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Mechanism and Machine Theory 1991: Vol 26 Table of Contents PDF

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MECHANISM AnD MACHINE THEORY Dynamics of Machine Systems Gears and Power Transmissions Robots and Manipulator Systems Computer-aided Design Methods List of Contents and Author Index Volume 26, 1991 © PERGAMON PRESS OXFORD « NEW YORK e SEOUL « TOKYO MECHANISM AND MACHINE THEORY The scientific journal of IFToMM The International Federation for the Theory of Machines and Mechanisms EDITOR-IN-CHIEF HONORARY EDITORIAL ADVISORY BOARD Professor T. E. Shoup Dr R. S. Berkof, Swarthmore, Pa, USA Dean of Engineering and Sobrato Professor of Professor G. Bianchi, Milan, Italy Engineering, Santa Clara University, Professor Dr O. Bottema, Delft, The Netherlands Dr S. Deutsch, Washington, D.C., USA Santa Clara, CA 95053, USA Professor Dr-ing. B. Dizioglu, Braunschweig, Fed. Rep. Germany Professor S. Dubowsky, Cambridge, Mass., USA EDITORS Professor A. G. Erdman, Minneapolis, Minn., USA Herausgeber fur alle Beitrage in deutscher Sprache: Professor F. Freudenstein, New York, N.Y., USA Professor Dr-ing.habil. J. Volmer Dr-ing. K. Hain, Braunschweig, Fed. Rep. Germany Technische Universitat, Postfach 964, D 09010 Chemnitz, Fed. Rep. Professor R. S. Hartenberg, Evanston. Ill., USA Germany Professor K. H. Hunt, Clayton, Victoria, Australia Dr J. Ishikawa, Yokohama, Japan Rédacteur pour toutes les oeuvres écrites en langue francaise: Professor |. Kato, Tokyo, Japan Dr L. Cloutier Professor Dr F. L. Litvin, Chicago, Ill, USA Faculty of Science and Engineering, Université Laval, Québec, Professor Dr D. J. Mangeron, lasi, Romania Canada G1K 7P4 Professor Dr N. |. Manolescu, Bucharest, Romania Russian Janguage editor: Professor L. Maunder, Newcastle upon Tyne, England Mr S. Mollian, Olney, Bucks., England Professor P. A. Lebedev Professor Dr A. Morecki, Warsaw, Poland Postbox 16, 199178 Leningrad, USSR Professor Dr J. Oderfeld, Warsaw, Poland Editor for book reviews, |FToMM newssheets and feature articles: Dr E. Peizer, New York, N.Y., USA Professor A. Midha Professor Jack Phillips, Sydney, Australia Dr J. M. Prentis, Cambridge, England School of Mechanical Engineering, Purdue University, Professor J. S. Rao, New Delhi, India 308 Mechanical Engineering Building, West Lafayette, Professor G. N. Sandor, Gainesville, Fla, USA IN 47907, USA Professor D. S. Tavkhelidze, Tbilisi, Georgia, USSR Editor for papers on dynamics of machine systems: Dr M. A. Tolcott, Arlington, Va, USA Professor J. P. Sadler Professor R. Tomovié, Belgrade, Yugoslavia Department of Mechanical Engineering, University of Kentucky, Professor John J. Uicker Jr, Madison, Wis., USA Lexington, KY 40506-0046, USA Professor H. J. Warnecke, Stuttgart, Fed. Rep. Germany Mr E. J. Wellauer, Milwaukee, Wis., USA Editor for papers on manipulators, robotics and man-—machine Professor Dr W. Wunderlich, Vienna, Austria systems: Professor G. V. Tordion, Québec, Canada Dr E. Heer 5329 Crown Avenue, La Canada, CA 91011, USA Editor for papers on computer-aided design and optimization: IFTOMM EXECUTIVE COUNCIL Professor D. Riley President: Professor G. Bianchi, Italy Department of Mechanical Engineering, University of Minnesota, Vice-President: Professor G. Bégelsack, Fed. Rep. Germany 111 Church Street S. E., Minneapolis, MN 55455, USA Secretary General: Dr L. Past, CSSR Treasurer: Dr J. N. Fawcett, England Councillors: Professor G. Dittrich, Fed. Rep. Germany EDITOR EMERITUS Professor K. V. Frolov, USSR Professor F. R. E. Crossley, Bradford, Conn., USA Professor T. Hayashi, Japan