Proceedings Of The Eucomes 08 The Second European Conference On Mechanism Science

This volume℗ contains℗ most of℗ the papers presented at EUCOMES 2008, the Second European Conference on Mechanism Science. The contributions have been grouped in sessions on Theoretical and Computational Kinematics, History of Mechanism Science, Design Algorithms, Mechanism Designs, Mechanical Transmissions, Gearing Systems, Manipulators, Linkages, Mechanics of Robots, Experimental Mechanics, Dynamics of Multibody Systems, Industrial Applications, and Non Industrial Applications. However, the topics are not limited to these subsections only but reflect the wide range of Mechanism Science. It is hoped that this collection of papers will continue to stimulate research and consolidate the opportunities the conference created to share experiences and discuss scientific achievements and current trends in Mechanism Science (especially)℗ in Europe. Indexed in Conference Proceedings Citation Index- Science (CPCI-S) Front Matter....Pages I-XXVI Automatic Weapons of the Roman Empire....Pages 1-9 “DEUS-EX-MACHINA” in Phlius Theatre....Pages 11-19 Archimedes and the Origins of Mechanisms Design....Pages 21-28 The Mirror Weapon in Archimedes Era....Pages 29-36 The Creation of the Site About the Historical Part of Collection of Mechanisms Bauman MSTU....Pages 37-43 Using Computer Spreadsheets in Teaching Mechanisms....Pages 45-53 Hinged Frameworks with Unusual Geometrical Properties....Pages 55-60 A Comparison Between Line Geometries of Point and Line Displacements....Pages 61-68 A Kinematic Approach to Calculate Protein Motion Paths....Pages 69-76 Solutions of the Equation of Meshing for Planar Gear Profiles....Pages 77-85 A Numerical Method for the Second-Order Mobility Analysis of Mechanisms....Pages 87-93 Mathematical Models of Mechanisms with Essentially Elastic Links....Pages 95-99 Design and Simulation of a New Hybrid Mobile Robot for Overpassing Obstacles....Pages 101-108 Evolving Four-Bars for Optimal Synthesis....Pages 109-116 A New Family of Overconstrained 6R-Mechanisms....Pages 117-124 Development of a Spherical Linkage Mechanism with the Aid of the Dynamic Spatial Geometry Program “GECKO”....Pages 125-132 Elastic and Safety Clutch with Radial Disposed Elastic Lamellas....Pages 133-138 Computational Multi-Objective Optimization to Design Service Robots....Pages 139-147 An Optimal Design for a New Underactuated Finger Mechanism....Pages 149-157 Synthesis of a Spatial Five-Link Mechanism with Two Degrees of Freedom According to the Given Laws of Motion....Pages 159-166 Synthesis of Mechanisms with Evolutionary Techniques....Pages 167-174 Optimal Synthesis of Steering Mechanisms Including Transmission Angles....Pages 175-181 Workspace Fitting and Control for a Serial-Robot Motion Simulator....Pages 183-190 Operation Features of Milli-CaTraSys....Pages 191-199 Design of an Actuation System for a Fatigue Test RIG....Pages 201-208 The Influence of Motion Mode and Friction on the Dynamics of a Parallel Robot Used for Orientation Applications....Pages 209-218 Elastohydrodynamic Models for Predicting Friction in Point Contacts Lubricated with Polyalphaolefins....Pages 219-227 An Integrated Differentiation-Projection Approach for the Kinematic Data Consistency of Biomechanical Systems....Pages 229-236 Design of Simple Humanoid Dedicated to the Research on the Gait Synthesis....Pages 237-245 A Comparison of Algorithms for Path Planning of Industrial Robots....Pages 247-254 Stiffness Analysis of Parallel Manipulator Using Matrix Structural Analysis....Pages 255-262 Modelling of Robot’s Motion by Use of Vibration of Internal Masses....Pages 263-270 