Pisla / Ceccarelli / Husty New Trends in Mechanism Science

Analysis and Design
1. Auflage 2010
ISBN: 978-90-481-9689-0
Verlag: Springer-Verlag
Format: PDF
Kopierschutz: Adobe DRM (»Systemvoraussetzungen)

E-Book, Englisch, 710 Seiten

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.

Autoren/Hrsg.

Pisla, Doina

Ceccarelli, Marco

Husty, Manfred

Inhaltsverzeichnis

1;Table of Contents;6
2;Preface;14
3;Computational Kinematics;16
3.1;Design and Kinematic Analysis of a Multiple-Mode 5R2P Closed-Loop Linkage;17
3.1.1;1 Introduction;17
3.1.2;2 Construction of the Multiple-Mode Linkage;18
3.1.3;3 Variations in the Construction of the 5R2P Linkage;20
3.1.4;4 Operation Modes and Transitional Configurations;21
3.1.5;5 Kinematic Analysis and Numerical Example;22
3.1.6;6 Conclusion;23
3.1.7;Acknowledgments;24
3.1.8;References;24
3.2;Synthesis of Spatial RPRP Loops for a Given Screw System;25
3.2.1;1 Introduction;25
3.2.2;2 Clifford Algebra Equations for the Synthesis;26
3.2.2.1;2.1 Forward Kinematics;26
3.2.2.2;2.2 Design Equations and Counting;28
3.2.3;3 Screw System for the RPRP Linkage;28
3.2.4;4 Dimensional Synthesis of the RPRP Linkage for a Prescribed Screw System;30
3.2.5;5 Example;30
3.2.6;6 Conclusions;32
3.2.7;References;32
3.3;Contributions to Four-Positions Theory with Relative Rotations;34
3.3.1;1 Introduction;34
3.3.2;2 Construction of Rotation Quadrilaterals;35
3.3.3;3 Homologous Points on a Circle;36
3.3.4;4 Homologous Planes Tangent to a Cone of Revolution;38
3.3.5;5 Homologous Lines on a Hyperboloid of Revolution;39
3.3.6;6 Conclusion and Future Research;40
3.3.7;References;41
3.4;Cusp Points in the Parameter Space of RPR-2PRR Parallel Manipulators;42
3.4.1;1 Introduction;42
3.4.2;2 Mechanism under Study;43
3.4.2.1;2.1 Kinematic Equations;43
3.4.2.2;2.2 An Algebraic Model;43
3.4.3;3 Main Tools from Computational Algebra;44
3.4.3.1;3.1 Basic Black-Boxes;45
3.4.3.2;3.2 Discriminant Varieties;46
3.4.3.3;3.3 The Complementary of a Discriminant Variety;47
3.4.3.4;3.4 Discussing the Number of Solutions of the Parametric System;48
3.4.4;4 Conclusion;49
3.4.5;Acknowledgement;50
3.4.6;References;50
3.5;Kinematics and Design of a Simple 2-DOF Parallel Mechanism Used for Orientation;51
3.5.1;1 Introduction;51
3.5.2;2 Description of the Studied 2-DOF Parallel Mechanism;52
3.5.3;3 The Geometric Model;53
3.5.4;4 The Kinematic Model;54
3.5.5;5 Workspace and Singularity Analysis;55
3.5.6;6 Optimal Design;55
3.5.7;7 Design of a CAD Model;57
3.5.8;8 Conclusions;58
3.5.9;Acknowledgement;58
3.5.10;References;58
3.6;Special Cases of Sch¨onflies-Singular Planar Stewart Gough Platforms;59
3.6.1;1 Introduction;59
3.6.1.1;1.1 Related Work and Notation;60
3.6.2;2 Case (2a);60
3.6.3;3 Case (2b);61
3.6.4;4 Case (2c);63
3.6.5;5 Conclusion;66
3.6.6;References;66
3.7;The Motion of a Small Part on the Helical Track of a Vibratory Hopper;67
3.7.1;1 Introduction;67
3.7.2;2 The Helical Track and Its Movement;68
3.7.3;3 The Displacement of Small Parts on the Track;69
3.7.3.1;3.1 Model 1 – The Jump Is Assimilated with a Free Flight;70
3.7.3.2;3.2 Model 2 – Contact with Friction between Particle and Track during the Jump Stage;71
3.7.4;4 Conclusions;74
3.7.5;References;74
3.8;Kinematic Analysis of Screw Surface Contact;75
3.8.1;1 Introduction;75
3.8.2;2 Kinematic Screw;76
3.8.3;3 Force Screw;79
3.8.4;4 Contact Point of Surfaces;80
3.8.5;5 Application;81
3.8.6;6 Conclusions;83
3.8.7;Acknowledgment;83
3.8.8;References;84
3.9;Aspects Concerning VRML Simulation of Calibration for Parallel Mechanisms;85
3.9.1;1 Introduction;85
3.9.2;2 Partner Robots;86
3.9.3;3 Calibrations of Parallel Robots;86
3.9.4;4 Mathematical Modeling of Partner Robots;87
