New Trends in Mechanism and Machine Science: Theory and Industrial Applications PDF
Preview New Trends in Mechanism and Machine Science: Theory and Industrial Applications
Mechanisms and Machine Science 43 Philippe Wenger Paulo Flores Editors New Trends in Mechanism and Machine Science Theory and Industrial Applications Mechanisms and Machine Science Volume 43 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 [email protected] More information about this series at http://www.springer.com/series/8779 ⋅ Philippe Wenger Paulo Flores Editors New Trends in Mechanism and Machine Science Theory and Industrial Applications 123 Editors Philippe Wenger PauloFlores CNRS University of Minho EcoleCentrale deNantes Guimarães Nantes Portugal France ISSN 2211-0984 ISSN 2211-0992 (electronic) Mechanisms andMachineScience ISBN978-3-319-44155-9 ISBN978-3-319-44156-6 (eBook) DOI 10.1007/978-3-319-44156-6 LibraryofCongressControlNumber:2016947475 ©SpringerInternationalPublishingSwitzerland2017 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 TheregisteredcompanyisSpringerInternationalPublishingAGSwitzerland Preface EUCOMES 2016 is the sixth event in a series that was started in 2006 under the patronageofInternationalFederationforthePromotionofMechanismandMachine Science (IFToMM). The aim of the conference is to bring together European researchers,industryprofessionals,andstudentsfromthebroadrangeofdisciplines referring to mechanism science, in an intimate, collegial, and stimulating environment. The first edition of EUCOMES was held in February 2006 in Obergurgl (Austria) and has continued subsequently in Cassino (Italy) in September 2008, Cluj-Napoca(Romania)inSeptember2010,Santander(Spain)inSeptember2012, and Guimarães (Portugal) in September 2014. The 2016 edition takes place in Nantes, France, from 20 to 23 September 2016. This book compiles the most recent research results in mechanism science, intended to reinforce and improve mechanical systems in a variety of applications indailylifeandindustry.ItispublishedundertheMachineandMechanismScience seriesandaddressesissuesrelatedto:mechanismdesignansynthesis,mechanicsof robots, mechanism analysis, parallel manipulators, tensegrity mechanisms, cable mechanisms, control issues, history of mechanisms, mechanisms for biomechanics and surgery, and Industrial and nonindustrial applications. This book offers a valuable addition to existing literature. We are grateful to IFToMM, CNRS, Ecole Centrale de Nantes, Région-Pays- de-la-Loire,andAtlanstic,whichhavesupportedEUCOMES2016.Weexpressour grateful thanks to the staff of IRCCyN who helped in the organization of the conference and to the members of the scientific committee for their valuable support. We also want to express our gratitude to all the authors for their interest in participating in EUCOMES 2016 and for writing their manuscripts in a timely manner. v vi Preface We thank all anonymous and volunteer reviewers for their outstanding work, which allowed the authors to get valuable feedback, and the Conference Springer Book to be published as scheduled. Nantes Philippe Wenger Guimarães Paulo Flores June 2016 Contents Part I Mechanics of Robots 1 Calculation of the Ball Raceway Interferences Due to Manufacturing Errors and Their Influence on the Friction Moment in Four-Contact-Point Slewing Bearings. .... .... .... .... ..... .... 3 Iker Heras, Josu Aguirrebeitia and Mikel Abasolo Meshing Analysis for TA Worm Drive .. .... .... .... .... ..... .... 13 Yaping Zhao Trade-Offfor Space Mechanisms Actuator Technology via a General Purpose Language and Domain Specific Simulations Framework ... .... .... .... ..... .... .... .... .... .... ..... .... 21 Manolo Omiciuolo, Kristin Paetzold, Matthias Baader, Markus Thiel and Klaus Peter Förster Tolerance Analysis of Planar Serial Manipulators with Decoupled and Non-decoupled Dynamics ..... .... .... .... .... .... ..... .... 29 Jiali Xu, Jean-Paul Le Baron and Vigen Arakelian Part II Mechanism Analysis 1 Coupler-Link Mobility Analysis of Planar Four-Bar Linkages .... .... 41 Shaoping Bai On the Dynamic Equivalence of Planar Mechanisms, an Inertia Decomposition Method .. .... .... .... .... .... ..... .... 