Visa SYROM 2009

Proceedings of the 10th IFToMM International Symposium on Science of Mechanisms and Machines, held in Brasov, Romania, october 12-15, 2009
1. Auflage 2010
ISBN: 978-90-481-3522-6
Verlag: Springer Netherlands
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 728 Seiten

SYROM conferences have been organized since 1973 by the Romanian branch of the International Federation for the Promotion of Mechanisms and Machine Science IFToMM, Year by year the event grew in quality. Now in its 10th edition, international visibility and recognition among the researchers active in the mechanisms science field has been achieved. SYROM 2009 brought together researchers and academic staff from the field of mechanisms and machine science from all over the world and served as a forum for presenting the achievements and most recent results in research and education. Topics treated include conceptual design, kinematics and dynamics, modeling and simulation, synthesis and optimization, command and control, current trends in education in this field, applications in high-tech products. The papers presented at this conference were subjected to a peer-review process to ensure the quality of the paper, the engineering significance, the soundness of results and the originality of the paper. The accepted papers fulfill these criteria and make the proceedings unique among the publications of this type.

Autoren/Hrsg.

Visa, Ion

Inhaltsverzeichnis

1;191387_1_En_BookFrontmatter_OnlinePDF;2
2;191387_1_En_1_Chapter_OnlinePDF;22
2.1;Challenges for Mechanism Design;22
2.1.1;Introduction;22
2.1.2;Mechanism Design and IFToMM Activity;23
2.1.3;Future Challenges;27
2.1.4;Conclusions;33
2.1.5;References;34
3;191387_1_En_2_Chapter_OnlinePDF;35
3.1;Mechatronics and Mechanisms: From Drive to Process;35
3.1.1;Introduction;35
3.1.2;Mechatronic Machine Architecture;36
3.1.3;Mechatronics in Glass Machinery;36
3.1.3.1;Pneumatic Actuation;37
3.1.3.2;Servo Electric Actuation;39
3.1.3.3;Pressing Process;42
3.1.3.4;Intelligent Control Scheme;44
3.1.3.5;Simulation and Verification;46
3.1.4;Mechatronic Sewing Plant;47
3.1.4.1;Kinematic and Dynamic Modelling of the Parallel Manipulator;48
3.1.4.2;Kinematic and Dynamic Modelling of the Sewing Head;50
3.1.4.3;Motion Design;53
3.1.4.4;Simulation Model;54
3.1.5;An Adjustable Gripper as a Reconfigurable Robot;55
3.1.5.1;New Manipulation Concept;56
3.1.5.2;Topology Synthesis;58
3.1.5.3;Dimensional Synthesis;60
3.1.6;Conclusion;64
3.1.7;References;64
4;191387_1_En_3_Chapter_OnlinePDF;66
4.1;Comparative Study of Two Index Two Methods Applied to Original ADAMS Computer Program;66
4.1.1;Introduction;66
4.1.2;Theoretical Considerations;69
4.1.3;The 2-Steps Method;77
4.1.4;Numerical Example;81
4.1.5;Conclusion;85
4.1.6;References;85
5;191387_1_En_4_Chapter_OnlinePDF;86
5.1;Structural Synthesis of the Planar Cam-Linkage Mechanisms as Multibody Systems;86
5.1.1;Introduction;86
5.1.2;Defining a Mechanical System as Multibody System;87
5.1.3;Designing a Mechanical System as a Multibody System with a Minimum Number of Bodies;93
