New Trends in Mechanism and Machine Science: Theory and Applications in Engineering (Mechanisms and Machine Science Book 7)

This book contains the papers of the European Conference on Mechanisms Science (EUCOMES 2012 Conference). The book presents the most recent research developments in the mechanism and machine science field and their applications. Topics addressed are theoretical kinematics, computational kinematics, mechanism design, experimental mechanics, mechanics of robots, dynamics of machinery, dynamics of multi-body systems, control issues of mechanical systems, mechanisms for biomechanics, novel designs, mechanical transmissions, linkages and manipulators, micro-mechanisms, teaching methods, history of mechanism science and industrial and non-industrial applications. This volume will also serve as an interesting reference for the European activity in the fields of Mechanism and Machine Science as well as a source of inspirations for future works and developments. Front Matter....Pages i-xiv Front Matter....Pages 1-1 Kinematical Capabilities of an Inversion of the Double Linked Fourbar for UAV Morphing Wing Actuation....Pages 3-11 Kinematic Waves in Linear Statically Determinate Adjustable Structures....Pages 13-22 Perturbation of Symmetric 3-R P R Manipulators and Asymptotic Singularities....Pages 23-31 Workspace and Singularities Analysis of a 6-DOF Parallel Mechanism with Two Kinematic Chains for Platform Guidance....Pages 33-41 The Kinematics of a New Reconfigurable Parallel Robot with Six Degrees of Freedom....Pages 43-51 A Restoring Stress Doesn’t Always Exist....Pages 53-61 Mobility Analysis of Non Series-Parallel Mechanisms....Pages 63-71 Multiple-Mode Closed 7-Link Chains Based on Overconstrained 4-Link Mechanisms....Pages 73-81 Front Matter....Pages 83-83 Confirmation of Hypothesis on Cable Properties for Cable-Driven Robots....Pages 85-93 Analytical Determination of the Instantaneous Motion Capabilities of Robotic Manipulators....Pages 95-103 Computation of the Protein Molecular Mechanism Using Adaptive Dihedral Angle Increments....Pages 105-112 Handling with Inequality Constraints in a General Method of Optimal Kinematic Synthesis....Pages 113-120 Self-Motions of 3-RPS Manipulators....Pages 121-130 Scenario-Based Dimensioning of the Actuator of Parallel Cable-Driven Robots....Pages 131-139 Position Problem in Assur’s Groups with Revolute Pairs....Pages 141-148 Workspace and Singularity Analysis for a Parallel Robot Used in Surgical Applications....Pages 149-157 Workspace Identification Using Neural Network for an Optimal Designed 2-DOF Orientation Parallel Device....Pages 159-167 Front Matter....Pages 169-169 Design Methodology for a Compliant Binary Actuated Parallel Mechanism with Flexure Hinges....Pages 171-179 Optimal Design of Motorcycle Rear Suspension Systems Using Genetic Algorithms....Pages 181-189 Influence of the Contact Stiffness Between the Cam and the Roller in the Dynamic Behaviour of the Train Follower Applied in a Conjugate Cam Mechanism....Pages 191-198 Front Matter....Pages 169-169 3-DOF Translational and Rotational Parallel Manipulators....Pages 199-207 Engineering Aspects in Solving Guidance Tasks with Geared Linkages....Pages 209-216 Motor Positioning and Drive Train Design for a 3-DOF Robotic Structure....Pages 217-225 Interactive Design of Opening and Closing Mechanisms for Skylight Domes....Pages 227-235 Numerical Iterative Method for Computing the Base Circle Radius of Cam Mechanisms with Translating Flat-Face Follower....Pages 237-244 Comparison of Actuation Schemes for Wire-Driven Parallel Robots....Pages 245-254 Identification of a Usable Six-Bar Linkage for Dimensional Synthesis....Pages 255-262 Reducing Rotational Crankshaft Oscillations by Means of a Kinematically Driven Flywheel....Pages 263-271 Dimensional Synthesis of Six-Bar Linkage as a Constrained RPR Chain....Pages 273-280 Study of Contact Pressure Through Analytic Solution, Finite Element Method and Experimental Validation in Tapered Roller Bearings....Pages 281-288 The Issues of the Dynamics of Cam Mechanisms....Pages 289-297 Validation of a Brake Caliper FEM Model Using Genetic Algorithms for Optimization....Pages 299-307 Front Matter....Pages 309-309 Dynamic Analysis of Planetary Gear Transmission Under Time Varying Loading Conditions....Pages 311-318 Load Sharing in Planetary Transmission with Pin Hole Position Errors....Pages 319-327 Toothed Continuously Variable Transmission (CVT) – Industrial Realization....Pages 329-335 Dynamic Response of Single Stage Bevel Gear Transmission in Presence of Local Damage....Pages 337-345 Load Sharing Model for Non-standard Involute Spur Gears....Pages 347-355 Magnetic-Superconductor