3.9.5;5 Mathematical Modeling of the Wire Robot;89
3.9.6;6 Simulation Results;90
3.9.7;7 Conclusions;91
3.9.8;Acknowledgment;92
3.9.9;References;92
3.10;Protein Kinematic Motion Simulation Including Potential Energy Feedback;94
3.10.1;1 Introduction;94
3.10.2;2 Protein Modelling;94
3.10.3;3 Protein Structure Normalization;96
3.10.4;4 Protein Function Simulation;98
3.10.5;Acknowledgements;101
3.10.6;References;101
3.11;Implementation of a New and Efficient Algorithm for the Inverse Kinematics of Serial 6R Chains;102
3.11.1;1 Introduction;102
3.11.2;2 Algorithm for the Inverse Kinematics;103
3.11.2.1;2.1 Solving the Inverse Kinematics Problem;104
3.11.3;3 Description of the Software;104
3.11.3.1;3.1 Input as a Text File;105
3.11.3.2;3.2 Using the Graphical User Interface;105
3.11.4;4 Examples;106
3.11.4.1;4.1 Single End Effector Pose;106
3.11.4.2;4.2 Batch Processing;106
3.11.5;5 Singularity Analysis Along a Path;107
3.11.6;6 Conclusions;109
3.11.7;Acknowledgement;109
3.11.8;References;109
3.12;Composition of Spherical Four-Bar-Mechanisms;110
3.12.1;1 Introduction;110
3.12.2;2 Transmission by a Spherical Four-Bar Linkage;111
3.12.3;3 Composition of Two Spherical Four-Bar Linkages;114
3.12.4;4 Conclusions;117
3.12.5;Acknowledgement;117
3.12.6;References;117
4;Micro-Mechanisms;118
4.1;Simulation and Measurements of Stick-Slip-Microdrives for Nanorobots;119
4.1.1;1 Introduction;119
4.1.2;2 Measurements;122
4.1.3;3 Simulation;124
4.1.4;4 Conclusions;125
4.1.5;5 Outlook;125
4.1.6;References;126
4.2;Analysis and Inverse Dynamic Model of a Miniaturized Robot Structure;127
4.2.1;1 Introduction;127
4.2.2;2 The Miniaturized Robot Parvus;128
4.2.3;3 Analysis of the Parallel Robot Structure;128
4.2.4;4 Approach to Optimize the Dynamic Behavior;129
4.2.4.1;4.1 The Analytical Inverse Dynamic Model of the Parvus;130
4.2.4.2;4.2 Verification of the IDM by a Multi-Body Simulation;132
4.2.5;5 Conclusions and Outlook;134
4.2.6;Acknowledgement;134
4.2.7;References;134
4.3;Design and Modelling a Mini-System with Piezoelectric Actuation;135
4.3.1;1 Introduction;135
4.3.2;2 The Structure of the Mini-System;136
4.3.2.1;2.1 Piezoelectric Actuators;137
4.3.2.2;2.2 Mini-Mechanisms;137
4.3.3;3 Modelling and Simulation of the Mini-System;138
4.3.4;4 Experimental Results;140
4.3.5;5 Conclusions;142
4.3.6;Acknowledgments;142
4.3.7;References;142
5;Linkages and Manipulators;144
5.1;Some Properties of Jitterbug-Like Polyhedral Linkages;145
5.1.1;1 Introduction;145
5.1.2;2 Observations and a Formal Definition;146
5.1.3;3 Some Properties of Suitable Spatial Loops;148
5.1.4;4 The Spherical Indicatrix AssociatedWith the Loops;149
5.1.5;5 Conclusions and Further Studies;151
5.1.6;Acknowledgements;152
5.1.7;References;152
5.2;Servo Drives, Mechanism Simulation and Motion Profiles;154
5.2.1;1 Introduction;154
5.2.2;2 Modeling;155
5.2.2.1;2.1 Servo Drive and Current Controller;155
5.2.2.2;2.2 Mechanical Motion System;157
5.2.2.2.1;2.2.1 Servo Drive System with Screw and Nut;157
5.2.2.2.2;2.2.2 Servo Drive System Slider Crank Mechanism;158
5.2.2.3;2.3 Position Control;159
5.2.3;3 MotionProfiles;159
5.2.4;4 Simulation Results and Conclusions;160
5.2.5;References;162
5.3;Azimuth Tracking Linkage Influence on the Efficiency of a Low CPV System;163
5.3.1;1 Introduction;163
5.3.2;2 Geometric Modeling;164
5.3.3;3 Numerical Simulations;167
5.3.4;4 Conclusions;169
5.3.5;Acknowledgment;170
5.3.6;References;170
5.4;Multi-Objective Optimization of a Symmetric Schonflies Motion Generator;171
5.4.1;1 Introduction;171
5.4.2;2 Manipulator’s Description;172
5.4.3;3 Circular Trajectories Based Criteria;174
5.4.3.1;3.1 Singularity Free Volume;175
5.4.3.2;3.2 Dexterity;176
5.4.4;4 Multiobjective Optimization Design;176