5.1.4;Conclusions;99
5.1.5;References;101
6;191387_1_En_5_Chapter_OnlinePDF;104
6.1;Helical Gear Dimensions in the Case of the Minimal Equalized Specific Sliding;104
6.1.1;Introduction;104
6.1.2;Sliding Coefficients at Helical Gears;105
6.1.3;Determination of the Geometrical Dimensions of the Helical Gears;107
6.1.4;Equalization of the Specific Sliding;108
6.1.5;Minimization of the Equalized Sliding Coefficients;111
6.1.6;Conclusions;111
6.1.7;References;112
7;191387_1_En_6_Chapter_OnlinePDF;113
7.1;Mathematical Model for Two Degree of Freedom Motion;113
7.1.1;Introduction;113
7.1.2;Mathematical Model;113
7.1.3;Control Problem Statement;118
7.1.4;Conclusions;119
7.1.5;References;120
8;191387_1_En_7_Chapter_OnlinePDF;121
8.1;Design and Simulation of Kursk Robot for In-Pipe Inspection;121
8.1.1;Introduction;121
8.1.2;Kursk Robot for In-Pipe Inspection;122
8.1.3;Mathematic Model of Robot´s Motion;125
8.1.4;A Numerical Characterization of Operation Features;126
8.1.5;Result of Experimental Testing;131
8.1.6;Conclusion;131
8.1.7;References;131
9;191387_1_En_8_Chapter_OnlinePDF;133
9.1;Conceptual Design of an Omni-directional Mobile Robot;133
9.1.1;Introduction;133
9.1.2;Previous Work;134
9.1.3;Mecanum Wheel;134
9.1.4;Robot Design;136
9.1.5;Robot Kinematics;138
9.1.6;Robot Control;140
9.1.6.1;Line Follower Mode;140
9.1.6.2;Remote Control Mode;140
9.1.6.3;Autonomous Mode;141
9.1.6.4;The Second Prototype;143
9.1.7;Conclusion;144
9.1.8;References;144
10;191387_1_En_9_Chapter_OnlinePDF;146
10.1;Structural Design of the Fundamental Plane Kinematic Chains;146
10.1.1;Introduction;146
10.1.2;Outlines Connections. Calculus;147
10.1.3;Algorithm for Establishing of the Structural Schemes;150
10.1.4;Application;151
10.1.5;Conclusions;152
10.1.6;References;152
11;191387_1_En_10_Chapter_OnlinePDF;153
11.1;Structural Design of the Plane Mechanisms with Linkages and Gears;153
11.1.1;Introduction;153
11.1.2;The Structural Magnitudes of MeBaRd;154
11.1.3;Structural Synthesis Criteria of MeBaRd;155
11.1.4;Numerical and Structural Solutions of MeBaRd;155
11.1.5;Conclusions;160
11.1.6;References;160
12;191387_1_En_11_Chapter_OnlinePDF;161
12.1;Design of LegVan Wheel-Legged Robot´s Mechanical and Control System;161
12.1.1;Introduction;161
12.1.2;Wheel-Legged Robot´s Suspension System;162
12.1.2.1;Structure of Robot Suspension System;163
12.1.2.2;Geometric Synthesis;164
12.1.3;LegVan´s Control System;165
12.1.3.1;Robot´s Software;167
12.1.3.2;Robot Functions;167
12.1.4;Experimental Results;168
12.1.5;Conclusions;173
12.1.6;References;173
13;191387_1_En_12_Chapter_OnlinePDF;175
13.1;Mathematical and Virtual Modelling of a Spur Gear;175
13.1.1;Introduction;175
13.1.2;Geometric Parameters of a Spur Gear;176
13.1.2.1;The Involute Function;177
13.1.3;Spur Gears with Solid Edge Software;178
13.1.4;Conclusions;184
13.1.5;References;185
14;191387_1_En_13_Chapter_OnlinePDF;186
14.1;Conceptual Synthesis of Speed Increasers for Renewable Energy Systems;186
14.1.1;Introduction;186
14.1.2;Requirements List;187
14.1.3;Identification of the Speed Increaser Function;188