Cryogenic Non-contact Harmonic Drive: Performance and Dynamical Behavior....Pages 357-364 Front Matter....Pages 365-365 Determining the Design Specifications for Mechanical Polyarticulated System Compatible with Minimally Invasive Surgery....Pages 367-374 Simplified Kinetostatic Model of the 3-PRS Manipulator....Pages 375-382 Front Matter....Pages 365-365 Homohedral and Tangential Polyhedral Linkages....Pages 383-390 Analysis of the Clamping Mechanisms of Collet-Chucks Holders for Turning....Pages 391-398 The Method of Principal Vectors for the Synthesis of Shaking Moment Balanced Linkages....Pages 399-407 A Cable-Driven Parallel Mechanism for the Interaction with Hemispherical Surfaces....Pages 409-417 Front Matter....Pages 419-419 On Motion and Force Transmission in the Human Wrist: Approximating Carpal Bone Surfaces with Envelopes....Pages 421-429 Modular Knee Orthosis FEM Analysis from Kinematic Considerations....Pages 431-439 Structural Design and Kinematics Study of a Mechanism for Quadruped Walking....Pages 441-449 Robot for Wrist Rehabilitation....Pages 451-458 Optimization-Based Prediction of a Soldier’s Motion: Stand-Prone-Aim Task....Pages 459-467 A Characterization of Human Locomotion by CATRASYS (Cassino Tracking System)....Pages 469-477 A New Approach to Estimate a Subject-Specific Set of Muscle Parameters....Pages 479-485 A Procedure for Experimental Evaluation of the Sit-to-Stand for the Design of Assisting Devices....Pages 487-495 Front Matter....Pages 497-497 Role of Link Flexibility and Variable Stiffness Actuator on Collision Safety for Service Robots....Pages 499-507 The Analysis of Part Positioning and Orientation in Robotic Assembly by Insertion....Pages 509-517 Industry-Oriented Performance Measures for Design of Robot Calibration Experiment....Pages 519-527 Front Matter....Pages 529-529 Using the Center of Percussion to Simplify a Biped to Four Point Masses....Pages 531-539 Study of the Contact Force Model on the Dynamic Response of a Four-Bar Mechanism with Clearance Joints....Pages 541-548 Comparison of Different Contact Force Models for Low and Moderate Impact Velocities: Numerical and Experimental Analysis....Pages 549-556 Proposal of a Method to Determine Shock Absorber Conditions on a Motor Vehicle....Pages 557-566 Input Shaping for Multibody Oscillatory Systems Described by DAEs....Pages 567-575 Front Matter....Pages 529-529 Torsional Receptances and Variable Inertia of a Two-Inertia Model of a Universal Joint....Pages 577-585 Real-Time Hardware-in-the-Loop Simulation of a Hexaglide Type Parallel Manipulator on a Real Machine Controller....Pages 587-597 Analysis of the Dynamic Behavior of an Electric Vehicle Using an Equivalent Roll Stiffness Model....Pages 599-607 Multibody Modelling of High-Lift Mechanisms of Modern Transport Aircraft....Pages 609-617 Front Matter....Pages 619-619 Centralized Non-linear Model Predictive Control of a Redundantly Actuated Parallel Manipulator....Pages 621-629 Optimal Control for a Wire-Based Storage Retrieval Machine....Pages 631-639 Predictive Sensory Templates as the Model of Predictable Control Realization for Mechanical Systems....Pages 641-649 Front Matter....Pages 651-651 Design of an Innovative Bike Brake Integrated into the Wheel Hub....Pages 653-661 Structural Synthesis of Innovative Gripping Mechanisms for Wood Harvesting....Pages 663-670 Non-contact Linear Mechanism Based on Superconducting Levitation for Cryogenic Environment....Pages 671-679 Magnetic Manipulation with Several Mobile Coils Towards Gastrointestinal Capsular Endoscopy....Pages 681-689 Design Issues and Robots Autonomy....Pages 691-699 Front Matter....Pages 701-701 Teaching in Mechanism Theory – From Hands-on Analysis to Virtual Modeling....Pages 703-710 A Mobility Assignment with Industry Relevance....Pages 711-720 Teaching Methodology Based on a Mechanism Design: Test Impact Machine....Pages 721-728 Front Matter....Pages 729-729 Restoration and Digital Display of Max Kohl Mechanisms in the Engineering School of USAL....Pages 731-740 Vasily Grinevetsky – A Life and Activity....Pages 741-748 Historical Development of CaPaMan, Cassino Parallel Manipulator....Pages 749-757 Considerations About Organizing Thinking and Kinematics....Pages 759-766 “New Mechanical Calculation” to Show Moon Phases in Mechanical Clocks, Developed in 1810 by Fernando de Tapia y Castilla....Pages 767-774 Front Matter....Pages 775-775 The System of Spindle Optimization Design Based on GA....Pages 777-786 Numerical Simulation and Analysis via FEM of the Assembly Process of a Press Fit by Shaft Axial Insertion....Pages 787-795 Elastic and Safety Clutch with Rubber Clogs....Pages 797-805 Back Matter....Pages 807-809