing High-Costs Medical Equipment ... 453
2.2 Ethics of Robot Responsibility ... 454
2.3 Cultural and Social Issues ... 455
2.4 Confidentiality ... 456
2.5 Reliability of Equipment ... 457
3 Rules to Be Followed ... 457
3.1 The Physician-Patient Relationship ... 458
3.2 Accountabilities and Responsibilities of a Physician ... 458
3.3 Patient Consent and Confidentiality ... 458
3.4 Quality Issues ... 458
3.5 Authorization and Competence in Practicing Telemedicine ... 459
3.6 Patient Records ... 459
4 Conclusions ... 459
Acknowledgement ... 459
References ... 460
Optimal Control Problem in New Products Launch – Optimal Path Using a Single Command ... 461
1 Introduction ... 461
2 Maximizing the Hamiltonian ... 463
3 Determination of the Optimal Path and the Minimum Time ... 463
4 The Numerical Model and Optimal Path ... 465
5 Conclusions ... 466
References ... 466
Mechanical Constraints and Design Considerations for Polygon Scanners ... 468
1 Introduction ... 468
2 Opto-Mechanical Design of Scanners ... 469
3 Kinematics: Scanning Function and Velocity ... 471
4 Kinetostatics of Polygons ... 473
5 Dynamics of Polygons and Manufacturing Issues ... 473
6 Conclusions ... 474
Acknowledgments ... 476
References ... 476
Training Platform for Robotic Assisted Liver Surgery – The Surgeon’s Point of View ... 477
1 Introduction ... 477
2 The Description of the Training Platform for Hepatic Robotic Minimally Invasive Surgery ... 479
3 Conclusions ... 484
Acknowledgement ... 484
References ... 484
Teaching Mechanisms: from Classical to Hands-on-Experiments and Research-Oriented ... 485
1 Introduction ... 485
2 Looking for Solutions ... 486
3 Research-Oriented Solutions ... 487
4 Hands-on-Experiments ... 490
5 Improving Classical Teaching ... 491
6 Conclusions ... 492
Acknowledgments ... 492
References ... 492
Models Created by French Engineers in the Collection of Bauman Moscow State Technical University ... 494
1 Introduction ... 494
1.1 Teaching Models of Mechanisms and Machines ... 495
2 Families of Clair and Digeon – Constructors and Teaching Model Manufacturers ... 495
3 Models of Mechanisms and Machines by Clair and Digeon in the Collection of the BMSTU ... 498
4 Conclusions ... 500
Acknowledgement ... 501
References ... 501
The Models of Centrifugal Governors in the Collection of Bauman Moscow State Technical University ... 502
1 Introduction ... 502
2 Regulation of the Steam Engines ... 503
3 Types of Centrifugal Governors ... 503
4 Experimental Characterizations ... 507
5 Computer 3D Modelling of Governors ... 508
6 Conclusions ... 508
Acknowledgments ... 509
References ... 509
Advanced Approaches Using VR Simulations for Teaching Mechanisms ... 510
1 Introduction ... 510
2 Virtual Reality for Experimentation ... 511
3 Resources ... 512
4 Methodology and Results ... 513
5 Conclusions ... 516
Acknowledgement ... 517
References ... 517
Novel Designs ... 518
Preliminary Design of ANG, a Low-Cost Automated Walker for Elderly ... 519
1 Introduction ... 519
2 Design ... 520
3 Functionalities ... 521
3.1 Fall detection and prevention ... 522
3.2 Trajectory, Motion planning and Navigation assistance ... 523
3.3 Rehabilitation ... 524
3.4 Energy management ... 524
3.5 Interfaces ... 524
4 Conclusions ... 525
References ... 525
An Active Suspension System for Simulation of Ship Maneuvers inWind Tunnels ... 527
1 Introduction ... 527
2 Discussion of Suspension Mechanisms ... 528
3 Simulation Results for the Three Designs ... 532
4 Conclusions and Future Work ... 533
Acknowledgement ... 534
References ... 534
Mechanism Solutions for Legged Robots Overcoming Obstacles ... 535
1 Introduction ... 535
2 Leg Design Problem and Requirements ... 536
3 Solutions of Leg Designs forWalking Robots ... 537
4 Operation Feasibility ... 540
5 Conclusions ... 542
References ... 543
Control Issues of Mechanical Systems ... 544
Dynamic Reconfiguration of Parallel Mechanisms ... 545
1 Introduction ... 545
2 Reconfiguration Approaches ... 546
3 Components for Dynamic Reconfiguration ... 547
4 Example of a Reconfigurable Parallel Mechanism ... 549
5 Conclusion and Further Research ... 552
Acknowledgement ... 552
References ... 552
Development of a Voice Controlled Surgical Robot ... 554
1 Introduction ... 554
2 Experimental model of PARAMIS ... 555
3 PARAMIS Control System and User Interface ... 556
4 PARAMIS Voice Control Interface ... 558
5 Experimental Runs and Results ... 560
6 Conclusions ... 560
Acknowledgement ... 561
References ... 561
Modeling and Simulation of the Tracking Mechanism Used for a Photovoltaic Platform ... 562
1 Introduction ... 562
2 The Virtual Prototype of the Tracking Mechanism ... 564
3 Results and Conclusions ... 566
References ... 569
The Modular Robotic System for In-pipe Inspection ... 570
1 Introduction ... 570
2 The Modular Robotic Systems ... 571
2.1 The Modular System Structure ... 571
3 Conclusions ... 578
Acknowledgments ... 578
References ... 578
Mechanism Design ... 579
Geometric and Manufacturing Issues of the 3-UPU Pure Translational Manipulator ... 580
1 Introduction ... 580
2 Basics ... 581
