SYROM 2009 (eBook)

191387_1_En_BookFrontmatter_OnlinePDF 2
191387_1_En_1_Chapter_OnlinePDF 22
Challenges for Mechanism Design 22
Introduction 22
Mechanism Design and IFToMM Activity 23
Future Challenges 27
Conclusions 33
References 34
191387_1_En_2_Chapter_OnlinePDF 35
Mechatronics and Mechanisms: From Drive to Process 35
Introduction 35
Mechatronic Machine Architecture 36
Mechatronics in Glass Machinery 36
Pneumatic Actuation 37
Servo Electric Actuation 39
Pressing Process 42
Intelligent Control Scheme 44
Simulation and Verification 46
Mechatronic Sewing Plant 47
Kinematic and Dynamic Modelling of the Parallel Manipulator 48
Kinematic and Dynamic Modelling of the Sewing Head 50
Motion Design 53
Simulation Model 54
An Adjustable Gripper as a Reconfigurable Robot 55
New Manipulation Concept 56
Topology Synthesis 58
Dimensional Synthesis 60
Conclusion 64
References 64
191387_1_En_3_Chapter_OnlinePDF 66
Comparative Study of Two Index Two Methods Applied to Original ADAMS Computer Program 66
Introduction 66
Theoretical Considerations 69
The 2-Steps Method 77
Numerical Example 81
Conclusion 85
References 85
191387_1_En_4_Chapter_OnlinePDF 86
Structural Synthesis of the Planar Cam-Linkage Mechanisms as Multibody Systems 86
Introduction 86
Defining a Mechanical System as Multibody System 87
Designing a Mechanical System as a Multibody System with a Minimum Number of Bodies 93
Conclusions 99
References 101
191387_1_En_5_Chapter_OnlinePDF 104
Helical Gear Dimensions in the Case of the Minimal Equalized Specific Sliding 104
Introduction 104
Sliding Coefficients at Helical Gears 105
Determination of the Geometrical Dimensions of the Helical Gears 107
Equalization of the Specific Sliding 108
Minimization of the Equalized Sliding Coefficients 111
Conclusions 111
References 112
191387_1_En_6_Chapter_OnlinePDF 113
Mathematical Model for Two Degree of Freedom Motion 113
Introduction 113
Mathematical Model 113
Control Problem Statement 118
Conclusions 119
References 120
191387_1_En_7_Chapter_OnlinePDF 121
Design and Simulation of Kursk Robot for In-Pipe Inspection 121
Introduction 121
Kursk Robot for In-Pipe Inspection 122
Mathematic Model of Robot´s Motion 125
A Numerical Characterization of Operation Features 126
Result of Experimental Testing 131
Conclusion 131
References 131
191387_1_En_8_Chapter_OnlinePDF 133
Conceptual Design of an Omni-directional Mobile Robot 133
Introduction 133
Previous Work 134
Mecanum Wheel 134
Robot Design 136
Robot Kinematics 138
Robot Control 140
Line Follower Mode 140
Remote Control Mode 140
Autonomous Mode 141
The Second Prototype 143
Conclusion 144
References 144
191387_1_En_9_Chapter_OnlinePDF 146
Structural Design of the Fundamental Plane Kinematic Chains 146
Introduction 146
Outlines Connections. Calculus 147
Algorithm for Establishing of the Structural Schemes 150
Application 151
Conclusions 152
References 152
191387_1_En_10_Chapter_OnlinePDF 153
Structural Design of the Plane Mechanisms with Linkages and Gears 153
Introduction 153
The Structural Magnitudes of MeBaRd 154
Structural Synthesis Criteria of MeBaRd 155
Numerical and Structural Solutions of MeBaRd 155
Conclusions 160
References 160
191387_1_En_11_Chapter_OnlinePDF 161
Design of LegVan Wheel-Legged Robot´s Mechanical and Control System 161
Introduction 161
Wheel-Legged Robot´s Suspension System 162
Structure of Robot Suspension System 163
Geometric Synthesis 164
LegVan´s Control System 165
Robot´s Software 167
Robot Functions 167
Experimental Results 168
Conclusions 173
References 173
191387_1_En_12_Chapter_OnlinePDF 175
Mathematical and Virtual Modelling of a Spur Gear 175
Introduction 175
Geometric Parameters of a Spur Gear 176
The Involute Function 177
Spur Gears with Solid Edge Software 178
Conclusions 184
References 185
191387_1_En_13_Chapter_OnlinePDF 186
Conceptual Synthesis of Speed Increasers for Renewable Energy Systems 186
Introduction 186
Requirements List 187
