International Symposium on History of Machines and Mechanisms: Proceedings HMM2004 PDF
Preview International Symposium on History of Machines and Mechanisms: Proceedings HMM2004
International Symposium on History of Machines and Mechanisms International Symposium on History of Machines and Mechanisms Proceedings HMM2004 Edited by MARCO CECCARELLI Laboratorio di Robotica e Meccatronica, Dipartimento di Meccanica, Strutture,Ambiente eTerritorio, Università di Cassino, Cassino, Italy KLUWER ACADEMIC PUBLISHERS NEW YORK,BOSTON, DORDRECHT, LONDON, MOSCOW eBookISBN: 1-4020-2204-2 Print ISBN: 1-4020-2203-4 ©2004 Kluwer Academic Publishers NewYork, Boston, Dordrecht, London, Moscow Print ©2004 Kluwer Academic Publishers Dordrecht All rights reserved No part of this eBook maybe reproducedor transmitted inanyform or byanymeans,electronic, mechanical, recording, or otherwise, without written consent from the Publisher Created in the United States of America Visit Kluwer Online at: http://kluweronline.com and Kluwer's eBookstoreat: http://ebooks.kluweronline.com Table of Contents Preface ix List of Contributors xi 1. History of IFToMM Ceccarelli M.: A Short Introduction on IFToMM officers over time 3 Ceccarelli M., Koetsier T.: On the IFToMM Permanent Commission for History of MMS 11 Ionescu T., Bögelsack G., Leinonen T.: Past, Present and Future in Mechanism and Machine Science Terminology 27 Rieger N. F.: Development and Activities of the IFToMM Rotordynamic Committee, 1977-2004 35 2. Ancient Machines Yan H.-S., Huang H.-H.: A Study on Western and Chinese Locks Based on Encyclopedias and Dictionaries 41 Xuan G., Zhen L.: A Simulating Experiment on the Ancient Chinese Astronomical Clock Tower 57 Rieger N. F.: Engineering Aspects of the Collapse of the Colossus of Rhodes Statue 69 Chondros T. G. : “Deus-Ex-Machina” Reconstruction and Dynamics 87 3. Past Ideas for New Designs Borisov A., Golovin A., Ermakova A.: Some Examples from the History of Machinery in Teaching TMM 107 Chen I.-M., Tay R., Xing S., Yeo S.H.: Marionette: From Traditional Manipulation to Robotic Manipulation 119 v vi 4. People in MMS and Their Works Golovin A.: Bauman University TMM Department in the Former Half of the XX-th Century (Professor N. Mertsalov & Professor L Smirnov) 137 Berkof R. S.: History of Machines and Mechanisms by the Stevens Family and at Stevens Institute of Technology 149 Zaharov I., Jatsun S., Jatsun S.: Russian Scientist – Mechanics Ufimtsev A.G. 163 Husty M.: The Kinematic Work of W. Wunderlich 169 5. Historical Development of Theories Koetsier T., Blauwendraat H.: The Archimedean Screw-Pump: A note on its Invention and the Development of the Theory 181 Merlet J.-P.: A Note on the History of Trigonometric Functions 195 Kerle H. : On the Development of the Constraint Motion Theory of Franz Reuleaux – An Overview 201 Oliveira A.R.E.: The Contribution of Coulomb to Applied Mechanics 217 6. Mechanical Designs Zrnic N., Hoffmann K.: Development of Design of Ship-To-Shore Container Cranes: 1959-2004 229 Strizhak V., Penkov I., Pappel T.: Evolution of Design, Use and Strength Calculations of Screw Threads And Threaded Joints 243 Bautista Paz E., Munoz Sanz J.L., Leal Wina P., Echavarri Otero J.: Industrial Archaeology: Form the 17-th to the 21-st Century. Reconstruction of Herschel’s Telescope 259 Mauersberger K.: Piston Engine versus Rotary Engine – Possible Structural Solutions in the Invention and Development of the Steam Engine before 1900 269 7. Mechanism Analysis and Design Ceccarelli M.: Historical Evolution of the Classification of Mechanisms 285 Dijksman E.: On the History of Focal Mechanisms and Their Derivatives 303 vii Luck K., Rehwald W.: Historical Evolution of the Pole-Theory 315 Moon F. C.: The Reuleaux Models: Creating an International Digital Library of Kinematics History 331 8. Automata and Robots Arakelyan V.: The History of the Creation and Development of Hand-Operated Balanced Manipulators (HOBM) 347 Zielinska T.: Development of Walking Machines; Historical Perspective 357 Dias Bezerra C. A., Zampieri D. E.: Biped Robots: The State of Art 371 Bicker B., Burn K., Hu Z., Pongaen W., Bashir A.: The Early Development of Remote Tele-Manipulation Systems 391 Author Index 405 Preface The HMM2004 International Symposium on History of Machines and Mechanisms is the second event of a series that has been started in 2000 as main activity of the IFToMM Permanent Commission for History of MMS, Mechanism and Machine Science. The aim of the HMM Symposium is to be a forum to exchange views, opinions, and experiences on History of MMS from technical viewpoints in order to track the past but also to look at future