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 (R PDF
Preview 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 (R
Mechanisms 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 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission orinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar methodologynowknownorhereafterdeveloped. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfrom therelevantprotectivelawsandregulationsandthereforefreeforgeneraluse. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authorsortheeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinor foranyerrorsoromissionsthatmayhavebeenmade. Printedonacid-freepaper ThisSpringerimprintispublishedbySpringerNature TheregisteredcompanyisSpringerInternationalPublishingAG Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland 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
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