Identification of the Speed Increaser Function 188
Detailing of the Speed Increaser Function 189
Development of the Solving Structures 190
Development (Synthesis) of the Structural Solving Variants 190
Establishment of the Solving Structures 191
Evaluation of the Solving Structures 193
Conclusions 197
References 197
191387_1_En_14_Chapter_OnlinePDF 199
Mobile Minirobots Structures 199
Introduction 199
The In-Pipe Developed Minirobot 200
The Power and Control System 203
The Developed Omnidirectional Minirobot 203
Conclusion 206
References 206
191387_1_En_15_Chapter_OnlinePDF 207
Synthesis of Linkages for Tracking Systems with Increased Angular Stroke 207
Introduction 207
The Tracking Requirements 209
Geometrical Generation of the Planar Four-Bar Linkage 209
Analytical Synthesis of the Tracking Planar Linkage 213
Generation and Analysis of an Equivalent Spatial Linkage 217
Conclusions 219
References 220
191387_1_En_16_Chapter_OnlinePDF 221
Upon Applying Closed Contours Method in Plane Mechanisms with Higher Pairs 221
Introduction 221
Theoretical Remarks 222
Solution for Velocities 224
Accelerations Analysis 225
Conclusions 228
Appendix 228
References 230
191387_1_En_17_Chapter_OnlinePDF 231
Correlating Requirements Regarding the Command and the Mechanical Structure of the Automotive Steering System 231
Introduction 231
Functional Requirements for the Steering Linkage Mechanism (Steering Law, Induced Steering, Angular Capability) 232
Kinematic Requirement for the Steering Box with Rack (Variable Transmission Ratio) 236
Conclusions 239
References 240
191387_1_En_18_Chapter_OnlinePDF 241
Optimal Design of a Low-Mobility Schönflies Parallel Manipulator 241
Introduction 241
Manipulator´s Description 242
Kinematics 242
Dynamics 245
Trajectory Based Criteria 245
Workspace and Volume 246
Dexterity 247
Input Energy Per Output Cycle 250
Pareto-Optimally Based Multiobjective 252
Conclusions 253
References 254
191387_1_En_19_Chapter_OnlinePDF 256
Dynamic Transmission Error Prediction of Spur Gear Pairs with Friction Consideration 256
Introduction 256
The Dynamic Model of Spur Gear 257
Friction Force 259
Instantaneous Coefficient of Friction 259
Friction Forces 261
Mesh Stiffness 261
Case Illustrations 262
Conclusion 264
References 265
191387_1_En_20_Chapter_OnlinePDF 266
Designing Aspects of Differential Transmission with Balls 266
Introduction 266
The Determination of Transmission Ratio 267
The Kinetostatic Study of the One Cell SBS 270
Transmission of Forces and Torques 273
Conclusions 278
References 278
191387_1_En_21_Chapter_OnlinePDF 280
Meshing Forces Distribution Analysis on Gearing Teeth with Precession Movement 280
References 285
191387_1_En_22_Chapter_OnlinePDF 287
Basic Aspects Concerning Development of the Hybrid Road and Driving Simulator 287
Introduction 287
The Model and the Equations of the Vertical Oscillations 288
The Time Response of the Linear Model of the Suspension 290
The Oscillations and Vibrations 291
Simulation of the Road Roughness 292
Conclusions 294
References 294
191387_1_En_23_Chapter_OnlinePDF 296
On Link Effects of Ring Workspace of Three-Revolute Manipulators 296
Introduction 296
The Workspace Boundary Envelope 297
Effect of Chain Parameters on Shapes 298
Tables of Workspace Topology 299
Effect of Twist Angles 299
Effect of Link Offsets 302
Effect of Link Lengths 302
Volume Evaluation 303
Numerical Algorithm 304
Effect of Chain Parameters on Volume 305
Conclusion 308
References 309
191387_1_En_24_Chapter_OnlinePDF 310
Contributions to the Dynamic Study of a Modular Serial Industrial Robot of TRTRR Type 310
Introduction 310
The Dynamic Equations 311
Conclusions 321
References 322
191387_1_En_25_Chapter_OnlinePDF 323
Contributions to the Palletization of Auto Batteries Using the Finite Displacements Theory 323
Introduction 323
Relations of Dependency Between the Initial and the Final Position of Auto Batteries and the Kinematic Parameters of the Robot 324
