Advances in Mechanism Design III: Proceedings of TMM 2020 (Mechanisms and Machine Science, 85)

This book presents the latest research advances relating to machines and mechanisms. Featuring papers from the XIII International Conference on the Theory of Machines and Mechanisms (TMM 2020), held in Liberec, Czech Republic, on September 7-9, 2021, it includes a selection of the most important new results and developments. The book is divided into five parts, representing a well-balanced overview, and spanning the general theory of machines and mechanisms, through analysis and synthesis of planar and spatial mechanisms, linkages and cams, robots and manipulators, dynamics of machines and mechanisms, rotor dynamics, computational mechanics, vibration and noise in machines, optimization of mechanisms and machines, mechanisms of textile machines, mechatronics and control and monitoring systems of machines. This conference is traditionally held every four years under the auspices of the international organisation IFToMM and the Czech Society for Mechanics. Preface Organization Program Chairs Scientific Committee The Conference is Organized Under the Patronage of: Contents General Theory of Machines and Mechanisms, Analysis and Synthesis of Planar and Spatial Mechanisms, Linkages and Cams Experiences in Leadership IFToMM: Achievements and Challenges 1 Introduction 2 A Timeline of History of IFToMM 3 Leadership Experiences 4 Challenges for Today and Tomorrow 5 Conclusions References Minimization of Shaking Moment in Fully Force Balanced Planar Four-Bar Linkages 1 Introduction 2 Shaking Moment Minimization 3 Illustrative Example with Numerical Simulations 4 Conclusions References MLP Neural Network for a Kinematic Control of a Redundant Planar Manipulator 1 Introduction 2 Inverted Kinematics for a 2DOF Planar Manipulator 3 Redundant Manipulator with Obstacle Avoidance 3.1 Description of the Process 4 Conclusion References Determination of Tooth Profile Curves of Variable Rack and Pinion Gears 1 Introduction 2 Derivation of Variable Rack and Pinion Gears Tooth Profile Curve 2.1 Variable Rack and Pinion Gears Tooth Profile Curves on the Normal Plane 2.2 Definition of Design Variables for Variable Rack and Pinion Gears 2.3 Conditions that Variable Rack and Pinion Gears Must Satisfy to Be Geometrically Valid 2.4 Formulation of Tooth Profile Curve Calculation Method for Variable Racks 2.5 Derivation of the Geometric Conditions with a Constant Stroke Ratio 2.6 Derivation of the Geometric Conditions with a Variable Stroke Ratio 3 Numerical Examples 4 Conclusion References Tibial Motion Accuracy Using Circular Versus Noncircular Gears in Transfemoral Prosthetic Knees 1 Introduction 1.1 Natural Human Knee Motion 1.2 Transfemoral Prosthetic Knee Design Method 2 Empirical Knee Motion Data 3 Motion and Axode Generation and Pitch Circle Calculation 4 Tibial Position Accuracy Summary 5 Conclusions References Curvature Interference Characteristic of Plane Worm Gear in Offsetting Cylindrical Worm Drive 1 Introduction 2 Generation of Plane Worm Gear 2.1 Equation of Cylindrical Worm Helicoid 2.2 Cutting Meshing of Plane Worm Gear 2.3 Meshing Characteristic Parameters 3 Computing Principle of Curvature Interference Limit Line 4 Numerical Example 5 Conclusions References Equivalent Contact Length of Load Disks and Specimen 1 Introduction 2 Experimental Method 2.1 Test Rig 2.2 Shape of Surfaces in Contact 2.3 Contact of Two Cylindrical Bodies 2.4 Equivalent Contact Length of Load Disks and Specimen 3 Conclusion References Dynamics of Machines and Mechanisms, Computational Mechanics, Rotor Dynamics, Biomechanics, Vibration and Noise in Machines Vibration Reduction of a Steam Turbine Wheel by Means of Intentional Mistuning 1 Introduction 2 Preliminary