14.1.4;Detailing of the Speed Increaser Function;189
14.1.5;Development of the Solving Structures;190
14.1.5.1;Development (Synthesis) of the Structural Solving Variants;190
14.1.5.2;Establishment of the Solving Structures;191
14.1.6;Evaluation of the Solving Structures;193
14.1.7;Conclusions;197
14.1.8;References;197
15;191387_1_En_14_Chapter_OnlinePDF;199
15.1;Mobile Minirobots Structures;199
15.1.1;Introduction;199
15.1.2;The In-Pipe Developed Minirobot;200
15.1.2.1;The Power and Control System;203
15.1.3;The Developed Omnidirectional Minirobot;203
15.1.4;Conclusion;206
15.1.5;References;206
16;191387_1_En_15_Chapter_OnlinePDF;207
16.1;Synthesis of Linkages for Tracking Systems with Increased Angular Stroke;207
16.1.1;Introduction;207
16.1.2;The Tracking Requirements;209
16.1.3;Geometrical Generation of the Planar Four-Bar Linkage;209
16.1.4;Analytical Synthesis of the Tracking Planar Linkage;213
16.1.5;Generation and Analysis of an Equivalent Spatial Linkage;217
16.1.6;Conclusions;219
16.1.7;References;220
17;191387_1_En_16_Chapter_OnlinePDF;221
17.1;Upon Applying Closed Contours Method in Plane Mechanisms with Higher Pairs;221
17.1.1;Introduction;221
17.1.2;Theoretical Remarks;222
17.1.3;Solution for Velocities;224
17.1.4;Accelerations Analysis;225
17.1.5;Conclusions;228
17.1.6;Appendix;228
17.1.7;References;230
18;191387_1_En_17_Chapter_OnlinePDF;231
18.1;Correlating Requirements Regarding the Command and the Mechanical Structure of the Automotive Steering System;231
18.1.1;Introduction;231
18.1.2;Functional Requirements for the Steering Linkage Mechanism (Steering Law, Induced Steering, Angular Capability);232
18.1.3;Kinematic Requirement for the Steering Box with Rack (Variable Transmission Ratio);236
18.1.4;Conclusions;239
18.1.5;References;240
19;191387_1_En_18_Chapter_OnlinePDF;241
19.1;Optimal Design of a Low-Mobility Schönflies Parallel Manipulator;241
19.1.1;Introduction;241
19.1.2;Manipulator´s Description;242
19.1.2.1;Kinematics;242
19.1.2.2;Dynamics;245
19.1.3;Trajectory Based Criteria;245
19.1.3.1;Workspace and Volume;246
19.1.3.2;Dexterity;247
19.1.3.3;Input Energy Per Output Cycle;250
19.1.4;Pareto-Optimally Based Multiobjective;252
19.1.5;Conclusions;253
19.1.6;References;254
20;191387_1_En_19_Chapter_OnlinePDF;256
20.1;Dynamic Transmission Error Prediction of Spur Gear Pairs with Friction Consideration;256
20.1.1;Introduction;256
20.1.2;The Dynamic Model of Spur Gear;257
20.1.3;Friction Force;259
20.1.3.1;Instantaneous Coefficient of Friction;259
20.1.3.2;Friction Forces;261
20.1.4;Mesh Stiffness;261
20.1.5;Case Illustrations;262
20.1.6;Conclusion;264
20.1.7;References;265
21;191387_1_En_20_Chapter_OnlinePDF;266
21.1;Designing Aspects of Differential Transmission with Balls;266
21.1.1;Introduction;266
21.1.2;The Determination of Transmission Ratio;267
21.1.3;The Kinetostatic Study of the One Cell SBS;270
21.1.4;Transmission of Forces and Torques;273
21.1.5;Conclusions;278
21.1.6;References;278
22;191387_1_En_21_Chapter_OnlinePDF;280
22.1;Meshing Forces Distribution Analysis on Gearing Teeth with Precession Movement;280
22.1.1;References;285