developments in MMS. The HMM Symposium Series is devoted to the technical aspects of historical develo- pments and therefore it has been addressed mainly to the IFToMM Community. In fact, most the authors of the contributed papers are experts in MMS and related topics. This year HMM Symposium came back to Cassino, after the challenging first event in 2000. The HMM2004 International Symposium on History of Machines and Mechanisms was held at the University of Cassino, Italy, from 12 to 15 May 2004. These Proceedings contain 29 papers by authors from all around the world. These papers cover the wide field of the History of Mechanical Engineering and particularly the History of MMS. The contributions address mainly technical aspects of historical developments of Machines and Mechanisms. History of IFToMM, the International Federation for the Promotion of Mechanism and Machine Science is also outlined through the historical activities of some of its Commissions. Original sources of technical achievements and works are referenced in the papers so that these Proceedings can be also considered a kind of handbook on History of Machines and Mechanisms. This book is of interest to researchers, graduate students and engineers specializing or addressing attention to History of Science and Technology, and particularly on History of MMS. The figure of the cover has been extracted from the Table of the millstone work for modern TMM (now renamed as MMS because of the enlargement of the discipline): Lanz J.M. and Betancourt A., 1808, "Essai sur la composition des machines", Paris. The cover of the Proceedings of HMM2000 was selected from the book: Allievi L, 1895, “Cinematica della biella piana”, Regia Tipografia Francesco Giannini & Figli, Napoli. For HMM2000 the figure was selected as a figure giving the idea of man walking ahead from the past by using an old scheme of kinematic properties of a mechanism that are still of great interest. In the case of the figure for the cover of the Proceedings of HMM2004 the table with several mechanisms has been selected to attract people with the richness of mechanism designs from the past that are still of current practical interest. I believe that a reader will take advantage of the papers in these Proceedings with further satisfaction and motivation for her or his work (historical or not). I would like to express my grateful thanks to the members of the International Organizing Committee of the Symposium: prof. Alexander Golovin (Russia), prof. Teun Koetsier (The Netherlands), prof. Carlos Lopez-Cajùn (Mexico), prof. Jammi S. Rao (India), prof. Junichi Takeno (Japan), prof. Lu Zhen (China-Beijing), prof. Hong- Sen Yan (China-Taipei) and to the members of the IFToMM Commission for History of MMS for co-operating enthusiastically for the success of the HMM initiative. I am grateful to the authors of the articles for their valuable contributions and for preparing their manuscripts on time, and to the reviewers for the time and effort they spent ix x evaluating the papers. I would like to thank the sponsors of the Symposium: IFToMM and the University of Cassino, as well as my colleagues and assistants Dr Erika Ottaviano and Dr Giuseppe Carbone at the University of Cassino for their help. I am grateful to my wife Brunella, my daughters Elisa and Sofia, and my young son Raffaele. Without their patience and comprehension it would not have been possible for me to organise HMM2004 International Symposium on History of Machines and Mechanisms. Cassino, May 2004 Marco Ceccarelli Chairman for The International Symposium on History of Machines and Mechanisms LIST of Contributors Prof. Marco Ceccarelli (Chairman of the IFToMM Permanent Commission for History of MMS) LARM: Laboratory of Robotics e Mechatronics DiMSAT, University of Cassino Via Di Biasio 43, 03043 Cassino (Fr) Italy Phone +39-0776-2993663 Fax +39-0776-2993711 email: [email protected] http://webuser.unicas.it/weblarm/larmindex.html Prof. Vigen Arakelian Department of Mechanics and Automatics Institut National des Sciences Appliquées (INSA) 20 avenue des Buttes de Coësmes - CS 14315 F-35043 Rennes Cedex France Fax: + (33) 02 23 23 86 22 e-mail: [email protected] INSA webpage : http://www.insa-rennes.fr/ Dr. Abdouslam Bashir School of Mechanical & Systems Engineering, Stephenson Building, University of Newcastle upon Tyne, NE1 7RU, Newcastle upon Tyne, NE1 7RU UK Prof. Emilio Bautista Paz Laboratory of Machines & Mechanisms Universidad Politécnica de Madrid C/ José Gutierrez Abascal, 2 E-28006 Madrid Spain Phone +34-9133643119 Fax +34-913363118 email: [email protected] xi
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