5.4.5;5 Conclusions;177
5.4.6;Acknowledgements;178
5.4.7;References;178
5.5;Cyclic Test of Textile-Reinforced Composites in Compliant Hinge Mechanisms;179
5.5.1;1 Introduction;179
5.5.2;2 Selection of Materials;180
5.5.3;3 Experimental Analysis of Pure Bending (without Shear Force);181
5.5.3.1;3.1 Mechanisms Technical Task for the Realization a Testing Device;182
5.5.3.1.1;3.1.1 Obtaining the Bending Angle;182
5.5.3.1.2;3.1.2 Bending Moment Input;183
5.5.3.1.3;3.1.3 Kinematik Test Stand;184
5.5.3.1.4;3.1.4 Elementary Cyclic Tests;185
5.5.4;4 Conclusions;185
5.5.5;Acknowledgement;186
5.5.6;References;186
5.6;The Optimization of a Bi-Axial Adjustable Mono-Actuator PV Tracking Spatial Linkage;187
5.6.1;1 Introduction;187
5.6.2;2 Linkage Synthesis Optimization;188
5.6.3;3 Numerical Simulations and Comparative Analysis;191
5.6.4;4 Conclusions;194
5.6.5;Acknowledgments;194
5.6.6;References;194
6;Mechanical Transmissions;195
6.1;Defect Simulation in a Spur Gear Transmission Model;196
6.1.1;1 Introduction;196
6.1.2;2 General Model of Gear Transmission;197
6.1.3;3 Defect Modeling;198
6.1.4;4 Application Example;199
6.1.5;5 Conclusions;202
6.1.6;Acknowledgement;203
6.1.7;References;203
6.2;On a New Planetary Speed Increaser Drive Used in Small Hydros. Part I. Conceptual Design;204
6.2.1;1 Introduction;204
6.2.2;2 The Requirements List;205
6.2.3;3 The Development of the Solving Structures;206
6.2.4;4 Kinematical and Dynamic Features;207
6.2.5;5 Conclusions;210
6.2.6;Acknowledgment;211
6.2.7;References;211
6.3;On a New Planetary Speed Increaser Drive Used in Small Hydros. Part II. Dynamic Model;213
6.3.1;1 Introduction;213
6.3.2;2 Kinematical and Dynamic Features;213
6.3.3;3 Premises for Dynamic Modeling;215
6.3.4;4 Dynamic Modeling;216
6.3.5;5 Numerical Simulations;217
6.3.6;6 Conclusions;218
6.3.7;Acknowledgment;220
6.3.8;References;220
6.4;Simplified Calculation Method for the Efficiency of Involute Helical Gears;221
6.4.1;1 Introduction;221
6.4.2;2 Model of Load Distribution;222
6.4.3;3 Model of Efficiency;224
6.4.4;4 Approximate Equation for the Efficiency;225
6.4.5;5 Results;226
6.4.6;6 Conclusions;227
6.4.7;Acknowledgment;227
6.4.8;References;227
6.5;Cam Size Optimization of Disc Cam-Follower Mechanisms with Translating Roller Followers;229
6.5.1;1 Introduction;229
6.5.2;2 Disc Cams with Translating Roller Followers;230
6.5.3;3 Cam Profile Generation;231
6.5.4;4 Cam Synthesis and Objective Function;233
6.5.5;5 Results and Discussion;234
6.5.6;6 Conclusions;236
6.5.7;References;236
6.6;The Dynamic Effects on Serial Printers Motion Transmission Systems;238
6.6.1;1 Introduction;238
6.6.2;2 Duffing’s Particular Case;241
6.6.3;3 The Case of a Wire Mechanical Transmission;242
6.6.4;4 Conclusions;247
6.6.5;References;247
6.7;Size Minimization of the Cam Mechanisms with Translating Roll Follower;248
6.7.1;1 Introduction;248
6.7.2;2 The Pressure Angle;249
6.7.3;3 The Basic Circle’s Radius;250
6.7.4;4 The Guiding Size;251
6.7.5;5 The Total Size of a Cam Mechanism with Translating Roll Follower;252
6.7.6;6 Example Problems;252
6.7.7;7 Conclusions;253
6.7.8;References;253
6.8;Kinematic Analysis of the Roller Follower Motion in Translating Cam-Follower Mechanisms;255
6.8.1;1 Introduction;255
6.8.2;2 Kinematics of the Follower Motion;256
6.8.3;3 Analysis of the Roller Follower Motion;258
6.8.4;4 Results and Discussion;259
6.8.5;5 Conclusions;260
6.8.6;References;261
6.9;Kinematic Analysis of Cam Mechanisms as Multibody Systems;262
6.9.1;1 Introduction;262
6.9.2;2 Theoretical Aspects;263
6.9.2.1;2.1 Geometrical Model of the Cams;263
6.9.3;3 Geometrical Model of the Follower;264
6.9.3.1;3.1 Cam-Follower Geometrical Restriction;265
