Table Of ContentNew Trends in Mechanism and Machine Science
MECHANISMS AND MACHINE SCIENCE
Volume 7
SeriesEditor
MARCOCECCARELLI
Forothervolumes:
http://www.springer.com/series/8779
Fernando Viadero • Marco Ceccarelli
Editors
New Trends in Mechanism
and Machine Science
Theory and Applications in Engineering
123
Editors
Prof.Dr.FernandoViadero Prof.Dr.MarcoCeccarelli
StructuralandMechanical LaboratoryofRoboticsandMechatronics
EngineeringDepartment UniversityofCassinoandSouthLatium
UniversityofCantabria Italy
Spain
ISSN2211-0984 ISSN2211-0992(electronic)
ISBN978-94-007-4901-6 ISBN978-94-007-4902-3(eBook)
DOI10.1007/978-94-007-4902-3
SpringerDordrechtHeidelbergNewYorkLondon
LibraryofCongressControlNumber:2012948622
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Preface
This is the fourth event of the series for European Conference on Mechanism
Science (EUCOMES 2012 Conference). EUCOMES started as a conference ini-
tiative to be a forum mainly for the European community working in Machine
and Mechanism Science in order to facilitate aggregation and sharing interests
for better collaboration and activity visibility. The series started in 2006 and the
previous EUCOMES conferences were successfully held in Innsbruck, Austria
(2006),Cassino,Italy(2008),andCluj-Napoca,Romania(2010).EUCOMES2012
was held in Santander, Spain, from 18 to 22 September 2012. EUCOMES 2012
wasorganizedbytheUniversityofCantabriaunderthepatronageofIFToMM,the
InternationalFederationforthePromotionofMechanismandMachineScience.
The aim of the Conference was to bring together researchers, industry profes-
sionals and students from the broad ranges of disciplines referring to Mechanism
Science, in an intimate, collegial and stimulating environment. EUCOMES 2012
conferenceaimedtoprovideaspecialopportunityforthescientiststoexchangetheir
scientificachievementsandbuildupnationalandinternationalcollaborationinthe
mechanismsciencefieldanditsapplications,mainlybutnotonlywithinEuropean
frames.
This book collects the most recent research results in the mechanism science,
intended to reinforce and improve mechanical systems in a variety of applica-
tions in daily life and industry. The book is published under the Machine and
MechanismScienceSeries.Theissuesaddressedare:TheoreticalKinematics,Com-
putational Kinematics, Mechanism Design, Mechanical Transmissions, Linkages
andManipulators,MechanismsforBiomechanics,MechanicsofRobots,Dynamics
of Multi-Body Systems, Control Issues of Mechanical Systems, Novel Designs,
TeachingMethods,HistoryofMechanismScienceandIndustrialandNon-industrial
Applications.
EUCOMES2012receivedmorethan90papers,andaftercarefulreviewwithat
leasttworeviewsforeachpaper83paperswereconsideredsuitableforpublication
inthisbookandwerepresentedintheConference.
We would like to express sincere thanks to IFToMM, the Spain IFToMM
NationalCommittee,themembersoftheInternationalScientificCommitteeforthe
v
vi Preface
EUCOMESConferencefor their co-operation– MarcoCeccarelli(Univ.Cassino,
Italy), Burkhard Corves (Univ. Aachen, Germany), Paulo Flores (Univ. Minho,
Portugal), Manfred Husty (Univ. Innsbruck, Austria), Jean-Pierre Merlet (INRIA,
France),DoinaPisla(Tech.Univ.Cluj-Napoca,Romania),FernandoViadero(Univ.
Cantabria,Spain)andTeresaZielinska(WarsawTech.Univ.,Poland)–themembers
oftheInternationalAwardCommitteeandthemembersoftheHonoraryCommittee.
Wethanktheauthorswhohavecontributedexcellentpapersondifferentsubjects,
coveringmanyfieldsofMechanismScience.
Wearegratefultothereviewersforthetimeandefforttheyspentevaluatingthe
papers.
We thank the University of Cantabria for hosting the EUCOMES 2012
Conferenceand we would like to thank ourcolleaguesAlfonsoFdez. delRincon,
Pablo Garc´ıa, CarlosHoppe, MiguelIglesias, Ana de Juan,Jose´ F. Lo´pez-Agudo,
Jose´ Luis Niembro, Juan Osorio, Ramon Sancibrian and Fernando Viadero, from
the Local Organizing Committee, and the sponsors of this conference for their
helpastheSpaniardAssociationofMechanicalEngineering(AEIM).Wethankthe
Spanish Ministry of Economy and Competitiveness, through the State Secretariat
ofResearch,DevelopmentandInnovation,andtheUniversityofCantabriaforthe
financialsupportawardedfortheEUCOMES2012Conferenceandtheprintingof
thisbook.
