This book collects the most recent advances in mechanism science and machine theory with application to engineering. It contains selected peer-reviewed papers of the sixth International Conference on Mechanism Science, held in Nantes, France, 20-23 September 2016, covering topics on mechanism design and synthesis, mechanics of robots, mechanism analysis, parallel manipulators, tensegrity mechanisms, cable mechanisms, control issues in mechanical systems, history of mechanisms, mechanisms for biomechanics and surgery and industrial and nonindustrial applications.
Inhoudsopgave
Preface.- 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, by Iker Heras, Josu Aguirrebeitia and Mikel Abasolo.- Meshing Analysis for TA Worm Drive, by Yaping Zhao.- Trade-Off for Space Mechanisms Actuator Technology via a General Purpose Language and Domain Specific Simulations Framework, by Manolo Omiciuolo, Kristin Paetzold, Matthias Baader, Markus Thiels and Klaus Peter Foerster.- Tolerance Analysis of Serial Manipulators with Decoupled and Non-decoupled Dynamics, by Jiali Xu, Jean-Paul Le Baron and Vigen Arakelian.- Mechanism Analysis 1.- Mobility analysis of coupler-driven planar four-bar linkages, by Shaoping Bai.- On the dynamic equivalence of planar mechanisms, an inertia decomposition method, by Jan De Jong, Johannes Van Dijk and Just Herder.- Determination of a Rigid Body Orientation by Means of Indirect Measurements, by Irina Gavrilovich, Sébastien Krut, Marc Gouttefarde and François Pierrot .- Algebraic Analysis of a New Variable-DOF 7R Mechanism, by Martin Pfurner and Xianwen Kong.- Overconstrained Single Loop Four Link Mechanisms with Revolute and Prismatic Joints, by Martin Pfurner, Thomas Stigger and Manfred L. Husty.- Parallel manipulators 1.- Planar Stewart Gough platforms with quadratic singularity surface, by Bernd Aigner and Georg Nawratil.- Forward Kinematic Analysis of the 3-RPRS Parallel Manipulator, by Anirban Nag, Santhakumar Mohan and Sandipan Bandyopadhyay.- Computing the safe working zone of a 3-RRS parallel manipulator, by Dhruvesh Patel, Rohit Kalla, Sandipan Bandyopadhyay and Gökhan Kiper.- Comparison of 3-RPS and 3-SPR Parallel Manipulators based on Kinematic Performance, by Abhilash Nayak, Latifah Nurahmi, Philippe Wenger and Stéphane Caro.- On the workspace representation and determination of spherical parallel robotic manipulators, by Khaled Arrouk, Belhassen-Chedli Bouzgarrou and Grigore Gogu.- Tensegrity mechanisms.- Compliant Gripper Based on a Multistable Tensegrity Structure, by Susanne Sumi, Valter Böhm, Florian Schale and Klaus Zimmermann.- Compliant Multistable Tensegrity Structures with Simple Topologies, by Valter Böhm, Susanne Sumi, Tobias Kaufhold and Klaus Zimmermann.- Toward the control of tensegrity mechanisms for variable stiffness applications: a case study, by Quentin Boehler, Salih Abdelaziz, Marc Vedrines, Philippe Poignet and Pierre Renaud .- Kinematic Analysis of a Continuum Parallel Robot, by Oscar Altuzarra, Mikel Diez, Javier Corral, Gennaro Teoli and Marco Ceccarelli.- Mechanics of robots 2.- A New Formulation for Spatial Revolute Joints with Clearance, by Filipe Marques, Fernando Isaac, Nuno Dourado and Paulo Flores.- Efficiency Assessment in Spur Gears with Shifting and Profile Modifications, by Alberto Diez-Ibarbia, Alfonso Fernandez-Del-Rincon, Miguel Iglesias, Ana De-Juan, Pablo Garcia and Fernando Viadero.- Motion design considering moment of inertia, by Sören Schulze, Carsten Teichgräber and Maik Berger.- Recent Developments on Cylindrical Contact Force Models with Realistic Properties, by Fernando Isaac, Filipe Marques, Nuno Dourado and Paulo Flores.- On the Determination of the Meshing Stiffness and the Load Sharing of Spur Gears, by José I. Pedrero, Miguel Pleguezuelos and Miryam B. Sánchez.- Industrial and non-industrial applications 1.- Winmecc: Software for the Analysis of Planar Mechanisms, by Antonio Ortiz, Juan Antonio Cabrera, Fernando Nadal and Alex Bataller.- Manipulator Motion Planning in Redundant Robotic System for Fiber Placement Process, by Jiuchun Gao, Anatol Pashkevich and Stéphane Caro.- Free and Open Source Software Applications for Education of TMM Discipline in Bauman University, by
