Table Of ContentMechanisms and Machine Science 44
Jaroslav Beran
Martin Bílek
Petr Žabka Editors
Advances in
Mechanism
Design II
Proceedings of the XII International
Conference on the Theory of Machines
and Mechanisms
Mechanisms and Machine Science
Volume 44
Series editor
Marco Ceccarelli
LARM: Laboratory of Robotics and Mechatronics
DICeM: University of Cassino and South Latium
Via Di Biasio 43, 03043 Cassino (Fr), Italy
e-mail: [email protected]
More information about this series at http://www.springer.com/series/8779
í
Jaroslav Beran Martin B lek
(cid:129)
Ž
Petr abka
Editors
Advances in Mechanism
Design II
Proceedings of the XII International
Conference on the Theory of Machines
and Mechanisms
123
Editors
Jaroslav Beran Petr Žabka
Textile MachineDesign Department Faculty of MechanicalEngineering
Technical University of Liberec Technical University of Liberec
Liberec Liberec
Czech Republic Czech Republic
Martin Bílek
Textile MachineDesign Department
Technical University of Liberec
Liberec
Czech Republic
ISSN 2211-0984 ISSN 2211-0992 (electronic)
Mechanisms andMachineScience
ISBN978-3-319-44086-6 ISBN978-3-319-44087-3 (eBook)
DOI 10.1007/978-3-319-44087-3
LibraryofCongressControlNumber:2016947391
©SpringerInternationalPublishingSwitzerland2017
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Preface
The international conference on the theory of machines and mechanisms has been
heldsince1973inregularfour-yearintervals.Theexpertagendaoftheconference
focuses on a wide range of problems including theoretical and practical findings
related to theories pertaining to machines and mechanisms. A person involved in
the creation of this conference was important personality and leading expert in
mechanics and mechanism theories doc. Ing. Jaroslav Charvát, CSc. He was not
onlyarenownedexpertregardingmechanismtheories,buthewasalsoanexcellent
teacher and promoter of mechanics for the professional and lay public. He
impressed students with his lectures and boosted their enthusiasm for the study
field. His scientific and research activities were focused to a great extent on
mechanismsoftextilemachines.Hehasregularlycontributedtoexpertmagazines.
He is the author of many monographs and scripts, and he has actively attended
conferences and seminars. He has been responsible to a significant extent for the
development of young technical intelligence and has contributed to the develop-
ment of the field of textile machine mechanics.
The 12th international conference on the theory of machines and mechanisms
was held from September 6–8, 2016, at the Liberec Technical University, Liberec,
Czech Republic. The conference was organized under the auspices of the Czech
National Committee for Theories of Machines and Mechanisms IFToMM, the
Czech Society for Mechanics and VUTS a.s. Liberec. The lectures focused par-
ticularly on the areas of analysis, synthesis of articulated, cam, planar and spatial
mechanisms.
Amajorpartincludedafocusonproblemsrelatedtothedynamicsofmachines
and mechanisms as well as mechatronics and biomechanical systems. Robotic
systems were another major focus on the conference.
During the conference, the Meeting of the Technical Committee for Linkages
and Mechanical Controls of IFToMM and the Meeting of the Czech Society for
Mechanics took place.
v
vi Preface
Inthisbook,contributionsfromtheconferencehavebeenincludedintosixmain
parts.
(cid:129) GeneralTheoryofMachinesandMechanisms,AnalysisandSynthesisofPlanar
and Spatial Mechanisms, Linkages and Cams, Robots and Manipulators
(cid:129) Dynamics of Machines and Mechanisms, Rotor Dynamics
(cid:129) Computational Mechanics
(cid:129) Vibration and Noise in Machines
(cid:129) Optimization of Mechanisms and Machines, Mechanisms of Textile Machines
(cid:129) Mechatronics, Control and Monitoring Systems of Machines
Asithasformorethan48years,thisvolumeofproceedingsoffersbothabroad
perspectiveonthestateoftheartinthefieldandanin-depthlookatitsleadingedge
research. It is our privilege to be able to offer this collection and we express our
sincere thanks to the contributing authors for making this series a continuing
success.
We appreciate the interest in this conference and believe it will bring many
suggestions for further extension of knowledge in the field of machines and
mechanismstheoryandwillprovidenewideasforinternationalcooperationinthis
field.
Liberec, Czech Republic Jaroslav Beran
fi
Scienti c Committee
J. Beran—Chairman (CZ)
M. Bílek—Secretary (CZ)
V. Arakelyan (FR)
M. Ceccarelli (IT)
B. Corves (DE)
J.C. Garcia-Prada (ES)
A. Gronowicz (PL)
J. Horáček (CZ)
T. Leinonen (FI)
M. Lima (PT)
E.CH. Lovasz (RO)
K.H. Modler (DE)
V. Natarajan (IN)
L. Pešek (CZ)
Š. Segľa (SK)
J. Stadnicki (PL)
I. Tempea (RO)
H. Terada (JP)
D. Tesar (US)
M. Václavík (CZ)
J. Vimmr (CZ)
J. Zapoměl (CZ)
V. Zeman (CZ)
vii
viii ScientificCommittee
The conference is organized under
the patronage of:
Technical University of Liberec
Studentská1402/2
46117Liberec1
Czech Republic
http://www.tul.cz
IFToMM
International Federationfor the Promotion
of Mechanism andMachineScience
http://www.iftomm.org
Czech National Commitee of IFToMM
InstituteofThermomechanicsASCR,v.v.i.
Czech Society of Mechanics Dolejškova 5
Dolejškova 5 18200Praha8
18200Praha8 Czech Republic
Czech Republic http://www.it.cas.cz/IFToMM-TC-NO/
http://www.csm.cz
VÚTS, a.s.
Svárovská 619
460 01 Liberec 11
Czech Republic
http://www.vuts.cz
Contents
Part I General Theory of Machines and Mechanisms, Analysis
and Synthesis of Planar and Spatial Mechanisms,
Linkages and Cams, Robots and Manipulators
IFToMM in MMS Developments... .... .... .... .... .... ..... .... 3
Marco Ceccarelli
General Algorithm for Computing the Theoretical Centering
Precision of the Gripping Devices .. .... .... .... .... .... ..... .... 15
E.-C. Lovasz, V. Mesaroş-Anghel, C.M. Gruescu, C.E. Moldovan
and M. Ceccarelli
Design and Development of a Heddle Shaft Mechanism
for Air-Jet Weaving Machines..... .... .... .... .... .... ..... .... 23
F. Schwarzfischer, S. Kurtenbach, J. Onischke and B. Corves
On Transfemoral Prosthetic Knee Design Using RRSS
Motion and Axode Generation..... .... .... .... .... .... ..... .... 29
J. D’Alessio, K. Russell and R.S. Sodhi
On Approach Based on Lie Groups and Algebras
to the Structural Synthesis of Parallel Robots .... .... .... ..... .... 37
L. Rybak, D. Malyshev and A. Chichvarin
Life Estimation of the Contact Surfaces . .... .... .... .... ..... .... 43
M. Hejnová and J. Ondrášek
Calculation of the Contours of a Radial Double Cam
Based on an Approximate Course of the 2nd Derivative
of the Displacement Law of a Working Link . .... .... .... ..... .... 51
P. Jirásko and M. Václavík
The Elastic Compression in the Contact Region
of a Cam Mechanism General Kinematic Pair.... .... .... ..... .... 57
J. Ondrášek
ix