We also thank the staff, including Nathalie Jacobs (editor), at Springer and
Dr.AnadeJuan,MiguelIglesiasandRube´nCerda´ intheMechanicalEngineering
GroupoftheUniversityofCantabria(proofreading/editorialstaff)fortheirexcellent
editorialsupport.
WebelievethatthisbookcanbeaninterestingreferencefortheEuropeanactivity
inthefieldsofMechanismandMachineScienceaswellasasourceofinspirations
forfutureworksanddevelopments.
SantanderandCassino FernandoViadero
MarcoCeccarelli
Contents
PartI TheoreticalKinematics
KinematicalCapabilitiesofanInversionoftheDoubleLinked
FourbarforUAVMorphingWingActuation................................. 3
J.Aguirrebeitia, R.Avile´s, I.FernandezdeBustos,
andM.Abasolo
KinematicWavesinLinearStaticallyDeterminate
AdjustableStructures ........................................................... 13
V.I.Bujakas
Perturbation of Symmetric 3-RPR Manipulators
andAsymptoticSingularities................................................... 23
MichelCoste,DamienChablat,andPhilippeWenger
WorkspaceandSingularitiesAnalysisofa6-DOFParallel
MechanismwithTwoKinematicChainsforPlatformGuidance........... 33
R.Dadarlat,N.Plitea,B.Konya,C.Vaida,andD.Pisla
The Kinematicsof a New ReconfigurableParallelRobot
withSixDegreesofFreedom.................................................... 43
B.Konya,N.Plitea,R.Dadarlat,C.Vaida,andD.Pisla
ARestoringStressDoesn’tAlwaysExist...................................... 53
M.D.Kovalev
MobilityAnalysisofNonSeries-ParallelMechanisms....................... 63
P.LambertandJ.L.Herder
Multiple-Mode Closed 7-Link Chains Based
onOverconstrained4-LinkMechanisms...................................... 73
M.Pfurner
vii
viii Contents
PartII ComputationalKinematics
ConfirmationofHypothesisonCablePropertiesforCable-
DrivenRobots .................................................................... 85
JulienAlexandreditSandretto,GillesTrombettoni,
andDavidDaney
Analytical Determination of the Instantaneous Motion
CapabilitiesofRoboticManipulators.......................................... 95
O.Altuzarra,O.Salgado,A.Herna´ndez,andC.Pinto
Computationofthe ProteinMolecular Mechanism Using
AdaptiveDihedralAngleIncrements.......................................... 105
M.Diez,V.Petuya,M.Urizar,E.Macho,andO.Altuzarra
HandlingwithInequalityConstraintsinaGeneralMethod
ofOptimalKinematicSynthesis................................................ 113
P.Garc´ıa,A.deJuan,R.Sancibria´n,A.Ferna´ndez,M.Iglesias,
andF.Viadero
Self-Motionsof3-RPSManipulators .......................................... 121
ManfredHusty,JosefSchadlbauer,Ste´phaneCaro,
andPhilippeWenger
Scenario-BasedDimensioning of the Actuatorof Parallel
Cable-DrivenRobots............................................................. 131
WernerKrausandAndreasPott
PositionProbleminAssur’sGroupswithRevolutePairs ................... 141
A.Noriega,M.Cadenas,andR.Ferna´ndez
WorkspaceandSingularityAnalysisforaParallelRobotUsed
inSurgicalApplications......................................................... 149
A.Stoica,D.Pisla,A.Szilaghyi,B.Gherman,andN.Plitea
Workspace Identification Using Neural Network
foranOptimalDesigned2-DOFOrientationParallelDevice............... 159
I.Tanase,T.Itul,E.Campean,andA.Pisla
PartIII MechanismDesign
DesignMethodologyforaCompliantBinaryActuatedParallel
MechanismwithFlexureHinges ............................................... 171
G.Borchert,C.Lo¨chte,S.Brumme,G.Carbone,M.Ceccarelli,
andA.Raatz
OptimalDesignofMotorcycleRearSuspensionSystemsUsing
GeneticAlgorithms .............................................................. 181
J.J.Castillo,P.Giner,A.Simo´n,andJ.A.Cabrera
Contents ix
Influence of the Contact Stiffness Between the Cam
andtheRollerintheDynamicBehaviouroftheTrainFollower