Investigations 2.1 Structural Analyses of the Reference Wheel with Identical Blades 2.2 Aeroelastic Simulation 2.3 Speed Dependence of Structural Mistuning 3 Stability Analyses 3.1 Alternate Intentional Mistuning 3.2 Mistuning Magnitude, Optimized Mistuning and Robustness 4 Forced Response 5 Conclusions 6 Permission of Use References Unsteady Resonant Oscillations of a Gyroscopic Rigid Rotor with Non-linear Damping and Non-linear Rigidity of the Elastic Support 1 Introduction 2 Equations of Motion 3 Solutions of Motion Equations 4 Unsteady Oscillations 5 Conclusions References Modeling of Nonlinear Dynamics of Planar Mechanisms with Elastic and Flexible Pre-stressed Elements 1 Introduction 2 Kineto-Elastodynamic Analysis of Planar Hinge-Lever Mechanisms 3 Equations of Motion of Flexible and Elastic Linkages 4 Modeling of Elastic Motion of a Planar Five-Link Mechanism with Closed Pre-stressed Contour 5 Conclusion References Modeling the Separation Process in Vertical Rotor Systems 1 Introduction 2 Statement of the Problem 3 The Equations of Motion 4 Results 5 Conclusions References Analysis of the Stress-Strain State of Rotating Drill Strings with a Drilling Mud 1 Introduction 2 Governing Equations 3 Determination of the Stress-Strain State 4 Numerical Results 5 Conclusion References Applications of the Modular Modelling Methodology to the Dynamic Analysis of Parallel Manipulators with Common Subsystems 1 Introduction 2 Modular Modelling Methodology (MMM) for Parallel Mechanisms: A Brief Overview 3 Case Study: Exploring the Common Modularity Between Two Planar Parallel Manipulators Through MMM 3.1 Position Kinematics 3.2 Velocity and Acceleration Kinematics 3.3 Active Generalized Forces 3.4 Simulation and Results 4 Conclusions References Tuning the Dynamics of Bistable Mechanisms by Introducing Travel Limits 1 Introduction 2 Method 2.1 Mechanical Design 2.2 Fabrication 2.3 Numerical Model 2.4 Experimental Characterization 3 Results 4 Discussion 5 Conclusion References Simulation Analysis of a Motorcycle with Passive, Idealized Semi-active and Active Suspension Systems 1 Introduction 2 Modelling of a Motorcycle 3 Semi-active Suspension System 3.1 Sky-Hook Control of Semi-active Dampers 3.2 Active Suspension System 4 Simulations with Matlab and Results 5 Conclusions References Computational Analysis of Cracks in Hardfacings of Wedges of Quick-Acting Main Steam Isolation Valves 1 Introduction 2 Basic Concept 2.1 Experimental Measurements 2.2 Analytical Approach 2.3 Numerical Computation 3 The Experimental Program and Results Verification 4 Wedge Assessment for the Brittle Fracture Mechanism 5 Wedge Assessment for the Fatigue Crack Growth 6 Conclusion References A Study on Stress Relaxation Behavior of Isotropic Magnetorheological Elastomeric Composite 1 Introduction 2 Experimental Investigation 2.1 Materials 2.2 Fabrication of Isotropic MEC 2.3 Single Relaxation Test 2.4 Experimental Results 3 Numerical Modeling 3.1 A Fractional Derivative Viscoelastic Model for the MEC 3.2 Numerical Simulation Results and Comparison to Experimental Data 4 Conclusions References A Simulation Stand for Human Limb Movements During Nordic Walking 1 Introduction 2 Materials and Methods 3 Results 4 Conclusions References Vibration of a Rigid Vertical Rotor Supported by a Shear Radial Magnetic Bearing 1 Introduction 2 Proposal and Modelling of the Magnetic Bearing 3 The Simulated Rotor System 4 Results of the Simulations 5 Conclusions References Robots and Manipulators Determination of the Workspace of the System Based on the 3-PRRR Mechanism for the Lower Limb Rehabilitation 1 Introduction 2 Construction of a Mathematical Model of the Robotic System 3 Determination the Workspace of ​​the Mechanism 4 Determination of Interference of Links of the Mechanism 5 