23;191387_1_En_22_Chapter_OnlinePDF;287
23.1;Basic Aspects Concerning Development of the Hybrid Road and Driving Simulator;287
23.1.1;Introduction;287
23.1.2;The Model and the Equations of the Vertical Oscillations;288
23.1.3;The Time Response of the Linear Model of the Suspension;290
23.1.4;The Oscillations and Vibrations;291
23.1.5;Simulation of the Road Roughness;292
23.1.6;Conclusions;294
23.1.7;References;294
24;191387_1_En_23_Chapter_OnlinePDF;296
24.1;On Link Effects of Ring Workspace of Three-Revolute Manipulators;296
24.1.1;Introduction;296
24.1.2;The Workspace Boundary Envelope;297
24.1.3;Effect of Chain Parameters on Shapes;298
24.1.3.1;Tables of Workspace Topology;299
24.1.3.2;Effect of Twist Angles;299
24.1.3.3;Effect of Link Offsets;302
24.1.3.4;Effect of Link Lengths;302
24.1.4;Volume Evaluation;303
24.1.4.1;Numerical Algorithm;304
24.1.4.2;Effect of Chain Parameters on Volume;305
24.1.5;Conclusion;308
24.1.6;References;309
25;191387_1_En_24_Chapter_OnlinePDF;310
25.1;Contributions to the Dynamic Study of a Modular Serial Industrial Robot of TRTRR Type;310
25.1.1;Introduction;310
25.1.2;The Dynamic Equations;311
25.1.3;Conclusions;321
25.1.4;References;322
26;191387_1_En_25_Chapter_OnlinePDF;323
26.1;Contributions to the Palletization of Auto Batteries Using the Finite Displacements Theory;323
26.1.1;Introduction;323
26.1.2;Relations of Dependency Between the Initial and the Final Position of Auto Batteries and the Kinematic Parameters of the Robot;324
26.1.3;Numerical Application;331
26.1.4;Conclusions;332
26.1.5;References;332
27;191387_1_En_26_Chapter_OnlinePDF;334
27.1;Unconventional Mathematical Model for Complex Mechanical Structures;334
27.1.1;Introduction;334
27.1.2;General Structure of Mathematical Models;335
27.1.3;The Mathematical Model $$ \left[ {{\hbox{A}} \cap {\hbox{C}}} \right] $$;336
27.1.4;Numerical Example;340
27.1.5;Unconventional Mathematical Model for Deformable Elements;341
27.1.6;Conclusions;344
27.1.7;References;344
28;191387_1_En_27_Chapter_OnlinePDF;345
28.1;On the Power Losses of Cylindrical and Bevel Gears Used in Wind Turbines and Tracking Systems for Photovoltaic Platforms;345
28.1.1;Introduction;345
28.1.2;Theoretical Basis;346
28.1.3;Results and Discussions;351
28.1.4;Conclusions;357
28.1.5;References;357
29;191387_1_En_28_Chapter_OnlinePDF;359
29.1;New Formulations on Acceleration Energy in the Robot Dynamics;359
29.1.1;Introduction;359
29.1.2;The Forward Kinematics Equations;360
29.1.2.1;Matrix Exponentials in the Forward Kinematics;360
29.1.3;The Acceleration Energy in the Robot Dynamics;366
29.1.3.1;The Explicit Expression of the Acceleration Energy;366
29.1.3.2;The Matrix Expression of the Acceleration Energy;368
29.1.4;Conclusions;371
29.1.5;References;372
30;191387_1_En_29_Chapter_OnlinePDF;373
30.1;Dynamics of a Parallel Platform for Helicopter Flight Simulation Considering Friction;373
30.1.1;Introduction;373
30.1.2;Geometrical Model;375
30.1.3;Kinematic Model;376
30.1.4;Dynamic Model Without Friction;380
30.1.5;Dynamic Model with Computation of Additional Drive Generalized Forces Caused by Friction;381