AppliedinaConjugateCamMechanism ..................................... 191
P.Catala`,S.Cardona,M.A.DelosSantos,andJ.M.Veciana
3-DOFTranslationalandRotationalParallelManipulators................ 199
V.Glazunov,P.Laryushkin,andS.Kheylo
EngineeringAspectsinSolvingGuidanceTaskswithGearedLinkages... 209
U.Hanke,K-H.Modler,A.Schmidtpott,andS.Lin
MotorPositioningandDriveTrainDesignfora3-DOF
RoboticStructure ................................................................ 217
S.Kurtenbach,T.Detert,M.Riedel,M.Hu¨sing,andB.Corves
Interactive Design of Opening and Closing Mechanisms
forSkylightDomes............................................................... 227
G.Lonij,S.Kurtenbach,M.Hu¨sing,andB.Corves
NumericalIterativeMethodforComputingtheBaseCircle
RadiusofCamMechanismswithTranslatingFlat-FaceFollower......... 237
E.C.Lovasz,D.Perju, K.H.Modler, C.M.Gruescu,I.Maniu,
andE.S.Zabava
ComparisonofActuationSchemesforWire-DrivenParallelRobots...... 245
J.-P.Merlet
IdentificationofaUsableSix-BarLinkageforDimensionalSynthesis .... 255
B.ParrishandJ.M.McCarthy
Reducing RotationalCrankshaft Oscillations by Means
ofaKinematicallyDrivenFlywheel............................................ 263
M.PfabeandC.Woernle
DimensionalSynthesisofSix-BarLinkageasaConstrained
RPRChain........................................................................ 273
M.PlecnikandJ.M.McCarthy
StudyofContactPressureThroughAnalyticSolution,Finite
Element MethodandExperimentalValidationinTapered
RollerBearings................................................................... 281
M.C.Ram´ırez,R.Lostado,C.Zurro´n,andR.Olarte
TheIssuesoftheDynamicsofCamMechanisms............................. 289
M.Va´clav´ık,P.Jira´sko,andP.Dostrasˇil
Validationof aBrake CaliperFEM ModelUsing Genetic
AlgorithmsforOptimization.................................................... 299
C.Zurro´n,R.Lostado,M.C.Ram´ırez,andR.Ferna´ndez
x Contents
PartIV MechanicalTransmissions
DynamicAnalysisofPlanetaryGearTransmission Under
TimeVaryingLoadingConditions............................................. 311
M.S.Feki,F.Chaari,M.S.Abbes,F.Viadero,A. Fdez.delRincon,
andM.Haddar
LoadSharinginPlanetaryTransmissionwithPinHolePositionErrors.. 319
M.Iglesias,A.Ferna´ndez,A.deJuan,P.Garc´ıa,R.Sancibria´n,
andF.Viadero
Toothed Continuously Variable Transmission (CVT) –
IndustrialRealization............................................................ 329
K.IvanovandB.Tultaev
DynamicResponseofSingleStageBevelGearTransmission
inPresenceofLocalDamage ................................................... 337
M.Karray, F.Chaari, F.Viadero, A.Fdez.delRincon,
andM.Haddar
LoadSharingModelforNon-standardInvoluteSpurGears............... 347
J.I.Pedrero,M.B.Sa´nchez,andM.Pleguezuelos
Magnetic-SuperconductorCryogenicNon-contactHarmonic
Drive:PerformanceandDynamicalBehavior................................ 357
Jose-LuisPerez-Diaz, JuanCarlosGarcia-Prada,
IgnacioValiente-Blanco,andEfrenDiez-Jimenez
PartV LinkagesandManipulators
Determining the Design Specifications for Mechanical
PolyarticulatedSystemCompatiblewithMinimallyInvasiveSurgery .... 367
V.Dumitru, C.Copilusi, I.Geonea, I.Dumitrache,
andG.Marinescu
SimplifiedKinetostaticModelofthe3-PRSManipulator................... 375
S.Herrero,Ch.Pinto,J.Corral,J.Aginaga,andF.J.Campa
HomohedralandTangentialPolyhedralLinkages ........................... 383
G.KiperandE.So¨ylemez
Analysis of the Clamping Mechanisms of Collet-Chucks
HoldersforTurning.............................................................. 391
E.Soriano,H.Rubio,andJ.C.Garc´ıa-Prada
TheMethodofPrincipalVectorsfortheSynthesisofShaking
MomentBalancedLinkages .................................................... 399
V.vanderWijkandJ.L.Herder