Professor J. S. Rao, India Professor A. Seireg, USA ASSOCIATE EDITORS Professor J. Nieto, Spain Professor B. Roth, Stanford, Calif., USA Professor A. T. Yang, Davis, Calif, USA Past-President (ex off.) Professor B. Roth, USA Publishing Office: Pergamon Press pic, Pergamon House, Bampfylide Street, exclusive rights to reproduce and distribute the article, including reprints, photo- Exeter EX1 2AH, England [T7e/. Exeter (0392) 51558; Fax 425370] graphic reprod: of or any other reproductions of similar nature and translations. No part of thisp hii may be reproduced, stored in a retrieval Subscription and Advertising Offices: North America: Pergamon Press Inc., system or transmitted in any form or by any means, electronic, electrostatic, 395 Saw Mill River Road, Elmsford, NY 10523, USA. Rest of the world: re] tape, h H pying, recording or otherwise, without Press pic, Headington Hill Hall, Oxford OX3 OBW, England [7e/. (0865) permission in writing from the ‘copyrii ght holder. 794141; Fax 60285] Whilst every effort ism ade by the publishers and editorial board to see that no DP ahli ion Freq y: 7 issues/annum ir or g@ data, opinion or statement appears in this journal, they wish to make it clear that the data and opinions appearing in the articles and Subscription Rates: Annual institutional subscription rate (1992): £350.00 advertisements herein are the sole y of the ib or ad (US$560.00). Two-year institutional rate (1992/93): £655.00 (US$1064.00). concerned. A dingly, the publish the editorial board and editors and their Sterling prices are definitive. US dollar prices are quoted for convenience only, and respective employees, officers and agents accept no responsibility or liability are subject to exchange rate fluctuation. Prices include postage and insurance and wh for the q of any such ir or i g data, are subject to change without notice. Subscription rates for Japan are available on opinion or statement. request. Members of the U.S. Council for the Theory of Machines and Mechanisms may order personal subscriptions at a concessional rate Photocopying information for users in the USA r aBnadc k on Ismsiucerso:f orBma,c k aries suaevsa iloafb lael l dpirreevcito ufsrloym puPbelrigsahmeod n voPlruemsess ,o ffiinc esb.o th hard copy Titheem s itfeorm -ifnetee rnCalo deor pfeorr stohniasl puusbel iics agtriaonnti ed by the cthoapty rightau thohriozlatdioen r fort oli brph aries and other users registered with the Copyright Clearance Center (CCC) Transactional Copyright © 1991 Pergamon Press pic Reporting Service provided the stated fee for copying beyond that permitted by Section 107 or 108 of the United States Copyright Law is paid. The appropriate Itisa d bi that ipts d to thisj ournal have not remittance of $3.00 per copy per article is paid directly to the Copyright Clearance been published = will not be I ly submitted or p Center Inc., 27 Congress Street, Salem, MA 01970, USA. The copyright owner's By submitting a manuscript, the authors agree that the copyright for their article is consent does not extend to copying for general distribution for pi , for transferred to the publisher if and when the article is pted for publi creating new works, or for resale. Specific writtenp 1 must be obtained from However, assignment of copyright is not required from authors who work for the publisher for such copying. organizations which do not permit such assignment. The copyright covers the The Item-fee Code for this publication is: 0094-114X/91 $3.00 + 0.00. ©The paper used in this publication meets the minimum requirements of American National Standard for Information