51 Jan de Jong, Johannes van Dijk and Just Herder Determination of a Rigid Body Orientation by Means of Indirect Measurements. .... .... .... ..... .... .... .... .... .... ..... .... 61 Irina Gavrilovich, Sébastien Krut, Marc Gouttefarde and François Pierrot vii viii Contents Algebraic Analysis of a New Variable-DOF 7R Mechanism . ..... .... 71 Martin Pfurner and Xianwen Kong Overconstrained Single Loop Four Link Mechanisms with Revolute and Prismatic Joints. .... .... .... .... .... ..... .... 81 Martin Pfurner, Thomas Stigger and Manfred L. Husty Part III Parallel Manipulators 1 Planar Stewart Gough Platforms with Quadratic Singularity Surface. .... .... ..... .... .... .... .... .... ..... .... 93 Bernd Aigner and Georg Nawratil Forward Kinematic Analysis of the 3-RPRS Parallel Manipulator. .... 103 Anirban Nag, Santhakumar Mohan and Sandipan Bandyopadhyay Computing the Safe Working Zone of a 3-RRS Parallel Manipulator.... .... ..... .... .... .... .... .... ..... .... 113 Dhruvesh Patel, Rohit Kalla, Halil Tetik, Gökhan Kiper and Sandipan Bandyopadhyay Comparison of 3-RPS and 3-SPR Parallel Manipulators Based on Their Maximum Inscribed Singularity-Free Circle ..... .... 121 Abhilash Nayak, Latifah Nurahmi, Philippe Wenger and Stéphane Caro On the Workspace Representation and Determination of Spherical Parallel Robotic Manipulators..... .... .... .... .... .... ..... .... 131 Khaled Arrouk, Belhassen-Chedli Bouzgarrou and Grigore Gogu Part IV Tensegrity Mechanisms Compliant Gripper Based on a Multistable Tensegrity Structure.. .... 143 S. Sumi, V. Böhm, F. Schale and K. Zimmermann Compliant Multistable Tensegrity Structures with Simple Topologies.. .... ..... .... .... .... .... .... ..... .... 153 Valter Böhm, Susanne Sumi, Tobias Kaufhold and Klaus Zimmermann TowardstheControlofTensegrityMechanismsforVariableStiffness Applications: A Case Study .. ..... .... .... .... .... .... ..... .... 163 Quentin Boehler, Salih Abdelaziz, Marc Vedrines, Philippe Poignet and Pierre Renaud Kinematic Analysis of a Continuum Parallel Robot.... .... ..... .... 173 Oscar Altuzarra, Mikel Diez, Javier Corral, Gennaro Teoli and Marco Ceccarelli Contents ix Part V Mechanics of Robots 2 3D Formulation for Revolute Clearance Joints.... .... .... ..... .... 183 Filipe Marques, Fernando Isaac, Nuno Dourado and Paulo Flores Efficiency Assessment in Spur Gears with Shifting and Profile Modifications .... ..... .... .... .... .... .... ..... .... 193 Alberto Diez-Ibarbia, Alfonso Fernandez-del-Rincon, Miguel Iglesias, Ana De-Juan, Pablo Garcia and Fernando Viadero Motion Design Considering Moment of Inertia.... .... .... ..... .... 203 Sören Schulze, Carsten Teichgräber and Maik Berger Recent Developments on Cylindrical Contact Force Models with Realistic Properties. .... ..... .... .... .... .... .... ..... .... 211 Fernando Isaac, Filipe Marques, Nuno Dourado and Paulo Flores On the Determination of the Meshing Stiffness and the Load Sharing of Spur Gears ... .... .... .... .... ..... .... 221 José I. Pedrero, Miguel Pleguezuelos and Miryam B. Sánchez Part VI Industrial and Non-industrial Applications 1 WinMecC: Software for the Analysis and Synthesis of Planar Mechanisms... .... .... .... ..... .... .... .... .... .... ..... .... 233 Alex Bataller, Antonio Ortiz, Juan Antonio Cabrera and Fernando Nadal Manipulator Motion Planning in Redundant Robotic System for Fiber Placement Process.. ..... .... .... .... .... .... ..... .... 243 Jiuchun Gao, Anatol Pashkevich and Stéphane Caro Free and Open Source Software Applications for Education of TMM Discipline in Bauman University ... .... .... .... ..... .... 253 Andrei Vukolov A Novel One-DoF Gravity Balancer Based on Cardan Gear Mechanism.... .... .... .... ..... .... .... .... .... .... ..... .... 261 Yu-Chun Hung and Chin-Hsing Kuo Galvanometer Laser Scanning: Custom-Made Input Signals for Maximum Duty Cycles in High-End Imaging Applications.... .... 269 Virgil-Florin Duma Part VII Control Issues Optimal Motion of Flexible Objects with Oscillations Elimination at the Final Point .. .... .... ..... .... .... .... .... .... ..... .... 281 Natalia Varminska and Damien Chablat
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