6.9.3.1.1;3.1.1 Cam and Follower Profiles Defined by Functions;265
6.9.3.1.2;3.1.2 Cam Profile Defined by Points and Follower Profile by Functions;267
6.9.4;4 Conclusions;269
6.9.5;Acknowledgments;269
6.9.6;References;269
6.10;Peculiarities of Flat Cam Measurement by Results of Digital Photo Shooting;270
6.10.1;1 Introduction;270
6.10.2;2 Target Setting;271
6.10.3;3 Experiment on Location: Planning and Providing;271
6.10.4;4 Data Analysis Methodology Description;272
6.10.4.1;4.1 True Scale Determination;272
6.10.4.2;4.2 Reference Point Definition;273
6.10.4.3;4.3 Cam Profile Recovering;274
6.10.5;5 Error-Making Factors and Compensation of Errors;274
6.10.5.1;5.1 Pixelation Errors;275
6.10.5.2;5.2 Shadow Blurring;276
6.10.5.3;5.3 Final Model;276
6.10.6;6 Conclusions;276
6.10.7;References;277
6.11;Analyzing of Vibration Measurements upon Hand-Arm System and Results Comparison with Theoretical Model;278
6.11.1;1 Introduction;278
6.11.2;2 Experimental Considerations;279
6.11.3;3 Mechanical Model of the Hand-Arm System;279
6.11.4;4 Transmissions of Mechanic Vibrations;283
6.11.5;5 Conclusions;285
6.11.6;References;285
6.12;Elastic and Safety Clutch with Metallic Roles and Elastic Rubber Elements;286
6.12.1;1 Introduction;286
6.12.2;2 Elastic and Safety Clutch;287
6.12.2.1;2.1 The Structural Schemes of Clutch;288
6.12.2.2;2.2 Construction of the Clutch;288
6.12.3;3 The Torque Moment;290
6.12.4;4 Determination of the Elastic Characteristic of the Clutch;291
6.12.5;5 Conclusion;292
6.12.6;References;293
7;Mechanisms for Biomechanics;294
7.1;A New Spatial Kinematic Model of the Lower Leg Complex: A Preliminary Study;295
7.1.1;1 Introduction;295
7.1.2;2 Modelling Basic Assumptions;296
7.1.3;3 The Proposed Model of the TFC Joint;298
7.1.4;4 Conclusion;301
7.1.5;Acknowledgement;302
7.1.6;References;302
7.2;Selected Design Problems inWalking Robots;303
7.2.1;1 Introduction: Role of Adjusted Foot Design;303
7.2.2;2 Spring Loaded Foot;305
7.2.3;3 Conclusions;307
7.2.4;Acknowledgement;308
7.2.5;References;308
7.3;Numerical Simulations of the Virtual Human Knee Joint;309
7.3.1;1 Introduction;309
7.3.2;2 The Modeling of the Virtual Knee Joint;310
7.3.3;3 The Kinematic and Dynamic Analysis of the Human Knee Joint;312
7.3.3.1;3.1 The Results from the Kinematic and Dynamic Analysis;312
7.3.4;4 3DP Technology Used to Prototype the Knee Joint Components;315
7.3.5;5 Conclusions;316
7.3.6;Acknowledgements;316
7.3.7;References;316
7.4;Development of a Walking Assist Machine UsingCrutches – Motion for Ascending and Descending Steps;318
7.4.1;1 Introduction;318
7.4.2;2 Walking Assist Machine Using Crutches;320
7.4.3;3 Motion Synthesis for Ascending and Descending Steps;321
7.4.3.1;3.1 Reference Trajectory and Parameters;321
7.4.3.2;3.2 Dynamic Simulation and Determination of the Motion;322
7.4.4;4 Experimental Investigations;324
7.4.5;5 Conclusions;325
7.4.6;References;325
7.5;Human Lower Limb Dynamic Analysis with Applications to Orthopedic Implants;326
7.5.1;1 Introduction;326
7.5.2;2 Human Lower Limb Dynamic Analysis;327
7.5.3;3 Dynamic Results Application on a Human Ankle Joint Virtual Model with Orthopedic Implant;330
7.5.4;4 Conclusions;331
7.5.5;Acknowledgments;332
7.5.6;References;332
7.6;Forward and Inverse Kinematics Calculation for an Anthropomorphic Robotic Finger;334
7.6.1;1 Introduction;334
7.6.2;2 The Anthropomorphic Hand and Finger;335
7.6.3;3 A Method to Compute the Solution of the Direct and Inverse Kinematics Problems of the Robotic Fingers;336
7.6.4;4 The Direct Kinematic Problem;338
7.6.5;5 The Inverse Kinematic Problem;339
7.6.6;6 Conclusions;340
7.6.7;Acknowledgement;340
7.6.8;References;341
8;Experimental Mechanics;342