Mechanical Design of a 3-dof Parallel Robot Actuated by Smart Wires....Pages 271-278 A Multicriteria Approach for Optimal Trajectories in Dynamic Parameter Identification of Parallel Robots....Pages 279-285 Reinforcement Neural Network for the Stabilization of a Furuta Pendulum....Pages 287-294 A Technique for Vibration Suppression of a 2 DOF Compliant Manipulator....Pages 295-303 Investigation on the Baumgarte Stabilization Method for Dynamic Analysis of Constrained Multibody Systems....Pages 305-312 Cornering Stability and Dynamic Analysis of a Four Steering Wheels Vehicle Driven by “In Wheel” Engines....Pages 313-320 Dynamic Modelling of a Single – Link Flexible Arm to be Used as a Sensing Antenna....Pages 321-328 Method of Dynamic Analysis of Mechanisms of Variable Structure....Pages 329-335 A Contribution to the Synthesis of a Trihedral Conjugate Cam....Pages 337-342 Experimental and Theoretical Research of Cams Wearing of Cams Mechanism....Pages 343-350 Dynamic Features of Speed Increasers from Mechatronic Wind and Hydro Systems. Part I: Structure Kinematics....Pages 351-359 Dynamic Features of Speed Increasers from Mechatronic Wind and Hydro Systems. Part II: Dynamic Aspects....Pages 361-368 A Computer Aided Method for Cam Profile Design....Pages 369-376 On the Power Transmission and Running Quality of Micro-Mechanisms....Pages 377-385 Probable Simulating Models of Wear for Open 1 Gearing with High-Ratio Gear....Pages 387-395 Alternative in Harmonic Train Design....Pages 397-403 On the Position of the Single Pair Tooth Segment Relative to the Pitch Point, for Internal Gears, with Effect on Contact Stress Calculus....Pages 405-414 Gears and Belt Drives for Non-Uniform Transmission....Pages 415-422 Fulleroid-Like Linkages....Pages 423-430 On the Classification of Compliant Mechanisms....Pages 431-438 Comparative Kinematics of Mobile Transversal Coupling, as Multibody System....Pages 439-446 The Synthesis of a Linkage with Linear Actuator for Solar Tracking with Large Angular Stroke....Pages 447-454 Dynamics of Heel Strike in Bipedal Systems with Circular Feet....Pages 455-462 Parallel Manipulators with Simple Geometrical Structure....Pages 463-470 Analysis of Wire Elasticity for Wire-driven Parallel Robots....Pages 471-478 Kinematic Analysis of a Compliant, Parallel and Three-Dimensional Meso-Manipulator Generated from a Planar Structure....Pages 479-485 Dynamic Analysis of a Compliant, Parallel and Three-Dimensional Meso-Manipulator Generated from a Planar Structure....Pages 487-493 Modelling of the Orientation Error of a 3-DOF Translational Parallel Manipulator....Pages 495-503 Sensitivity Analysis of Degenerate and Non-Degenerate Planar Parallel Manipulators....Pages 505-512 3D Object Reconstruction Using a Robot Arm....Pages 513-521 Considerations on Process Performance in Incremental Forming by Inducing High Frequency Vibration....Pages 523-530 Scheduling and Verification of Micro Assembly Processes....Pages 531-539 Cambio – A Miniaturized Tool Changer for Desktop Factory Application....Pages 541-548 Tensegrity Concept – From Natural Systems to Robots....Pages 549-557 Laser-Based Structuring of Piezoceramics for Mobile Microrobots....Pages 559-566 Evaluation of Spatial Vibrations Using a Platform with 6 Degrees of Freedom....Pages 567-573 Mechanical Design and Optimization of a Microsurgical Robot....Pages 575-583 Multy Mirror Adjustable Space Reflector as the Mechanism with Many Degrees of Freedom....Pages 585-594 Dynamic Modeling of a Parallel Robot Used in Minimally Invasive Surgery....Pages 595-602 Controlling the Traditional Rigid Endoscopic Instrumentation Motion....Pages 603-611 Use of Substitute