Sciences— Permanence of Paper for Printed Library Materials, ANSI Z239.48-1984. List of Contents NUMBER 1 J. Eddie Baker The group of generalized star-point eight-bar plane linkages J. M. Prentis The pole triangle, Burmester theory and order and branching problems—I!. The order problem J. M. Prentis The pole triangle, Burmester theory and order and branching problems—l!. The branching problem J. Kieffer and F. L. Litvin Local parametric representation of displacement functions for linkages and manipulators A. C. Rao and D. Varada Raju Application of the Hamming number technique to detect isomorphism among kinematic chains and inversions Jean-Pierre Merlet et Nouvelle architecture pour un manipulateur paralléle Clément Gosselin a six degrés de liberté Charles Wampler and Solving the 6A inverse position problem using a Alexander Morgan generic-case solution methodology P. Minotti Découplage dynamique des manipulateurs: prop- ositions de solutions mécaniques Software Survey Section New Patents NUMBER 2 B. Weyh and H. Kostyra Direct Floquet method for stability limits determi- nation—l. Theory H. Kostyra and B. Weyh Direct Floquet method for stability limits determi- nation—ll. Application and phenomena Chung-Biau Tsay and Computer simulation and stress analysis of helical Z. H. Fong gears with pinion circular arc teeth and gear involute teeth G. J. Walsh, D. A. Streit Spatial spring equilibrator theory and B. J. Gilmore Adel K. Al-Sabeeh Irregular gears for cyclic speed variation D. McCloy The power consumption of mechanical legs Gao Feng Complete shaking force and shaking moment balancing of 17 types of eight-bar linkages only with revolute pairs K. Kim and M. K. Kim Volumetric accuracy analysis based on generalized geometric error model in multi-axis machine tools Miroslaw Galicki A closed solution to the inverse kinematics of redun- dant manipulators M. O. M. Osman, Kinematic analysis of robot’s manipulators using B. M. Bahgat and consecutive analysis of train components R. V. Dukkipati Book Review T. E. Shoup Design of Devices and Systems, 2nd edn. By William H. Middendorf Software Survey Section New Patents NUMBER 3 F. W. Liou, Dynamic analysis of a motor-gear-mechanism system Arthur G. Erdman and C. S. Lin L. J. Cveticanin The oscillations of a textile machine rotor on which the textile is wound up M. T. Pietola and Sensitivity of a position servo system to variations in M. J. Vilenius the constructive parameters in transient and steady state I. S. Kochev Contribution to the theory of torque, shaking force and shaking moment balancing of planar linkages I. S. Kochev Optimum balancing of a class of multiioop linkages by function cognate transformations Parveen Kaira and Accurate modelling of flexible manipulators using Anand M. Sharan finite element analysis Jorge Angeles Die theoretischen Grundlagen zur Behandlung algebraischer Singularitaten der kinematischen Koordinatenumkehr in der Robotertechnik B. Benhabib, E. Tabarah, Robot performance optimization under specified R. Cohen and dynamic conditions R. G. Fenton Niu Ming Qi and Optimum balancing of four-bar linkages. A refined E. Pennestri algorithm Book Reviews T. E. Shoup Machine Learning—Paradigms and Methods. Edited by Jaime Carbonell L. A. Sanchez Introduction to Theoretical Kinematics. By J. M. McCarthy Software Survey Section New Patents NUMBER 4 Hyunsoo Kim, Friction characteristics for concentrated load area in a Hyoweon Ahn and flat belt drive Kurt M. Marshek Stelios C. A. Thomopoulos An iterative solution to the inverse kinematics of and Ricky Y. J. Tam robotic manipulators Ray P. S. Han, Kinematics