3 Influence of the Geometry on the Performance of the 3-UPU TPM ... 584
3.1 Influence of the Directions of Base/Platform Revolute Axes ... 584
3.2 Influence of the Leg Location ... 585
4 Manufacturing Solutions for the Leg Collision Avoidance of the 3-UPU TPM ... 586
5 Conclusions ... 588
Ackowledgment ... 588
References ... 588
Workspace Determination and Representation of Planar Parallel Manipulators in a CAD Environment ... 589
1 Introduction ... 589
2 Overview of Method forWorkspace Determination ... 590
3 The Proposed Method ... 592
3.1 Total Workspace Determination in CAD Environment ... 592
4 Influence of Position of the End-Effector Characteristic Point on the Manipulator TotalWorkspace ... 594
5 Conclusions ... 595
References ... 596
A Theoretical Improvement of a Stirling Engine PV Diagram ... 597
1 On the Drive Mechanism for an a-Stirling Engine ... 597
2 A New Mechanism ... 599
3 Torque New Dwell Mechanism Calculus ... 604
4 Conclusions ... 606
References ... 606
CylindricalWorm Gears with Improved Main Parameters ... 608
1 Introduction ... 608
1.1 The Module Determination under Hydrodynamical Lubrication Conditions ... 609
1.2 Cylindrical Worm Gear Efficiency Determination ... 609
1.3 The Stiffness Calculation of the Cylindrical Worm Gears ... 610
1.4 The Bearing Strength of the Teeth Flanks in Contact at Cylindrical Worm Gears ... 611
2 Computation of the Main Parameters of Cylindrical Worm Gears Based on the Described Circumstances Using Matlab ... 613
3 Conclusions ... 614
References ... 615
Multi-Objective Optimization of Parallel Manipulators ... 616
1 Introduction ... 616
2 Definition of the Synthesis Error Function ... 617
2.1 Kinetostatic Performance Index: Dexterity ... 617
2.2 Area Occupation Index ... 618
3 Kinematic Optimization ... 618
3.1 Definition of the Synthesis Problem ... 619
3.2 Artificial Penalty Optimization Strategy ... 619
3.3 Best-Assembly Penalty Optimization Strategy ... 620
4 Application to Delta Robot: Results of Optimization ... 621
5 Conclusions ... 622
References ... 623
A Design Method of Crossed Axes Helical Gears with Increase Uptime and Efficiency ... 624
1 Introduction ... 624
2 The Efficiency of Crossed Helical Gears with Addendum Modification ... 624
3 The Relative Sliding Coefficients at Crossed Helical Gears with Addendum Modification ... 625
4 Equalization of the Relative Sliding Coefficients ... 626
5 Uptime and Efficiency Optimization ... 629
6 Conclusions ... 631
References ... 631
Dual Axis Tracking System with a Single Motor ... 632
1 Introduction ... 632
2 Tracking System Description ... 633
3 Tracking Method ... 636
Acknowledgments ... 638
References ... 639
The Determination of the Exact Surfaces of the Spur Wheels Flank with the Unique Rack-Bar ... 640
1 Introduction ... 640
2 Theoretical Considerations ... 641
2.1 The Imaginary Rack-Bar Surfaces Determination ... 642
3 The Meshing of the Spur Wheels with Rack-bar ... 644
4 Conclusions ... 646
References ... 647
Choosing the Actuators for the TRTTR1 Modular Serial Robot ... 648
1 Introduction ... 648
2 The Calculus of the Actuators ... 650
2.1 Establishing the Relations between the Driving Forces and Moments from the Output of the Robots Modules and the Moment of the Actuators of Each Module ... 650
2.2 Determination of the Moments of the Robot Modules ... 652
2.3 Numerical Data Specification ... 653
2.4 The Determination of the Characteristics of the Actuators ... 654
2.5 Choosing the Actuators ... 654
3 Conclusions ... 655
References ... 655
Mechanics of Robots ... 656
Stiffness Modelling of Parallelogram-Based Parallel Manipulators ... 657
1 Introduction ... 657
2 Problem Statement ... 658
3 Static Equilibrium ... 659
4 Stiffness Matrix ... 660
5 Illustrative Example ... 661
6 Conclusions ... 664
Acknowledgement ... 664
References ... 664
Incorporating Flexure Hinges in the Kinematic Model of a Planar 3-PRR Parallel Robot ... 665
1 Introduction ... 665
2 Planar 3-PRR Parallel Robot ... 666
3 Rigid Body Kinematic Model ... 666
3.1 Flexure Hinge Model ... 666
4 Parameter Calibration of the MICABOes ... 669
4.1 Simulation of Measurement Data ... 669
4.2 Identification by Optimization ... 670
4.3 Implementation of the Optimized Parameters ... 670
4.4 Simulation Results ... 670
5 Conclusion and Outlook ... 672
Acknowledgement ... 672
References ... 672
On the Dynamics of a 5 DOF Parallel Hybrid Robot Used in Minimally Invasive Surgery ... 673
1 Introduction ... 673
2 Design Consideration of 5-DOF Parallel Robot for MIS ... 674
3 Dynamics ... 676
3.1 Kinematics ... 676
3.2 The Dynamic Model ... 677
4 Validation of the Dynamics through a Multi-Body Simulator ... 679
5 Conclusions ... 680
Acknowledgement ... 680
References ... 680
Author Index ... 682
Subject Index ... 685

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Inhaltsangabe

November 2009: .- Tentative Table of contents: .- The papers of the book will include the following topics:.- 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.- Teaching methods.- History of mechanism science.- Industrial and non-industrial applications.