Table Of ContentMechanisms and Machine Science 46
Burkhard Corves
Erwin-Christian Lovasz
Mathias Hüsing
Inocentiu Maniu
Corina Gruescu Editors
New Advances in
Mechanisms, Mechanical
Transmissions and
Robotics
Proceedings of
The Joint International Conference of the
XII International Conference on Mechanisms
and Mechanical Transmissions (MTM) and the
XXIII International Conference on Robotics
(Robotics ’16)
Mechanisms and Machine Science
Volume 46
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
⋅
Burkhard Corves Erwin-Christian Lovasz
⋅
Mathias Hüsing Inocentiu Maniu
Corina Gruescu
Editors
New Advances in
Mechanisms, Mechanical
Transmissions and Robotics
Proceedings of The Joint International
Conference of the XII International
Conference on Mechanisms and Mechanical
Transmissions (MTM) and the XXIII
International Conference on Robotics
’
(Robotics 16)
123
Editors
Burkhard Corves Inocentiu Maniu
RWTH Aachen University University Politehnica of Timisoara
Aachen Timişoara
Germany Romania
Erwin-Christian Lovasz CorinaGruescu
University Politehnica of Timisoara University Politehnica of Timisoara
Timişoara Timişoara
Romania Romania
Mathias Hüsing
RWTH Aachen University
Aachen
Germany
ISSN 2211-0984 ISSN 2211-0992 (electronic)
Mechanisms andMachineScience
ISBN978-3-319-45449-8 ISBN978-3-319-45450-4 (eBook)
DOI 10.1007/978-3-319-45450-4
LibraryofCongressControlNumber:2016950582
©SpringerInternationalPublishingAG2017
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Preface
The present book gathers up-to-date contributions in the field of mechanisms,
mechanical transmissions, robotics and mechatronics. The topics developed within
this volume are as follows: analysis and synthesis of mechanisms, dynamics of
mechanisms and machines, mechanical transmissions, biomechanics, precision
mechanics,mechatronics,micromechanismsandmicroactuators,computationaland
experimentalmethods,CADinmechanismandmachinedesign,mechanicaldesign
ofrobotarchitecture,parallelrobots,mobilerobots,micro-andnanorobots,sensors
and actuators in robotics, intelligent control systems, biomedical engineering,
teleoperation, haptics and virtual reality.
The results reported in the papers were discussed at MTM & Robotics
2016—The Joint International Conference of the XII International Conference on
Mechanisms and Mechanical Transmissions (MTM) and the XXIII International
Conference on Robotics (Robotics), held in Aachen, Germany, on 26 October–27
October2016.All58submittedcontributionswerecarefullyreviewedandselected
for the presentation and publication by independent reviewers and the members
of the International Scientific Committee. As a result of the two-stage review
process, 49 contributions were selected for the presentation at the conference and
publication in this book.
The previous editions of the two conferences were held in Romania, beginning
in 1972, every four years until 2012, when the joint international conference was
organized outside Romania for the first time at Institute Pascal, Clermont-Ferrand,
France.
MTM&Robotics2016wasorganizedbytheDepartmentofMechanismTheory
and Dynamics of Machines at RWTH Aachen University and the Department of
Mechatronics at University Politehnica Timisoara, with the support of IFToMM
Germany, the Romanian Association for Theory of Machines and Mechanisms
(ARoTMM) and the Robotics Society of Romania (RSR).
We are grateful to the authors for their contributions and to the reviewers for
their recommendations as improvement guidance for the selected papers. Special
thanksgotoourKeynotespeakers,Prof.Gosselin(UniversityLaval),Prof.Schmitt
(RWTH Aachen University), Dr. Nefzi (Carl Zeiss AG) and Dr. Harmeling
v
vi Preface
(Karl Mayer GmbH),for theirvaluableandinspiringcontributions tothescientific
programme.WewouldliketoexpressthankstotheInternationalFederationforthe
Promotion of Mechanism and Machine Science (IFToMM) and to the Robotics
Society of Romania (RSR). We also thank to the members of the Organizing
CommitteeofMTM&Robotics2016andtoSpringerPublishersfortheirexcellent
technical and editorial support.
