Table Of ContentMechanisms and Machine Science 71
Andrés Kecskeméthy
Francisco Geu Flores
Eliodoro Carrera
Dante A. Elias Editors
Interdisciplinary
Applications of
Kinematics
Proceedings of the Third International
Conference (IAK)
Mechanisms and Machine Science
Volume 71
Series Editor
Marco Ceccarelli, Department of Industrial Engineering, University of Rome Tor
Vergata, Roma, Italy
Editorial Board
Alfonso Hernandez, Mechanical Engineering, University of the Basque Country,
Bilbao, Vizcaya, Spain
Tian Huang, Department of Mechatronical Engineering, Tianjin University,
Tianjin, China
Yukio Takeda, Mechanical Engineering, Tokyo Institute of Technology, Tokyo,
Japan
Burkhard Corves, Institute of Mechanism Theory, Machine Dynamics and
Robotics, RWTH Aachen University, Aachen, Nordrhein-Westfalen, Germany
Sunil Agrawal, Department of Mechanical Engineering, Columbia University,
New York, NY, USA
This book series establishes a well-defined forum for monographs, edited Books,
and proceedings on mechanical engineering with particular emphasis on MMS
(MechanismandMachineScience).Thefinalgoalisthepublicationofresearchthat
shows the development of mechanical engineering and particularly MMS in all
technical aspects, even in very recent assessments. Published works share an
approach by which technical details and formulation are discussed, and discuss
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teachingandresearchactivitytodayandforthefuture.Thebookseriesisintended
to collect technical views on developments of the broad field of MMS in a unique
frame that can be seen in its totality as an Encyclopaedia of MMS but with the
additional purpose of archiving and teaching MMS achievements. Therefore, the
book series will be of use not only for researchers and teachers in Mechanical
Engineering but also for professionals and students for their formation and future
work.
The series is promoted under the auspices of International Federation for the
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Prospective authors and editors can contact Mr. Pierpaolo Riva (publishing
editor, Springer) at: [email protected]
Indexed by SCOPUS and Google Scholar.
More information about this series at http://www.springer.com/series/8779
é é
Andr s Kecskem thy Francisco Geu Flores
(cid:129) (cid:129)
Eliodoro Carrera Dante A. Elias
(cid:129)
Editors
Interdisciplinary Applications
of Kinematics
Proceedings of the Third International
Conference (IAK)
123
Editors
Andrés Kecskeméthy Francisco GeuFlores
Department ofMechanical Engineering Chairof MechanicsandRobotics
University of Duisburg-Essen University of Duisburg-Essen
Duisburg, Germany Duisburg, Nordrhein-Westfalen, Germany
EliodoroCarrera Dante A.Elias
Faculty of Engineering Department ofEngineering
University of Piura Pontifical Catholic University ofPeru
Piura, Peru Lima, Peru
ISSN 2211-0984 ISSN 2211-0992 (electronic)
Mechanisms andMachineScience
ISBN978-3-030-16422-5 ISBN978-3-030-16423-2 (eBook)
https://doi.org/10.1007/978-3-030-16423-2
LibraryofCongressControlNumber:2019935165
©SpringerNatureSwitzerlandAG2019
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Organization Committee
Chair
Andrés Kecskeméthy (Germany)
Co-Chair
Francisco Geu Flores (Germany)
Eliodoro Carrera (Peru)
Dante A. Elias (Peru)
International Scientific Committee
J. Ambrosio (Portugal)
J. Angeles (Canada)
M. Ceccarelli (Italy)
B. Corves (Germany)
J. Cuadrado (Spain)
H. Ding (China-Beijing)
S. Dubowsky (USA)
M. Dutra (Brasil)
P. Flores (Portugal)
J. Herder (The Netherlands)
T. Huang (China-Beijing)
M. Husty (Austria)
K. Kazerounian (USA)
W. Kowalczyk (Germany)
v
vi OrganizationCommittee
J. Lenarcic (Slovenia)
H. Liu (China-Beijing)
C. Lopez-Cajún (Mexico)
J.-P. Merlet (France)
M. Morlock (Germany)
A. Müller (Austria)
V. Parenti-Castelli (Italy)
A. Pott (Germany)
D. Pisla (Romania)
B. Roth (USA)
B. Siciliano (Italy)
P. Wenger (France)
C. Woernle (Germany)
Local Organizing Committee
Rocio Callupe (PUCP)
Elizabeth Villota (PUCP)
Miguel Castro Sánchez (UDEP)
Daniel Marcelo Aldana (UDEP)
Jorge Rodríguez (Chair IFToMM Peru)
Patronage
International Federation for the Promotion of Mechanism and Machine Science
University of Duisburg-Essen
Pontificia Universidad Católica del Perú
Universidad de Piura, Campus Lima
Preface
The present proceedings collect 25 papers that were selected after peer review for
theThirdConferenceonInterdisciplinaryApplicationsinKinematics,heldinLima,
Peru, during March 5–7, 2018.