30.1.6;Simulation Results;382
30.1.7;Conclusions;384
30.1.8;References;385
31;191387_1_En_30_Chapter_OnlinePDF;387
31.1;One D.O.F. Parallel Manipulator Based on Bricard Rectangular Mechanism;387
31.1.1;Introduction;387
31.1.2;Closure Equations;388
31.1.3;New Spatial Disposition;389
31.1.4;Conclusion;392
31.1.5;References;393
32;191387_1_En_31_Chapter_OnlinePDF;395
32.1;Theoretical and Experimental Research on the Dynamics of a 4DOF Isoglide 4-T3R1 Parallel Robot;395
32.1.1;Introduction;395
32.1.2;On the Kinematics of the Isoglide4-T3R1 Parallel Robot;396
32.1.3;Dynamic Modelling of the Isoglide4-T3R1 Parallel Robot;398
32.1.4;Virtual Model and Experimental Testing of the Isoglide4-T3R1 Parallel Robot;398
32.1.4.1;Isoglide4-T3R1 CAD Model;399
32.1.4.2;Dynamic Experimental Testing of the Isoglide4-T3R1 Parallel Robot;400
32.1.5;Conclusions;404
32.1.6;References;404
33;191387_1_En_32_Chapter_OnlinePDF;405
33.1;The Monitorisation of the Motion of Differential Gears;405
33.1.1;Introduction;405
33.1.2;The Description of the Mathematical Model (AC) Having Monitored Kinematics;406
33.1.3;The Experimental Results;411
33.1.4;Conclusions;415
33.1.5;References;415
34;191387_1_En_33_Chapter_OnlinePDF;416
34.1;Structure, Kinematics and CAD Model of a Mobile Telethesis;416
34.1.1;Introduction;416
34.1.2;Structure for a Reference Telethesis;417
34.1.3;The Kinematics for the Reference Telethesis;418
34.1.3.1;Forward Kinematics;418
34.1.3.2;Inverse Kinematics;420
34.1.4;Structure and Kinematic for the Gripper of the Telethesis;421
34.1.4.1;Structural Synthesis;421
34.1.4.2;Structural Analysis;422
34.1.4.3;Kinematic Synthesis;422
34.1.4.4;Kinematic Analysis;422
34.1.5;Static Synthesis and Analysis;423
34.1.6;Constructive Design, CAD Model and CAD Simulation;424
34.1.7;Conclusions;426
34.1.8;References;426
35;191387_1_En_34_Chapter_OnlinePDF;427
35.1;Asymptotic Analysis of Parametrically Excited Spring Pendulum;427
35.1.1;Introduction;427
35.1.2;Formulation of the Problem;428
35.1.3;Stability of the Fixed Points;433
35.1.4;Example;434
35.1.5;Conclusions;437
35.1.6;References;437
36;191387_1_En_35_Chapter_OnlinePDF;439
36.1;Simple Mechanical Clutch with Multiple Functions;439
36.1.1;Introduction;439
36.1.2;Elastic and Safety Clutch;441
36.1.2.1;Derivation Proceeding from the Structural Schemes;441
36.1.2.2;Construction of the Clutch;442
36.1.2.3;The Torque Moment and Its Elastic Characteristics;443
36.1.3;Theoretical and Experimental Researches;444
36.1.4;References;449
37;191387_1_En_36_Chapter_OnlinePDF;450
37.1;Analysis of the Direct Kinematic Problem in 3-DOF Parallel Manipulators;450
37.1.1;Introduction;450
37.1.2;Computing Workspace with One Input Constant;451
37.1.3;Visualizing the Reduced Configuration Space;453
37.1.3.1;Finding All DKP Solutions;455
37.1.4;Path Planning Between Different DKP Solutions;457
37.1.5;Conclusions;459
37.1.6;References;460
38;191387_1_En_37_Chapter_OnlinePDF;462
38.1;Kinematical Analysis of Mechanical Systems by Results of Digital Video Recording;462
38.1.1;Target Setting;462