8.1;Theoretical and Experimental Determination of Dynamic Friction Coefficient for a Cable-Drum System;343
8.1.1;1 Introduction;343
8.1.2;2 Design of a Cable-Drum System;344
8.1.3;3 Modeling;345
8.1.4;4 Simulation Studies;347
8.1.5;5 Experimental Set-up;348
8.1.6;6 Conclusions;349
8.1.7;References;350
8.2;Modelling and Real-Time Dynamic Simulation of the Cable-Driven Parallel Robot IPAnema;351
8.2.1;1 Introduction;351
8.2.2;2 Dynamic Model of a Cable-Driven Parallel Robot;352
8.2.3;3 Modelling of Robot Mechanics;353
8.2.4;4 Modelling of Robot Electrics;355
8.2.5;5 Implementation and Validation;356
8.2.6;6 Conclusions;358
8.2.7;References;358
8.3;Horse Gait Exploration on “Step” Allure by Results of High Speed Strobelight Photography;359
8.3.1;1 Introduction;359
8.3.2;2 Target Setting;360
8.3.2.1;2.1 Selected Gait Description Using the Existing System;361
8.3.2.2;2.2 Tasks of Experimental Exploration;362
8.3.3;3 Experiment on Location: Planning and Providing;362
8.3.4;4 Automatism of the Gait;363
8.3.4.1;4.1 Ground Surface Feedback;363
8.3.4.2;4.2 Transversal Control of Legs;365
8.3.5;5 Conclusions;365
8.3.6;Acknowledgements;366
8.3.7;References;366
8.4;Simulation of the Stopping Behavior of Industrial Robots;367
8.4.1;1 Introduction;367
8.4.2;2 Robot Model;368
8.4.3;3 BrakeModel;370
8.4.3.1;3.1 Model Purpose and Assumptions;370
8.4.3.2;3.2 A State-Based Brake Model;370
8.4.3.3;3.3 General Model Behavior;371
8.4.4;4 Experimental Model Validation;372
8.4.5;5 Conclusions and Outlook;373
8.4.6;Acknowledgement;374
8.4.7;References;374
8.5;Mechanical and Thermal Testing of Fluidic Muscles;375
8.5.1;1 Introduction;375
8.5.2;2 Experimental Setup;377
8.5.3;3 Mechanical Testing;378
8.5.4;4 Thermal Testing;379
8.5.5;5 Relationships;382
8.5.6;6 Conclusions;383
8.5.7;References;383
8.6;Structural Dynamic Analysis of Low-Mobility Parallel Manipulators;385
8.6.1;1 Introduction;385
8.6.2;2 Case Study: DAEDALUS I Manipulator;386
8.6.3;3 Structural Behaviour Analysis;387
8.6.3.1;3.1 Static Stiffness of the Manipulator;387
8.6.3.2;3.2 Dynamics: Normal Modes and Natural Frequencies;389
8.6.4;4 Analytical, Numerical and Experimental Results;390
8.6.5;5 Conclusions;391
8.6.6;Acknowledgments;392
8.6.7;References;392
9;Dynamics;393
9.1;Spatial Multibody Systems with Lubricated Spherical Joints: Modeling and Simulation;394
9.1.1;1 Introduction;394
9.1.2;2 Proposed Methodology;395
9.1.3;3 Results and Discussion;397
9.1.4;4 Conclusions;400
9.1.5;Acknowledgments;401
9.1.6;References;401
9.2;Comparison of Passenger Cars with Passive and Semi-Active Suspension Systems Based on a Friction Controlled Damper;402
9.2.1;1 Introduction;402
9.2.2;2 Friction Model and Semi-Active Control;403
9.2.3;3 Passenger Car Models;404
9.2.4;4 Optimization and Results;405
9.2.5;5 Conclusions;408
9.2.6;References;408
9.3;Dynamic Balancing of a Single Crank-Double Slider Mechanism with Symmetrically Moving Couplers;410
9.3.1;1 Introduction;410
9.3.2;2 ForceBalance;411
9.3.3;3 Moment Balance;413
9.3.4;4 Discussion;415
9.3.5;5 Conclusion;416
9.3.6;References;417
9.4;Evaluation of Engagement Accuracy by Dynamic Transmission Error of Helical Gears;418
9.4.1;1 Introduction;418
9.4.2;2 Meshing Characteristics;419
9.4.3;3 Dynamic Model of a Gear Pair;420
9.4.4;4 Time-Varying Mesh Stiffness;421
9.4.5;5 Simulation Results;421
9.4.6;6 Conclusions;423
9.4.7;Acknowledgement;424
9.4.8;References;424
9.5;The Influence of the Friction Forces and the Working Cyclogram upon the Forces of a Robot;426
9.5.1;1 Introduction;426
9.5.2;2 Theoretical Considerations;427
9.5.3;3 The Robot Presentation;428
9.5.4;4 The Method and the Calculation Stages;429
9.5.5;5 Results and Conclusions;430
9.5.6;References;433
9.6;Dynamic Aspects in Building up a Flight Simulator;434