Numerical Application 331
Conclusions 332
References 332
191387_1_En_26_Chapter_OnlinePDF 334
Unconventional Mathematical Model for Complex Mechanical Structures 334
Introduction 334
General Structure of Mathematical Models 335
The Mathematical Model $$ /left[ {{/hbox{A}} /cap {/hbox{C}}} /right] $$ 336
Numerical Example 340
Unconventional Mathematical Model for Deformable Elements 341
Conclusions 344
References 344
191387_1_En_27_Chapter_OnlinePDF 345
On the Power Losses of Cylindrical and Bevel Gears Used in Wind Turbines and Tracking Systems for Photovoltaic Platforms 345
Introduction 345
Theoretical Basis 346
Results and Discussions 351
Conclusions 357
References 357
191387_1_En_28_Chapter_OnlinePDF 359
New Formulations on Acceleration Energy in the Robot Dynamics 359
Introduction 359
The Forward Kinematics Equations 360
Matrix Exponentials in the Forward Kinematics 360
The Acceleration Energy in the Robot Dynamics 366
The Explicit Expression of the Acceleration Energy 366
The Matrix Expression of the Acceleration Energy 368
Conclusions 371
References 372
191387_1_En_29_Chapter_OnlinePDF 373
Dynamics of a Parallel Platform for Helicopter Flight Simulation Considering Friction 373
Introduction 373
Geometrical Model 375
Kinematic Model 376
Dynamic Model Without Friction 380
Dynamic Model with Computation of Additional Drive Generalized Forces Caused by Friction 381
Simulation Results 382
Conclusions 384
References 385
191387_1_En_30_Chapter_OnlinePDF 387
One D.O.F. Parallel Manipulator Based on Bricard Rectangular Mechanism 387
Introduction 387
Closure Equations 388
New Spatial Disposition 389
Conclusion 392
References 393
191387_1_En_31_Chapter_OnlinePDF 395
Theoretical and Experimental Research on the Dynamics of a 4DOF Isoglide 4-T3R1 Parallel Robot 395
Introduction 395
On the Kinematics of the Isoglide4-T3R1 Parallel Robot 396
Dynamic Modelling of the Isoglide4-T3R1 Parallel Robot 398
Virtual Model and Experimental Testing of the Isoglide4-T3R1 Parallel Robot 398
Isoglide4-T3R1 CAD Model 399
Dynamic Experimental Testing of the Isoglide4-T3R1 Parallel Robot 400
Conclusions 404
References 404
191387_1_En_32_Chapter_OnlinePDF 405
The Monitorisation of the Motion of Differential Gears 405
Introduction 405
The Description of the Mathematical Model (AC) Having Monitored Kinematics 406
The Experimental Results 411
Conclusions 415
References 415
191387_1_En_33_Chapter_OnlinePDF 416
Structure, Kinematics and CAD Model of a Mobile Telethesis 416
Introduction 416
Structure for a Reference Telethesis 417
The Kinematics for the Reference Telethesis 418
Forward Kinematics 418
Inverse Kinematics 420
Structure and Kinematic for the Gripper of the Telethesis 421
Structural Synthesis 421
Structural Analysis 422
Kinematic Synthesis 422
Kinematic Analysis 422
Static Synthesis and Analysis 423
Constructive Design, CAD Model and CAD Simulation 424
Conclusions 426
References 426
191387_1_En_34_Chapter_OnlinePDF 427
Asymptotic Analysis of Parametrically Excited Spring Pendulum 427
Introduction 427
Formulation of the Problem 428
Stability of the Fixed Points 433
Example 434
Conclusions 437
References 437
191387_1_En_35_Chapter_OnlinePDF 439
Simple Mechanical Clutch with Multiple Functions 439
Introduction 439
Elastic and Safety Clutch 441
Derivation Proceeding from the Structural Schemes 441
Construction of the Clutch 442
The Torque Moment and Its Elastic Characteristics 443
Theoretical and Experimental Researches 444
References 449
191387_1_En_36_Chapter_OnlinePDF 450
Analysis of the Direct Kinematic Problem in 3-DOF Parallel Manipulators 450
Introduction 450
Computing Workspace with One Input Constant 451
Visualizing the Reduced Configuration Space 453
Finding All DKP Solutions 455
Path Planning Between Different DKP Solutions 457
Conclusions 459
References 460
191387_1_En_37_Chapter_OnlinePDF 462