38.1.2;Peculiarities of Digital Video Recording Process and the Subject of Inquiry;463
38.1.2.1;Peculiarities of Digital Video Recording Process;463
38.1.2.2;Subject of Inquiry Peculiarities Description;463
38.1.2.3;Sources of Errors of the Recording Process;464
38.1.3;Data Analysis Methodology Description;466
38.1.4;Results of Experimental Data Treatment. Slider Phase Trajectory Plotting;467
38.1.5;Conclusions;467
38.1.6;References;469
39;191387_1_En_38_Chapter_OnlinePDF;470
39.1;Dynamics of Mobile Vibration-Driven Robots;470
39.1.1;Introduction;470
39.1.2;Mathematical Model of a 1-D Robot with a Vibrating Internal Mass;472
39.1.3;Mathematical Model and Design of a 1-D Robot with Variable Shape of the Robot´s Body;476
39.1.4;Vibration-Driven Robot with Two Rotating Masses;479
39.1.5;Experimental Studies;480
39.1.6;Conclusions;480
39.1.7;References;481
40;191387_1_En_39_Chapter_OnlinePDF;483
40.1;Experimental Aspects Concerning Self-locking Angle;483
40.1.1;Introduction;483
40.1.2;Theoretical Consideration;484
40.1.3;Experimental Evidences;489
40.1.4;Test Rig Design and Testing Method;489
40.1.5; Experimental Work and Conclusions;495
40.1.6;References;496
41;191387_1_En_40_Chapter_OnlinePDF;498
41.1;Strategy for Optimizing the Synchronous Belt Drives Design;498
41.1.1;Introduction;498
41.1.2;Tooth Loading;499
41.1.3;Multi-body Based Model of the Belt Drive;499
41.1.4;Description Test and Results;500
41.1.5;Conclusion;504
41.1.6;References;504
42;191387_1_En_41_Chapter_OnlinePDF;505
42.1;Control Design and Simulations of the Linear Actuator LX-80-L;505
42.1.1;Introduction;505
42.1.2;Linear Actuator Parker LX-80L-Mechatronics Laboratory;507
42.1.2.1;Mathematical Model;507
42.1.2.2;Implementation of the Mathematical Model in Matlab-Simulink;508
42.1.2.3;Testing the System Using Determined Kp, Ki, Kd Parameters;509
42.1.3;Conclusions;511
42.1.4;References;511
43;191387_1_En_42_Chapter_OnlinePDF;512
43.1;The Analysis of a Dwell Mechanism for Alpha -Stirling Engine;512
43.1.1;On the Working Cycle of Stirling Engine;512
43.1.2;A New Dwell Mechanism Dedicated to a-Stirling Engine;514
43.1.3;On the Movement Functions of the Mechanism;514
43.1.4;The Schmidt Analysis Insertion Paragraph;519
43.1.5;Conclusion;519
43.1.6;References;520
44;191387_1_En_43_Chapter_OnlinePDF;521
44.1;A Digital Model of a Dwell Mechanism for Alpha-Stirling Engine;521
44.1.1;Introduction;521
44.1.2;The Kinetostatic Analysis of the Mechanism;522
44.1.3;Digital Simulations of the Dwell Mechanism;524
44.1.4;Conclusion;527
44.1.5;References;527
45;191387_1_En_44_Chapter_OnlinePDF;528
45.1;AutoCad Simulations and Experiments on the Manufacturing of Gears;528
45.1.1;Introduction;528
45.1.2;Experimental Simulations;529
45.1.2.1;Experimental Stall;529
45.1.2.2;Results;530
45.1.3;AUTOCAD Simulations of the Manufacturing of Gears;531
45.1.4;Conclusions;535
45.1.5;References;536
46;191387_1_En_45_Chapter_OnlinePDF;537
46.1;Modeling a Galvoscanner with an Optimized Scanning Function;537
46.1.1;Introduction;537
46.1.2;Equations of the Galvoscanners;539
46.1.3;Linear and Sinusoidal Scanning Function;541