9.6.1;1 Introduction;434
9.6.2;2 Functional Modeling;435
9.6.3;3 Dynamic Modeling;436
9.6.4;4 Results;439
9.6.5;5 Conclusions;441
9.6.6;Acknowledgements;441
9.6.7;References;441
10;Applications and Teaching Methods;443
10.1;Robotic Control of the Traditional Endoscopic Instrumentation Motion;444
10.1.1;1 Introduction;444
10.1.2;2 Possible Solutions for the End Effector;446
10.1.3;3 The Traditional Instrument Actuator;449
10.1.4;4 Conclusions;450
10.1.5;References;450
10.2;Ethics in Robotic Surgery and Telemedicine;452
10.2.1;1 Introduction;452
10.2.2;2 Ethical Issues;452
10.2.2.1;2.1 Ethics of Implementing High-Costs Medical Equipment;453
10.2.2.2;2.2 Ethics of Robot Responsibility;454
10.2.2.3;2.3 Cultural and Social Issues;455
10.2.2.4;2.4 Confidentiality;456
10.2.2.5;2.5 Reliability of Equipment;457
10.2.3;3 Rules to Be Followed;457
10.2.3.1;3.1 The Physician-Patient Relationship;458
10.2.3.2;3.2 Accountabilities and Responsibilities of a Physician;458
10.2.3.3;3.3 Patient Consent and Confidentiality;458
10.2.3.4;3.4 Quality Issues;458
10.2.3.5;3.5 Authorization and Competence in Practicing Telemedicine;459
10.2.3.6;3.6 Patient Records;459
10.2.4;4 Conclusions;459
10.2.5;Acknowledgement;459
10.2.6;References;460
10.3;Optimal Control Problem in New Products Launch – Optimal Path Using a Single Command;461
10.3.1;1 Introduction;461
10.3.2;2 Maximizing the Hamiltonian;463
10.3.3;3 Determination of the Optimal Path and the Minimum Time;463
10.3.4;4 The Numerical Model and Optimal Path;465
10.3.5;5 Conclusions;466
10.3.6;References;466
10.4;Mechanical Constraints and Design Considerations for Polygon Scanners;468
10.4.1;1 Introduction;468
10.4.2;2 Opto-Mechanical Design of Scanners;469
10.4.3;3 Kinematics: Scanning Function and Velocity;471
10.4.4;4 Kinetostatics of Polygons;473
10.4.5;5 Dynamics of Polygons and Manufacturing Issues;473
10.4.6;6 Conclusions;474
10.4.7;Acknowledgments;476
10.4.8;References;476
10.5;Training Platform for Robotic Assisted Liver Surgery – The Surgeon’s Point of View;477
10.5.1;1 Introduction;477
10.5.2;2 The Description of the Training Platform for Hepatic Robotic Minimally Invasive Surgery;479
10.5.3;3 Conclusions;484
10.5.4;Acknowledgement;484
10.5.5;References;484
10.6;Teaching Mechanisms: from Classical to Hands-on-Experiments and Research-Oriented;485
10.6.1;1 Introduction;485
10.6.2;2 Looking for Solutions;486
10.6.3;3 Research-Oriented Solutions;487
10.6.4;4 Hands-on-Experiments;490
10.6.5;5 Improving Classical Teaching;491
10.6.6;6 Conclusions;492
10.6.7;Acknowledgments;492
10.6.8;References;492
10.7;Models Created by French Engineers in the Collection of Bauman Moscow State Technical University;494
10.7.1;1 Introduction;494
10.7.1.1;1.1 Teaching Models of Mechanisms and Machines;495
10.7.2;2 Families of Clair and Digeon – Constructors and Teaching Model Manufacturers;495
10.7.3;3 Models of Mechanisms and Machines by Clair and Digeon in the Collection of the BMSTU;498
10.7.4;4 Conclusions;500
10.7.5;Acknowledgement;501
10.7.6;References;501
10.8;The Models of Centrifugal Governors in the Collection of Bauman Moscow State Technical University;502
10.8.1;1 Introduction;502
10.8.2;2 Regulation of the Steam Engines;503
10.8.3;3 Types of Centrifugal Governors;503
10.8.4;4 Experimental Characterizations;507
10.8.5;5 Computer 3D Modelling of Governors;508
10.8.6;6 Conclusions;508
10.8.7;Acknowledgments;509
10.8.8;References;509
10.9;Advanced Approaches Using VR Simulations for Teaching Mechanisms;510
10.9.1;1 Introduction;510
10.9.2;2 Virtual Reality for Experimentation;511
10.9.3;3 Resources;512
10.9.4;4 Methodology and Results;513
10.9.5;5 Conclusions;516
10.9.6;Acknowledgement;517