Kinematical Analysis of Mechanical Systems by Results of Digital Video Recording 462
Target Setting 462
Peculiarities of Digital Video Recording Process and the Subject of Inquiry 463
Peculiarities of Digital Video Recording Process 463
Subject of Inquiry Peculiarities Description 463
Sources of Errors of the Recording Process 464
Data Analysis Methodology Description 466
Results of Experimental Data Treatment. Slider Phase Trajectory Plotting 467
Conclusions 467
References 469
191387_1_En_38_Chapter_OnlinePDF 470
Dynamics of Mobile Vibration-Driven Robots 470
Introduction 470
Mathematical Model of a 1-D Robot with a Vibrating Internal Mass 472
Mathematical Model and Design of a 1-D Robot with Variable Shape of the Robot´s Body 476
Vibration-Driven Robot with Two Rotating Masses 479
Experimental Studies 480
Conclusions 480
References 481
191387_1_En_39_Chapter_OnlinePDF 483
Experimental Aspects Concerning Self-locking Angle 483
Introduction 483
Theoretical Consideration 484
Experimental Evidences 489
Test Rig Design and Testing Method 489
Experimental Work and Conclusions 495
References 496
191387_1_En_40_Chapter_OnlinePDF 498
Strategy for Optimizing the Synchronous Belt Drives Design 498
Introduction 498
Tooth Loading 499
Multi-body Based Model of the Belt Drive 499
Description Test and Results 500
Conclusion 504
References 504
191387_1_En_41_Chapter_OnlinePDF 505
Control Design and Simulations of the Linear Actuator LX-80-L 505
Introduction 505
Linear Actuator Parker LX-80L-Mechatronics Laboratory 507
Mathematical Model 507
Implementation of the Mathematical Model in Matlab-Simulink 508
Testing the System Using Determined Kp, Ki, Kd Parameters 509
Conclusions 511
References 511
191387_1_En_42_Chapter_OnlinePDF 512
The Analysis of a Dwell Mechanism for Alpha -Stirling Engine 512
On the Working Cycle of Stirling Engine 512
A New Dwell Mechanism Dedicated to a-Stirling Engine 514
On the Movement Functions of the Mechanism 514
The Schmidt Analysis Insertion Paragraph 519
Conclusion 519
References 520
191387_1_En_43_Chapter_OnlinePDF 521
A Digital Model of a Dwell Mechanism for Alpha-Stirling Engine 521
Introduction 521
The Kinetostatic Analysis of the Mechanism 522
Digital Simulations of the Dwell Mechanism 524
Conclusion 527
References 527
191387_1_En_44_Chapter_OnlinePDF 528
AutoCad Simulations and Experiments on the Manufacturing of Gears 528
Introduction 528
Experimental Simulations 529
Experimental Stall 529
Results 530
AUTOCAD Simulations of the Manufacturing of Gears 531
Conclusions 535
References 536
191387_1_En_45_Chapter_OnlinePDF 537
Modeling a Galvoscanner with an Optimized Scanning Function 537
Introduction 537
Equations of the Galvoscanners 539
Linear and Sinusoidal Scanning Function 541
Active Torque and Command Function 543
Conclusions 545
References 546
191387_1_En_46_Chapter_OnlinePDF 547
Simulation of a Pressure Controlled Hose Type Joint Using F.E.M. 547
Introduction 547
Hose Design 548
Mathematical Model 549
Numerical Simulation 553
Conclusions 559
References 559
191387_1_En_47_Chapter_OnlinePDF 561
Workspace and Singularity Analysis for a Reconfigurable Parallel Robot 561
Introduction 561
Kinematics of the ROPAR4 Parallel Robot 563
The Reconfigurable Parallel Robot 563
Kinematics 566
Singularities of the ROPAR4 Robot 567
Workspace of the ROPAR4 Robot 570
The Geometrical Method 570
The Analytical Method 571
Conclusions 571
References 572
191387_1_En_48_Chapter_OnlinePDF 575
Kinematics and Movement Control of a Six-Legged Mobile Robot 575
Introduction 575
Kinematics of the Mobile Robot 576
Command and Control System of the Six-Legged Mobile Robot 578
Conclusions 580
References 580
191387_1_En_49_Chapter_OnlinePDF 581
LabView Based Control and Simulation of a Construction Robot 581
Introduction 581
Robot Functionality and Operating Modes for Construction Tasks 582
Modeling and Embedded Motion Control of Robot Arm 584
Geometric Models of the Robotic Arm 584