Aachen, Germany Burkhard Corves
Timişoara, Romania Erwin-Christian Lovasz
Aachen, Germany Mathias Hüsing
Timişoara, Romania Inocentiu Maniu
Timişoara, Romania Corina Gruescu
June 2016
Organization
Conference Chairman
Burkhard Corves, RWTH Aachen University, Germany
Conference Co-chairmen
Erwin-Christian Lovasz, University Politehnica of Timisoara, Romania
Inocentiu Maniu, University Politehnica of Timisoara, Romania
Mathias Hüsing, RWTH Aachen University, Germany
International Scientific Committee
Oscar Altuzarra, University of the Basque Country, Spain
Jorge Angeles, McGill University, Canada
Virgil Atanasiu, Technical University of Iaşi, Romania
Radu Balan, Technical University of Cluj-Napoca, Romania
Stelian Brad, Technical University of Cluj-Napoca, Romania
Cornel Brişan, Technical University of Cluj-Napoca, Romania
Tobias Bruckmann, University Duisburg-Essen, Germany
Giuseppe Carbone, University of Cassino and South Latium, Italy
Marco Ceccarelli, University of Cassino and South Latium, Italy
Dorian Cojocaru, University of Craiova, Romania
Valer Dolga, Politehnica University Timisoara
Ioan Doroftei, Technical University of Iaşi, Romania
Mehmet Ismet Can Dede, Izmir Institute of Technology, Turkey
Jean-Christophe Fauroux, SIGMA Clermont
Grigore Gogu, SIGMA Clermont
Antoni Gronowicz, Wroclaw University of Technology, Poland
Mircea Ivănescu, Robotics Society of Romania
Nicolae Joni, Robcon TM SRL, Romania
vii
viii Organization
Andres Kecskemethy, University Duisburg-Essen, Germany
Chin-Hsing Kuo, National Taiwan University of Science and Technology, Taiwan
Silviu Dan Mandru, Technical University of Cluj-Napoca, Romania
Gheorghe Mogan, Transilvania University of Brasov, Romania
Andreas Mueller, Johannes Kepler University, Austria
Vistrian Mătieş, Technical University of Cluj-Napoca, Romania
Mircea Neagoe, Transilvania University of Brasov, Romania
Mircea Nitulescu, University of Craiova, Romania
Nenad D. Pavlovic, University of Nis, Serbia
Dan Perju, Technical University of Timisoara, Romania
Victor Petuya, University of the Basque Country, Spain
Doina Pisla, Technical University of Cluj-Napoca, Romania
Iulian Tăbăra, Technical University of Bucharest, Romania
Yukio Takeda, Tokyo Institute of Technology, Japan
Radu Tarca, University of Oradea, Romania
Hidetsugu Terada, University of Yamanashi, Japan
Ioan Vela, University ”Eftimie Murgu” of Reşiţa, Romania
Ion Visa, Transilvania University of Brasov, Romania
Yao Yan-An, Beijing Jiaotong University, China
Song Lin, Tongji University, China
Organizing Committee
Claudia Cornely, RWTH Aachen University, Germany
Stefan Kurtenbach, RWTH Aachen University, Germany
Iosif Cărăbaş, University Politehnica of Timisoara, Romania
Valentin Ciupe, University Politehnica of Timisoara, Romania
Corina Gruescu, University Politehnica of Timisoara, Romania
Dan Teodor, Margineanu University Politehnica of Timisoara, Romania
Cristian Moldovan, University Politehnica of Timisoara, Romania
Under the Patronage of IFToMM
Teresa Zielinska, Secretary-General of IFToMM
Erwin-Christian Lovasz, Chair of the Technical Committee for Linkages and
Mechanical Controls
With the Support of
Andres Kecskemethy, Chair of IFToMM Germany
Ioan Doroftei, Chair of the Romanian Association for Theory of Machines and
Mechanisms (ARoTMM)
Mircea Ivănescu, Chair of the Robotics Society of Romania (SRR)
DFG Germany, German Research Foundation
Contents
Part I MTM—Mechanisms—Analysis and Synthesis
Optimal Design of a Grasping Device Through Simplified Pose
Synthesis of a Four-Bar Linkage... .... .... .... .... .... ..... .... 3
V. Mesaros-Anghel, E.-C. Lovasz, C.M. Gruescu and C.E. Moldovan
Modified Method of the Kinematic Analysis of Planar Linkage
Mechanism for Non-stationary Motion Modes .... .... .... ..... .... 15
J. Drewniak, P. Garlicka, J. Kopeć and S. Zawiślak
A Type Synthesis Method for Parallel Mechanisms
Based on SAKCs... .... .... ..... .... .... .... .... .... ..... .... 25
Huiping Shen, Chi-Yu Sun, Dan Zhang and Ting-li Yang
Matlab GUI for SVAJ Cam Analysis Diagrams... .... .... ..... .... 37
C. Pop, E.-C. Lovasz, F. Pop, A. Davidescu and S.M. Grigorescu
On the Kinematic Analysis of a Sixth Class Mechanism .... ..... .... 47
C.E. Moldovan, D. Perju, E.-C. Lovasz, K.-H. Modler and I. Maniu
Zero-Free-Length Elastic Systems for Static Balancing . .... ..... .... 59
L. Ciupitu and I. Simionescu
Analytic and FEM Study of Load Distribution on the Length
of Spline Joints Under Pure Torque .... .... .... .... .... ..... .... 69
D. Mărgineanu, C. Sticlaru, A. Davidescu and E. Mărgineanu
Dimensional Synthesis of Planar Parallel Manipulator Using Geared
Linkages with Linear Actuation as Kinematic Chains.. .... ..... .... 77
S.M. Grigorescu, E.-C. Lovasz, D.T. Mărgineanu, C. Pop and F. Pop
ix