10.9.7;References;517
11;Novel Designs;518
11.1;Preliminary Design of ANG, a Low-Cost Automated Walker for Elderly;519
11.1.1;1 Introduction;519
11.1.2;2 Design;520
11.1.3;3 Functionalities;521
11.1.3.1;3.1 Fall detection and prevention;522
11.1.3.2;3.2 Trajectory, Motion planning and Navigation assistance;523
11.1.3.3;3.3 Rehabilitation;524
11.1.3.4;3.4 Energy management;524
11.1.3.5;3.5 Interfaces;524
11.1.4;4 Conclusions;525
11.1.5;References;525
11.2;An Active Suspension System for Simulation of Ship Maneuvers inWind Tunnels;527
11.2.1;1 Introduction;527
11.2.2;2 Discussion of Suspension Mechanisms;528
11.2.3;3 Simulation Results for the Three Designs;532
11.2.4;4 Conclusions and Future Work;533
11.2.5;Acknowledgement;534
11.2.6;References;534
11.3;Mechanism Solutions for Legged Robots Overcoming Obstacles;535
11.3.1;1 Introduction;535
11.3.2;2 Leg Design Problem and Requirements;536
11.3.3;3 Solutions of Leg Designs forWalking Robots;537
11.3.4;4 Operation Feasibility;540
11.3.5;5 Conclusions;542
11.3.6;References;543
12;Control Issues of Mechanical Systems;544
12.1;Dynamic Reconfiguration of Parallel Mechanisms;545
12.1.1;1 Introduction;545
12.1.2;2 Reconfiguration Approaches;546
12.1.3;3 Components for Dynamic Reconfiguration;547
12.1.4;4 Example of a Reconfigurable Parallel Mechanism;549
12.1.5;5 Conclusion and Further Research;552
12.1.6;Acknowledgement;552
12.1.7;References;552
12.2;Development of a Voice Controlled Surgical Robot;554
12.2.1;1 Introduction;554
12.2.2;2 Experimental model of PARAMIS;555
12.2.3;3 PARAMIS Control System and User Interface;556
12.2.4;4 PARAMIS Voice Control Interface;558
12.2.5;5 Experimental Runs and Results;560
12.2.6;6 Conclusions;560
12.2.7;Acknowledgement;561
12.2.8;References;561
12.3;Modeling and Simulation of the Tracking Mechanism Used for a Photovoltaic Platform;562
12.3.1;1 Introduction;562
12.3.2;2 The Virtual Prototype of the Tracking Mechanism;564
12.3.3;3 Results and Conclusions;566
12.3.4;References;569
12.4;The Modular Robotic System for In-pipe Inspection;570
12.4.1;1 Introduction;570
12.4.2;2 The Modular Robotic Systems;571
12.4.2.1;2.1 The Modular System Structure;571
12.4.3;3 Conclusions;578
12.4.4;Acknowledgments;578
12.4.5;References;578
13;Mechanism Design;579
13.1;Geometric and Manufacturing Issues of the 3-UPU Pure Translational Manipulator;580
13.1.1;1 Introduction;580
13.1.2;2 Basics;581
13.1.3;3 Influence of the Geometry on the Performance of the 3-UPU TPM;584
13.1.3.1;3.1 Influence of the Directions of Base/Platform Revolute Axes;584
13.1.3.2;3.2 Influence of the Leg Location;585
13.1.4;4 Manufacturing Solutions for the Leg Collision Avoidance of the 3-UPU TPM;586
13.1.5;5 Conclusions;588
13.1.6;Ackowledgment;588
13.1.7;References;588
13.2;Workspace Determination and Representation of Planar Parallel Manipulators in a CAD Environment;589
13.2.1;1 Introduction;589
13.2.2;2 Overview of Method forWorkspace Determination;590
13.2.3;3 The Proposed Method;592
13.2.3.1;3.1 Total Workspace Determination in CAD Environment;592
13.2.4;4 Influence of Position of the End-Effector Characteristic Point on the Manipulator TotalWorkspace;594
13.2.5;5 Conclusions;595
13.2.6;References;596
13.3;A Theoretical Improvement of a Stirling Engine PV Diagram;597
13.3.1;1 On the Drive Mechanism for an a-Stirling Engine;597
13.3.2;2 A New Mechanism;599
13.3.3;3 Torque New Dwell Mechanism Calculus;604
13.3.4;4 Conclusions;606
13.3.5;References;606
13.4;CylindricalWorm Gears with Improved Main Parameters;608
13.4.1;1 Introduction;608
13.4.1.1;1.1 The Module Determination under Hydrodynamical Lubrication Conditions;609
13.4.1.2;1.2 Cylindrical Worm Gear Efficiency Determination;609