Embedded Control of the Construction Robot 588
Experimental Work Conclusions 591
References 594
191387_1_En_50_Chapter_OnlinePDF 595
Synthesis Method of Planar Mechanisms Approximating Open Paths 595
Introduction 595
Method Description 596
Numerical Solutions 602
Conclusions 606
References 607
191387_1_En_51_Chapter_OnlinePDF 608
Kinematic Calculus Modelling of a Handling Arm Driving System 608
Introduction 608
Cinematic Analysis Modelling 610
Synthesis Proposed Version 611
Conclusions 612
References 612
191387_1_En_52_Chapter_OnlinePDF 613
Synthesis of a Bi-Axial Tracking Spatial Linkage with a Single Actuator 613
Introduction 613
Kinematic Modelling of the R-R-S-S Linkage 615
Geometrical Synthesis 617
Numerical Simulations 620
Conclusions 625
References 627
191387_1_En_53_Chapter_OnlinePDF 629
Dimensional Synthesis of Suspension System of Wheel-Legged Mobile Robot 629
Introduction 629
Mechanism Structure 630
Dimensional Synthesis 631
Formulation of the Problem 631
The Synthesis Method 631
Stage One - Two-Link Chain ACE 632
Stage Two - Four-Bar Mechanism 632
Calibration of l1 and l3 634
Stage Three - Drive q1 Parameters 634
Genetic Algorithm 636
Results of Optimisation 637
Conclusions 639
References 640
191387_1_En_54_Chapter_OnlinePDF 641
Cam Mechanism with Flat/Tangential Translating Follower and Its Size 641
Introduction 641
The Forces´ Equilibrium and Guiding´s Size Establishment 642
The Total Size of a Cam Mechanism with Flat Translating Follower and the Influence´s Factors of It 644
Case Studies 645
Case Study 1 646
Case Study 2 647
Conclusions 648
References 649
191387_1_En_55_Chapter_OnlinePDF 650
A Design of Compliant Mechanism with Integrated Actuators 650
Introduction 650
Design Study of a Flaps Mechanism Demonstrator 651
Analytically Based Structural Pre-Choice 653
Drive´s Values 653
Differential Design 654
Integrally Design 656
Numerical Analysis 657
Conclusions 658
References 659
191387_1_En_56_Chapter_OnlinePDF 660
Software Platform for Analyzing and Optimizing the Mechanical Systems 660
Introduction 660
Virtual Prototyping Concept 661
Virtual Prototyping Platform 663
Case Study 664
Final Conclusions 672
References 672
191387_1_En_57_Chapter_OnlinePDF 673
Considerations Regarding the Transdisciplinary Nature of the Homeokinesis Concept, as a Result of Its Integration in the Theor 673
Introduction 673
Self-organized Complex Systems 674
The Self-organization of the Behaviour of Complex Mechatronical System Through Homeokinetic Learning 675
The Transdisciplinary Nature of the Homeokinesis Concept 678
Conclusions 679
References 679
191387_1_En_58_Chapter_OnlinePDF 681
Design of a Clamp Mechanism 681
Introduction 681
Functional Diagram 682
Profile of Cam 683
Assembly of Some 3D Components 685
Assembly Preparation for Analysing 686
Transformation of the Assembly into a Mechanism 686
A Contact Joint Creation 687
Insertion of a Force 687
Analysis of the Mechanism 688
Profiles Comparison 690
Conclusions 691
References 692
191387_1_En_59_Chapter_OnlinePDF 693
New Orientation Mechanism (Wrist) Used on the Industrial Robots 693
Introduction 693
Unitary Kinematic Analysis Method 694
Symmetrical Kinematic Schema of OrM-3R 696
A New Kinematic Schema of OrM-3R 699
Conclusions 701
References 701
191387_1_En_60_Chapter_OnlinePDF 702
Modular Orthopedic Devices Based on Shape Memory Alloys 702
Introduction 702
Modular Adaptive Implant 703
Intelligent Coupling and Catching System in External Implants 708
Conclusions 713
References 713
191387_1_En_61_Chapter_OnlinePDF 715
Loading Cases and Forces on Azimuthal Solar Tracking Systems with Linear Actuators 715
Introduction 715
External Loads and Loading Cases 716
Wind Load 716
Weight 717
Snow 717
Seismic Load 718
Loading Cases 718
Preliminary Design Forces 718
Calculus Relations 718
Numerical Results 720
FEM Analysis 721
Conclusions 722
References 725
191387_1_En_BookBackmatter_OnlinePDF 726
: Index 726