of Mechanisms for Tolerance Investigation of Guidance Mechanisms....Pages 613-621 Back Matter....Pages 623-625 Contents 7 Automatic Weapons of the Roman Empire 26 "DEUS-EX-MACHINA" in Phlius Theatre 35 Archimedes and the Origins of Mechanisms Design 44 The Mirror Weapon in Archimedes Era 52 The Creation of the Site About the Historical Part of Collection of Mechanisms Bauman MSTU 60 Using Computer Spreadsheets in Teaching Mechanisms 67 Hinged Frameworks with Unusual Geometrical Properties 76 A Comparison Between Line Geometries of Point and Line Displacements 82 A Kinematic Approach to Calculate Protein Motion Paths 90 Solutions of the Equation of Meshing for Planar Gear Profiles 98 A Numerical Method for the Second-Order Mobility Analysis of Mechanisms 107 Mathematical Models of Mechanisms with Essentially Elastic Links 114 Design and Simulation of a New Hybrid Mobile Robot for Overpassing Obstacles 119 Evolving Four-Bars for Optimal Synthesis 127 A New Family of Overconstrained 6R-Mechanisms 135 Development of a Spherical Linkage Mechanism with the Aid of the Dynamic Spatial Geometry Program "GECKO" 143 Elastic and Safety Clutch with Radial Disposed Elastic Lamellas 151 Computational Multi-Objective Optimization to Design Service Robots 157 An Optimal Design for a New Underactuated Finger Mechanism 166 Synthesis of a Spatial Five-Link Mechanism with Two Degrees of Freedom According to the Given Laws of Motion 175 Synthesis of Mechanisms with Evolutionary Techniques 183 Optimal Synthesis of Steering Mechanisms Including Transmission Angles 191 Workspace Fitting and Control for a Serial-Robot Motion Simulator 198 Operation Features of Milli-CaTraSys 206 Design of an Actuation System for a Fatigue Test RIG 215 The Influence of Motion Mode and Friction on the Dynamics of a Parallel Robot Used for Orientation Applications 223 Elastohydrodynamic Models for Predicting Friction in Point Contacts Lubricated with Polyalphaolefins 233 An Integrated Differentiation-Projection Approach for the Kinematic Data Consistency of Biomechanical Systems 242 Design of Simple Humanoid Dedicated to the Research on the Gait Synthesis 250 A Comparison of Algorithms for Path Planning of Industrial Robots 259 Stiffness Analysis of Parallel Manipulator Using Matrix Structural Analysis 267 Modelling of Robot's Motion by Use of Vibration of Internal Masses 275 Mechanical Design of a 3-dof Parallel Robot Actuated by Smart Wires 283 A Multicriteria Approach for Optimal Trajectories in Dynamic Parameter Identification of Parallel Robots 291 Reinforcement Neural Network for the Stabilization of a Furuta Pendulum 298 A Technique for Vibration Suppression of a 2 DOF Compliant Manipulator 306 Investigation on the Baumgarte Stabilization Method for Dynamic Analysis of Constrained Multibody Systems 315 Cornering Stability and Dynamic Analysis of a Four Steering Wheels Vehicle Driven by "In Wheel" Engines 323 Dynamic Modelling of a Single – Link Flexible Arm to be Used as a Sensing Antenna 331 Method of Dynamic Analysis of Mechanisms of Variable Structure 339 A Contribution to the Synthesis of a Trihedral Conjugate Cam 346 Experimental and Theoretical Research of Cams Wearing of Cams Mechanism 352 Dynamic Features of Speed Increasers from Mechatronic Wind and Hydro Systems. Part I: Structure Kinematics 360 Dynamic Features of Speed Increasers from Mechatronic Wind and Hydro Systems. Part II: Dynamic Aspects 369 A Computer Aided Method for Cam Profile Design 377 On the Power Transmission and Running Quality of Micro-Mechanisms 385 Probable Simulating Models of Wear for Open Gearing with High-Ratio Gear 394 Alternative in Harmonic Train Design 403 On the