13.4.1.3;1.3 The Stiffness Calculation of the Cylindrical Worm Gears;610
13.4.1.4;1.4 The Bearing Strength of the Teeth Flanks in Contact at Cylindrical Worm Gears;611
13.4.2;2 Computation of the Main Parameters of Cylindrical Worm Gears Based on the Described Circumstances Using Matlab;613
13.4.3;3 Conclusions;614
13.4.4;References;615
13.5;Multi-Objective Optimization of Parallel Manipulators;616
13.5.1;1 Introduction;616
13.5.2;2 Definition of the Synthesis Error Function;617
13.5.2.1;2.1 Kinetostatic Performance Index: Dexterity;617
13.5.2.2;2.2 Area Occupation Index;618
13.5.3;3 Kinematic Optimization;618
13.5.3.1;3.1 Definition of the Synthesis Problem;619
13.5.3.2;3.2 Artificial Penalty Optimization Strategy;619
13.5.3.3;3.3 Best-Assembly Penalty Optimization Strategy;620
13.5.4;4 Application to Delta Robot: Results of Optimization;621
13.5.5;5 Conclusions;622
13.5.6;References;623
13.6;A Design Method of Crossed Axes Helical Gears with Increase Uptime and Efficiency;624
13.6.1;1 Introduction;624
13.6.2;2 The Efficiency of Crossed Helical Gears with Addendum Modification;624
13.6.3;3 The Relative Sliding Coefficients at Crossed Helical Gears with Addendum Modification;625
13.6.4;4 Equalization of the Relative Sliding Coefficients;626
13.6.5;5 Uptime and Efficiency Optimization;629
13.6.6;6 Conclusions;631
13.6.7;References;631
13.7;Dual Axis Tracking System with a Single Motor;632
13.7.1;1 Introduction;632
13.7.2;2 Tracking System Description;633
13.7.3;3 Tracking Method;636
13.7.4;Acknowledgments;638
13.7.5;References;639
13.8;The Determination of the Exact Surfaces of the Spur Wheels Flank with the Unique Rack-Bar;640
13.8.1;1 Introduction;640
13.8.2;2 Theoretical Considerations;641
13.8.2.1;2.1 The Imaginary Rack-Bar Surfaces Determination;642
13.8.3;3 The Meshing of the Spur Wheels with Rack-bar;644
13.8.4;4 Conclusions;646
13.8.5;References;647
13.9;Choosing the Actuators for the TRTTR1 Modular Serial Robot;648
13.9.1;1 Introduction;648
13.9.2;2 The Calculus of the Actuators;650
13.9.2.1;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
13.9.2.2;2.2 Determination of the Moments of the Robot Modules;652
13.9.2.3;2.3 Numerical Data Specification;653
13.9.2.4;2.4 The Determination of the Characteristics of the Actuators;654
13.9.2.5;2.5 Choosing the Actuators;654
13.9.3;3 Conclusions;655
13.9.4;References;655
14;Mechanics of Robots;656
14.1;Stiffness Modelling of Parallelogram-Based Parallel Manipulators;657
14.1.1;1 Introduction;657
14.1.2;2 Problem Statement;658
14.1.3;3 Static Equilibrium;659
14.1.4;4 Stiffness Matrix;660
14.1.5;5 Illustrative Example;661
14.1.6;6 Conclusions;664
14.1.7;Acknowledgement;664
14.1.8;References;664
14.2;Incorporating Flexure Hinges in the Kinematic Model of a Planar 3-PRR Parallel Robot;665
14.2.1;1 Introduction;665
14.2.2;2 Planar 3-PRR Parallel Robot;666
14.2.3;3 Rigid Body Kinematic Model;666
14.2.3.1;3.1 Flexure Hinge Model;666
14.2.4;4 Parameter Calibration of the MICABOes;669
14.2.4.1;4.1 Simulation of Measurement Data;669
14.2.4.2;4.2 Identification by Optimization;670
14.2.4.3;4.3 Implementation of the Optimized Parameters;670
14.2.4.4;4.4 Simulation Results;670
14.2.5;5 Conclusion and Outlook;672
14.2.6;Acknowledgement;672
14.2.7;References;672
14.3;On the Dynamics of a 5 DOF Parallel Hybrid Robot Used in Minimally Invasive Surgery;673
14.3.1;1 Introduction;673
14.3.2;2 Design Consideration of 5-DOF Parallel Robot for MIS;674
14.3.3;3 Dynamics;676
14.3.3.1;3.1 Kinematics;676
14.3.3.2;3.2 The Dynamic Model;677
14.3.4;4 Validation of the Dynamics through a Multi-Body Simulator;679
14.3.5;5 Conclusions;680
14.3.6;Acknowledgement;680
14.3.7;References;680
15;Author Index;682
16;Subject Index;685