Analysis of the Workspace Taking into Account the Interference of the Links 6 Conclusion References Improvement of the Robotic Workplace to Prevent a Collision 1 Introduction 2 The Critical Moment 3 The Optical Gate for Inspection 4 Implementation of the Algorithm into the Robot System 5 The Control System with HMI and Safety 6 Conclusion References Prototype and Testing of LARMbot PK Arm 1 Introduction 2 LARMbot Arm for Humanoid Robot 3 Prototype Design and Construction 4 Testing Layout and Results 5 Conclusion References Object Picking by a Method Combined Cascade Classifier and Deep Reinforcement Learning 1 Introduction 2 System for a Collection Picking Problem 3 Approaching Process Using Cascade Classifier 4 Picking Process Using Deep Reinforcement Learning 5 Experiment 6 Conclusion References Unconventional Method of Robotic Machining 1 Introduction 2 Experiments 2.1 Laboratory Workplace 2.2 Machined Blank 2.3 Programming and Calibration of the Machining Process 3 Results and Discussion 4 Conclusion References Development of a Wearable Assistive Robot for Baggage-Loading Operations 1 Introduction 2 Motion Analysis of Baggage-Loading Operation 3 Design of a Wearable Assistive Robot 4 Evaluation of the Prototype 5 Conclusions References Prototype and Testing of L-CaPaMan 1 Introduction 2 CaPaMan Structures and L-CaPaMan Design 3 Prototype Construction 4 Testing and Results 5 Conclusions References Mechatronics, Control and Monitoring Systems of Machines, Accuracy and Reliability of Machines and Mechanisms Screw Thread Measurement by Camera Inspection System 1 Introduction 2 Measurement 2.1 Diameter Measurement 2.2 Handedness Measurement 2.3 Pitch Measurement 3 Measurement Error 3.1 Translation Error 3.2 Diameter Measurement Error 3.3 General Case 4 Conclusion References Reliability Analysis of Rotary Table Over the Lifetime 1 Introduction 2 Rotary Table Design 2.1 Machine System Design 2.2 Stress Analysis 2.3 Pressure Test of Roller Coating 3 Production 4 Assembly 5 Rotary Table Application in a Manufacturing Plant 6 Conclusion References Failure and Risk Analysis Based on Maintenance Reports of Machines Components in Manufacturing Industry 1 Introduction 2 Methods 2.1 Data 2.2 Analysis 3 Evaluation 3.1 Failure Rates 3.2 Risk Rates 4 Discussion 5 Conclusion References Mechanisms of Textile Machines, Optimization of Mechanisms and Machines Modal Properties of the Heald Frame of a Weaving Loom 1 Introduction 2 Natural Frequency of the Heald Frame 3 Verification of the Calculation 4 Natural Frequency When Changing the Side Support Stiffness 5 Conclusion References Measurement, Evaluation and Comparison of Behavior of Linear SGT Motor with Oscillating Mass 1 Introduction 2 Verification and Representation Method 3 Results 4 Summary References Verification of Mathematical Model of Mechanical System of Needle Bar Using Laser Doppler Vibrometer 1 Introduction 2 Description of Stitch-Forming Device 3 Principle of Laser Doppler Vibrometry 4 Measurement of the Position and Velocity of the Needle Bar 5 Results 6 Conclusions References Detection of Rabbit Skins for Robotic Handling 1 Introduction 2 Analysis of Side Detection Possibilities 3 Selection of the Ultrasonic Sensor 4 Laboratory Testing of the Sensor 5 Draft Assessment Algorithm of the Skin Side 6 Laboratory Applications 7 Conclusion References Simulation and Experimental Validation of Stable Multiple-Ballooning in Nanofibrous Yarn Production 1 Introduction 2 Simulation 3 Experiment 4 Conclusion References Optimization of the Batten of the Weaving Loom DIFA 1 Introduction to the Problematics 2 Analysis of Actual Design 3 Optimization of the New Design 3.1 Inertial Properties 3.2 Design of Laminated Composite Clamps 3.3 Final Design of Batten 4 Conclusions References Author Index