Position of the Single Pair Tooth Segment Relative to the Pitch Point, for Internal Gears, with Effect on Contact Stress Calculus 410 Gears and Belt Drives for Non-Uniform Transmission 420 Fulleroid-Like Linkages 428 On the Classification of Compliant Mechanisms 436 Comparative Kinematics of Mobile Transversal Coupling, as Multibody System 444 The Synthesis of a Linkage with Linear Actuator for Solar Tracking with Large Angular Stroke 452 Dynamics of Heel Strike in Bipedal Systems with Circular Feet 460 Parallel Manipulators with Simple Geometrical Structure 468 Analysis of Wire Elasticity for Wire-driven Parallel Robots 476 Kinematic Analysis of a Compliant, Parallel and Three-Dimensional Meso-Manipulator Generated from a Planar Structure 484 Dynamic Analysis of a Compliant, Parallel and Three-Dimensional Meso-Manipulator Generated from a Planar Structure 491 Modelling of the Orientation Error of a 3-DOF Translational Parallel Manipulator 498 Sensitivity Analysis of Degenerate and Non-Degenerate Planar Parallel Manipulators 507 3D Object Reconstruction Using a Robot Arm 515 Considerations on Process Performance in Incremental Forming by Inducing High Frequency Vibration 524 Scheduling and Verification of Micro Assembly Processes 532 Cambio – A Miniaturized Tool Changer for Desktop Factory Application 541 Tensegrity Concept – From Natural Systems to Robots 549 Laser-Based Structuring of Piezoceramics for Mobile Microrobots 558 Evaluation of Spatial Vibrations Using a Platform with 6 Degrees of Freedom 566 Mechanical Design and Optimization of a Microsurgical Robot 573 Multy Mirror Adjustable Space Reflector as the Mechanism with Many Degrees of Freedom 582 Dynamic Modeling of a Parallel Robot Used in Minimally Invasive Surgery 592 Controlling the Traditional Rigid Endoscopic Instrumentation Motion 600 Use of Substitute of Mechanisms for Tolerance Investigation of Guidance Mechanisms 609 Index 618 A 618 B 618 C 618 D 618 E 618 F 618 G 618 H 618 I 619 J 619 K 619 L 619 M 619 N 619 O 619 P 619 R 619 S 619 T 619 U 620 V 620 W 620 Y 620 Z 620 The EUCOMES08, Second European Conference on Mechanism Science is the second event of a series that has been started in 2006 as a conference activity for an European community working in Mechanism Science. The ?rst event was held in Obergurgl, Austria in 2006. This year EUCOMES08 Conference has come to Cassino in Italy taking place from 17 to 20 September 2008. TheaimoftheEUCOMESConference istobringtogetherEuropean researchers, industry professionals and students from the broad ranges of disciplines referring to Mechanism Science, in an intimate, collegial and stimulating environment. In this second event we have received an increased attention to the initiative, as canbeseenbythefactthattheEUCOMES08Proceedingswillcontaincontributions by authors even from all around the world. This means also that there is a really interest to have not only a conference frame but even a need of aggregation for an European Community well identi?ed in Mechanism Science with the aim to strengthen common views and collaboration activities among European researchers and institutions. I believe that a reader will take advantage of the papers in these Proceedings with further satisfaction and motivation for her or his work. These papers cover the wide ?eld of the Mechanism Science. The program of EUCOMES08 Conference has included technical sessions with oral presentations, which, together with informal conversations during the social program, have enabled to offer wide opportunities to share experiences and discuss scienti?c achievements and current trends in the areas encompassed by the EUCOMES08 conference.