and kinetics of a non-circular bicycle drive M. A. Thomlinson system and Y. S. Tu T. M. Abdel-Rahman and Synthesis and dynamics of statically balanced direct- M. A. Elbestawi drive manipulators with decoupled inertia tensors M. Giordano Analyse géométrique des mécanismes a l'aide d’angles d’Euler duaux Harry H. Denman Exact solution for the rigid slider-crank mechanism with gas pressure S. Turgut Timer Nondimensional analysis of jump phenomenon in and Y. Samim Unliisoy force-closed cam mechanisms Book Reviews E. J. Fisher Computer-assisted Mechanical Design (1st edn). By J. Ed Akin T. G. Yip Packaging of Electronic Systems—A Mechanical Engineering Approach. By James W. Dally T. E. Shoup Proceedings of the Xth IFAC World Congress, Munich, F.R.G., 27-31 July, 1987. Edited by R. lsermann Software Survey Section New Patents NUMBER 5 TERMINOLOGY FOR THE THEORY OF MACHINES AND MECHANISMS TERMINOLOGIE POUR LA THEORIE DES MACHINES ET DES MECANISMES TERMINOLOGIE FUR DIE THEORIE DER MASCHINEN UND MECHANISMEN TEPMUHOJSIOFUA MO TEOPUN MALUNH VU MEXAHU3MOB Preface IFToMM Commission A 1. STRUCTURE OF MACHINES AND MECHANISMS STRUCTURE DES MACHINES ET MECANISMES STRUKTUR VON MASCHINEN UND MECHANISMEN CTPYKTYPA MALUUH VW MEXAHU3MOB 1.1 Components Composants Bauelemente KOMNOHEHTbI Sub-assemblies Sous-ensembles mécaniques Baugruppen C6opxpie y3nb! Mechanisms Mécanismes Mechanismen und Getriebe MexaHu3mb!i 2. KINEMATICS CINEMATIQUE KINEMATIK KUHEMATUKA 2.1 General Généralités Allgemeines O6uwe TepmuHbI 2.2 Motion (Quantities, States) Mouvement (Grandeurs, Etats) Bewegung (Gréfsen, Zustande) AsuKenne (Benuyunbi, coctonHua) 2.3 Kinematic geometry Géomeétrie cinématique Bewegungsgeometrie KvHemMaTuyeckan reOmMeTpUA 3. DYNAMICS DYNAMIQUE DYNAMIK JQVHAMMKA 3.1 General Généralités Allgemeines O6uwme NOHATUA Force and moment Force et moment Kraft und Moment Cuna v MOMeHT Momentum, energy, work and power Quantité de mouvement, énergie, travail et puissance Impuls, Energie, Arbeit und Leistung Konuyectso ABYy>KeHuA, SHEPrMA, PabOTA MW MOLHOCTb Principles Principes Prinzipien Npuvxuyuno! Structural behaviour and characteristics Caractéristiques du comportement des structures Strukturelle Eigenschaften und Merkmale CTpykTypHbie nosegeHve uv xapakTepucTuKn Structural concepts Concepts de structure Struktyrelle Konzepte CTpykTypHbie KOHYeNuMu Dynamical concepts Concepts dynamiques Dynamische Konzepte Mvvamuyeckve KoHUenunn Dynamical systems and characteristics Systemes dynamiques et caractéristiques Dynamische Systeme und Charakteristika Avvamuyeckve CucTembI VW XapaKTEPUCTMKH Vibrations Vibrations Schwingungen Kone6aHua 4. MACHINE CONTROL AND MEASUREMENTS COMMANDE DE SYSTEMES ET MESURES STEUERUNG VON MASCHINEN UND MESSTECHNIK YNPABNEHME MALUMH VU U3MEPEHMA 4.1 Signals and Functions Signaux et Fonctions Signale und Funktionen Curvanb! C(yHKUMOHaNbHbIxX HaSHAYeHUA Accuracy and Errors Exactitude et Erreurs Genauigkeit und Fehler TOUHOCTb MW NOFPEWHOCTb Devices and Components Dispositifs et Composants Ausrustungen und Baulemente YcTpOMCTBa VU KOMNOHEHTbI 5. ROBOTICS ROBOTIQUE ROBOTERTECHNIK POBOTOTEXHUKA 5.1 Systems Systémes Systeme Cuctemp! Components Constituants Baugruppen KOMNOHEHTBI Motion Mouvement Bewegung AsyuxeHne Control Commande Steuerung Cuctemb! Miscellaneous Divers Verschiedenes Pa3Hoe . APPENDIX: GENERAL TERMS USED IN TMM APPENDIX: TERMES GENERAUX UTILISES EN TMM ANHANG: IN DER TMM HAUFIG GEBRAUCHTE ALLGEMEINE BEGRIFFE NPUNOMKEHME: OBLME TEPMUHbI MCNOb3YEMbIE B TMM INDEX—ENGLISH INDEX—FRANCAIS REGISTER AN@ABMTHbIN YKA3ATENb TEPMUHOB

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