46.1.4;Active Torque and Command Function;543
46.1.5;Conclusions;545
46.1.6;References;546
47;191387_1_En_46_Chapter_OnlinePDF;547
47.1;Simulation of a Pressure Controlled Hose Type Joint Using F.E.M.;547
47.1.1;Introduction;547
47.1.2;Hose Design;548
47.1.3;Mathematical Model;549
47.1.4;Numerical Simulation;553
47.1.5;Conclusions;559
47.1.6;References;559
48;191387_1_En_47_Chapter_OnlinePDF;561
48.1;Workspace and Singularity Analysis for a Reconfigurable Parallel Robot;561
48.1.1;Introduction;561
48.1.2;Kinematics of the ROPAR4 Parallel Robot;563
48.1.2.1;The Reconfigurable Parallel Robot;563
48.1.2.2;Kinematics;566
48.1.2.3;Singularities of the ROPAR4 Robot;567
48.1.3;Workspace of the ROPAR4 Robot;570
48.1.3.1;The Geometrical Method;570
48.1.3.2;The Analytical Method;571
48.1.4;Conclusions;571
48.1.5;References;572
49;191387_1_En_48_Chapter_OnlinePDF;575
49.1;Kinematics and Movement Control of a Six-Legged Mobile Robot;575
49.1.1;Introduction;575
49.1.2;Kinematics of the Mobile Robot;576
49.1.3;Command and Control System of the Six-Legged Mobile Robot;578
49.1.4;Conclusions;580
49.1.5;References;580
50;191387_1_En_49_Chapter_OnlinePDF;581
50.1;LabView Based Control and Simulation of a Construction Robot;581
50.1.1;Introduction;581
50.1.2;Robot Functionality and Operating Modes for Construction Tasks;582
50.1.3;Modeling and Embedded Motion Control of Robot Arm;584
50.1.3.1;Geometric Models of the Robotic Arm;584
50.1.3.2;Embedded Control of the Construction Robot;588
50.1.4;Experimental Work Conclusions;591
50.1.5;References;594
51;191387_1_En_50_Chapter_OnlinePDF;595
51.1;Synthesis Method of Planar Mechanisms Approximating Open Paths;595
51.1.1;Introduction;595
51.1.2;Method Description;596
51.1.3;Numerical Solutions;602
51.1.4;Conclusions;606
51.1.5;References;607
52;191387_1_En_51_Chapter_OnlinePDF;608
52.1;Kinematic Calculus Modelling of a Handling Arm Driving System;608
52.1.1;Introduction;608
52.1.2;Cinematic Analysis Modelling;610
52.1.3;Synthesis Proposed Version;611
52.1.4;Conclusions;612
52.1.5;References;612
53;191387_1_En_52_Chapter_OnlinePDF;613
53.1;Synthesis of a Bi-Axial Tracking Spatial Linkage with a Single Actuator;613
53.1.1;Introduction;613
53.1.2;Kinematic Modelling of the R-R-S-S Linkage;615
53.1.3;Geometrical Synthesis;617
53.1.4;Numerical Simulations;620
53.1.5;Conclusions;625
53.1.6;References;627
54;191387_1_En_53_Chapter_OnlinePDF;629
54.1;Dimensional Synthesis of Suspension System of Wheel-Legged Mobile Robot;629
54.1.1;Introduction;629
54.1.2;Mechanism Structure;630
54.1.3;Dimensional Synthesis;631
54.1.3.1;Formulation of the Problem;631
54.1.3.2;The Synthesis Method;631
54.1.3.2.1;Stage One - Two-Link Chain ACE;632
54.1.3.2.2;Stage Two - Four-Bar Mechanism;632
54.1.3.2.3;Calibration of l1 and l3;634
54.1.3.2.4;Stage Three - Drive q1 Parameters;634
54.1.3.3;Genetic Algorithm;636
54.1.4;Results of Optimisation;637
54.1.5;Conclusions;639
54.1.6;References;640
55;191387_1_En_54_Chapter_OnlinePDF;641
55.1;Cam Mechanism with Flat/Tangential Translating Follower and Its Size;641
55.1.1;Introduction;641