Theobjectiveoftheconferencewastobringtogetherresearchersfromdifferent
fields, where kinematics plays a key role. This includes not only theoretical fields
wherekinematicsistraditionallyestablished,butinparticularapplicationsinwhich
kinematics might contribute new perspectives for practical applications. Examples
arethe areas ofbiomechanics,industrial machinery, molecular kinematics,railway
vehicles and many others.
The participation of 34 researchers and 12 students from 7 countries shows the
strong interest these topics find in the scientific community. Moreover, the site
oftheconferenceinPerunotonly provedtobeverysuccessful,butalso helpedto
foster the international scientific cooperation in this region, which has outstanding
potentials.
We thank the authors for submitting their valuable contributions for this con-
ference as well as the reviewers for performing the reviews in due time. We also
thank the publisher Springer for the timely implementation of this book and the
valuable advice during the production process. We are very grateful to the
UniversidaddePiuraCampusLima,thePontificiaUniversidadCatólicadelPerúas
well as the University of Duisburg-Essen for sponsoring this conference and con-
tributing to its success. Our special acknowledgements go to the Förderverein
Ingenieurwissenschaften Universität Duisburg-Essen (Association of Friends of
Engineering Science of the University of Duisburg-Essen) for their valuable con-
tributiontothefundingofthepresentproceedings.Lastbutnotleast,wethankthe
International Federation for the Promotion of Mechanism and Machine Science
IFToMM for the ideal support by offering its patronage for this conference.
Duisburg, Germany Andrés Kecskeméthy
Duisburg, Germany Francisco Geu Flores
Piura, Peru Eliodoro Carrera
Lima, Peru Dante A. Elias
vii
Contents
1 Optimal Lap Time for a Race Car: A Planar Multibody
Dynamics Approach. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Jorge Ambrósio and Luís Marques
2 The Influence of Axle Kinematics on Vehicle Dynamics. . . . . . . . . 23
Georg Rill and Abel Arrieta Castro
3 Automotive Mechanisms for Improving Fuel Economy . . . . . . . . . 33
Madhusudan Raghavan
4 Detection of Surface Texture with an Artificial Tactile
Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Moritz Scharff, Jorge H. Alencastre and Carsten Behn
5 Analysis of the Dynamic Behavior of Beams Supported
by a Visco-Elastic Foundation in Context to Natural
Vibrissa . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Jhohan Chavez Vega, Moritz Scharff, Thomas Helbig,
Jorge H. Alencastre, Valter Böhm and Carsten Behn
6 Design of a Cable-Driven Device for Elbow Rehabilitation
and Exercise. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Marco Ceccarelli, Lucia Ferrara and Victor Petuya
7 Transoral Robotic Surgery (TORS) Emulation
Using a Highly Flexible Robotic System. . . . . . . . . . . . . . . . . . . . . 69
Catalina Almeida, Nikolas Bufe, Stefan Mattheis, Stephan Lang
and Andrés Kecskeméthy
8 Characteristics of a Lower Limb Exoskeleton for Gait
and Stair Climbing Therapies . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Dante A. Elias, Diego Cerna, Christian Chicoma and Renato Mio
ix
x Contents
9 A 3D-Printed Prosthetic Hand with Modular Reconfigurable
Fingers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Renato Mio, Marlene Bustamante, Giancarlo Salazar
and Dante A. Elias
10 Design and Analysis of a Lower Limb Exoskeleton
for Rehabilitation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Giancarlo Villena Prado, Raimo Yli-Peltola
and Miguel B. Castro Sanchez
11 A Method to Identify the Difference in Kinematic Behavior
of Human Model Lower Extremities with Respect to Muscle
Activation During Crash Impact . . . . . . . . . . . . . . . . . . . . . . . . . . 115
KishanSrinivasIndrani,NilsA.HakanssonandHamidM.Lankarani
12 Modeling for the Design of a Lower Limb Exoskeleton
for People with Gait Impairments . . . . . . . . . . . . . . . . . . . . . . . . . 129
Christian Chicoma, Oscar Cieza, Enrique Pujada and Dante A. Elias
13 Human Modeling for Biomechanical Analysis of Closed Kinetic
Chain Exercises of the Leg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Christian G. Chicoma, Fabricio G. Canales, Jose G. Garcia,
Marco Morales, Dante A. Elias and Elizabeth R. Villota
14 VDI 2742: Electronic Motion Control Systems for Linkage
Mechanisms: Principal Uses and Aspects of Realization . . . . . . . . 153
Burkhard Corves, Reinhard Braune and Rolf Blümel
15 MechDev—A New Software for Developing Planar
Mechanisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
M. Müller, T. Mannheim, M. Hüsing and B. Corves
16 Shaking Force Balance of the Peaucellier-Lipkin
Straight-Line Linkage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Volkert van der Wijk
17 The Potential of the 7R-R Closed Loop Mechanism
to Transfer Motion Between Two Shafts with Varying
Angular Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Luca Luzi, Nicola Sancisi and Vincenzo Parenti-Castelli
18 Auxetic Regions in Large Deformations of Periodic
Frameworks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Ciprian S. Borcea and Ileana Streinu
19 Singularity Analysis of a Spherical Robot Used in Upper
Limb Rehabilitation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
I. Birlescu, C. Vaida, A. Pisla, G. Carbone and D. Pisla