55.1.2;The Forces´ Equilibrium and Guiding´s Size Establishment;642
55.1.3;The Total Size of a Cam Mechanism with Flat Translating Follower and the Influence´s Factors of It;644
55.1.4;Case Studies;645
55.1.4.1;Case Study 1;646
55.1.4.2;Case Study 2;647
55.1.5;Conclusions;648
55.1.6;References;649
56;191387_1_En_55_Chapter_OnlinePDF;650
56.1;A Design of Compliant Mechanism with Integrated Actuators;650
56.1.1;Introduction;650
56.1.2;Design Study of a Flaps Mechanism Demonstrator;651
56.1.3;Analytically Based Structural Pre-Choice;653
56.1.3.1;Drive´s Values;653
56.1.3.2;Differential Design;654
56.1.3.3;Integrally Design;656
56.1.4;Numerical Analysis;657
56.1.5;Conclusions;658
56.1.6;References;659
57;191387_1_En_56_Chapter_OnlinePDF;660
57.1;Software Platform for Analyzing and Optimizing the Mechanical Systems;660
57.1.1;Introduction;660
57.1.2;Virtual Prototyping Concept;661
57.1.3;Virtual Prototyping Platform;663
57.1.4;Case Study;664
57.1.5;Final Conclusions;672
57.1.6;References;672
58;191387_1_En_57_Chapter_OnlinePDF;673
58.1;Considerations Regarding the Transdisciplinary Nature of the Homeokinesis Concept, as a Result of Its Integration in the Theor;673
58.1.1;Introduction;673
58.1.2;Self-organized Complex Systems;674
58.1.3;The Self-organization of the Behaviour of Complex Mechatronical System Through Homeokinetic Learning;675
58.1.4;The Transdisciplinary Nature of the Homeokinesis Concept;678
58.1.5;Conclusions;679
58.1.6;References;679
59;191387_1_En_58_Chapter_OnlinePDF;681
59.1;Design of a Clamp Mechanism;681
59.1.1;Introduction;681
59.1.2;Functional Diagram;682
59.1.3;Profile of Cam;683
59.1.4;Assembly of Some 3D Components;685
59.1.5;Assembly Preparation for Analysing;686
59.1.6;Transformation of the Assembly into a Mechanism;686
59.1.7;A Contact Joint Creation;687
59.1.8;Insertion of a Force;687
59.1.9;Analysis of the Mechanism;688
59.1.10;Profiles Comparison;690
59.1.11;Conclusions;691
59.1.12;References;692
60;191387_1_En_59_Chapter_OnlinePDF;693
60.1;New Orientation Mechanism (Wrist) Used on the Industrial Robots;693
60.1.1;Introduction;693
60.1.2;Unitary Kinematic Analysis Method;694
60.1.3;Symmetrical Kinematic Schema of OrM-3R;696
60.1.4;A New Kinematic Schema of OrM-3R;699
60.1.5;Conclusions;701
60.1.6;References;701
61;191387_1_En_60_Chapter_OnlinePDF;702
61.1;Modular Orthopedic Devices Based on Shape Memory Alloys;702
61.1.1;Introduction;702
61.1.2;Modular Adaptive Implant;703
61.1.3;Intelligent Coupling and Catching System in External Implants;708
61.1.4;Conclusions;713
61.1.5;References;713
62;191387_1_En_61_Chapter_OnlinePDF;715
62.1;Loading Cases and Forces on Azimuthal Solar Tracking Systems with Linear Actuators;715
62.1.1;Introduction;715
62.1.2;External Loads and Loading Cases;716
62.1.2.1;Wind Load;716
62.1.2.2;Weight;717
62.1.2.3;Snow;717
62.1.2.4;Seismic Load;718
62.1.2.5;Loading Cases;718
62.1.3;Preliminary Design Forces;718
62.1.3.1;Calculus Relations;718
62.1.3.2;Numerical Results;720
62.1.4;FEM Analysis;721
62.1.5;Conclusions;722
62.1.6;References;725
63;191387_1_En_BookBackmatter_OnlinePDF;726
63.1;: Index;726