Andrei Vukolov.- A Novel One-Do F Gravity Balancer Based on Cardan Gear Mechanism, by Yu-Chun Hung and Chin-Hsing Kuo.- Galvanometer laser scanning: Custom-made input signals for maximum duty cycles in high-end imaging applications, by Virgil-Florin Duma.- Control issues.- Optimal Motion of Flexible Objects with Oscillations Elimination at the Stop Point, by Natalia Varminska and Damien Chablat.- Alternating Error Effects on Decomposition Method in Function Generation Synthesis, by Omar W Maaroof, Mehmet İsmet Can Dede and Gökhan Kiper.- Control-based Design of a Five-bar Mechanism, by Lila Kaci, Sébastien Briot, Clément Boudaud and Philippe Martinet.- History of mechanisms.- F. Reuleaux, F. Wittenbauer: their Influence on Evolution of Applied Mechanics in Russia at the Beginnings of XXth century, by Andrei Vukolov.- Applying Modern CAD Systems to Reconstruction of Old Design, by Gennadiy Timofeev, Olga Egorova and Ilya Grigorev.- Cable mechanisms.- Increase of Position Accuracy for Cable-Driven Parallel Robots using a Model for Elongation of Plastic Fiber Ropes, by Valentin Schmidt and Andreas Pott.- Pose-Independent Counterweighting of Cable-Suspended Payloads with Application to Rehabilitation, by Carl Nelson, Raphaël Thienpont and Ashish Shinde.- Preliminaries of a new approach for the direct kinematics of suspended cable-driven parallel robot with deformable cables, by Jean-Pierre Merlet.- Static Analysis of Planar 3-DOF Cable-Suspended Parallel Robots Carrying a Serial Manipulator, by Marc Gouttefarde.- Mechanism design and synthesis 1.- Structural synthesis, Mobility Analysis and Creation of Complete Atlas of Multiloop Planar Multiple-jointed Kinematic Chains on Base All Possible Sets of Color Multiple Joints for Industrial Applications, by Ekaterina Ermoshina and Vladimir Pozhbelko.- Design and Development of a Triggered Type Underactuated Grasping Mechanism and its Application to an Experimental Test Bed, by Steven Grech and Michael Saliba.- Solving the minimum distance problem for the synthesis of mechanisms, by Igor Fernandez de Bustos, Vaness García Marina and Gorka Urkullu.- Mobile Robot with Multiple Modes Based on 4-URU Parallel Mechanism, by Zhihuai Miao, Jieyu Wang and Bing Li.- Mechanisms for biomechanics and surgery.- An experimental characterization of human knee joint motion capabilities, by Michał Olinski, Marco Ceccarelli, Daniele Cafolla and Antoni Gronowicz.- An Innovative Parallel Robotic System for Transperineal Prostate Biopsy, by Bogdan Gherman, Nicolae Plitea and Doina Pisla.- A 2PRP-2PPR planar parallel Manipulator for the purpose of Lower Limb Rehabilitation, by Jayant Mohanta and Santhakumar Mohan.- Singularity Analysis of a Wall-mounted Parallel Robot with SCARA Motions Lower Limb Exoskeleton with Hybrid Pneumaticaly Assisted Electric Drive for Neuroreabilitation, by Anton Aliseychik, Elena Kolesnichenko, Victor Glazunov, Igor Orlov, Vladimir Pavlovsky and Natalia Petrovskaya.- Mechanism design and synthesis 2.- An Adjustable Constant Force Mechanism Using Pin Joints and Springs, by Patrice Lambert and Just L. Herder.- Synthesis and optimisation of large stroke flexure hinges, by Martijn Grootens, Ronald Aarts and Dannis Brouwer.- On the grand 4R four-bar based inherently balanced linkage architecture, by Volkert van der Wijk.- Mechanism Analysis 2.- A Workspace Analysis of 4R Manipulators Via Level-Set Formulation, by Matteo Russo and Marco Ceccarelli.- A constructive method for the approximation of the multiple inverse kinematics solutions of noncuspidal 6 Do F manipulators, by Vassilis Moulianitis, Dimitrios Vogiatzief and Nikos Aspragathos.- Single-loop Foldable 8R Mechanisms with Multiple Modes, by Jieyu Wang, Guochao Bai and Xianwen Kong.- Calibration of TCP-fixed bevel units, by Carsten Teichgräber, Maik Berger and Jörg Müglitz.- Industrial and non-industrial applications 2.- Mechanism Type Synthesis Approach for Automated Handling and Multiaxial Draping of Reinforcing Textiles, by Jan Brinker, Jascha Paris, Mario Müller, Mathias Hüsing and Burkhard Corves.- Design of a Reciprocal Hip Mechanism with Adjustable Flexion-Extension Coupling Ratios for Prosthetic Applications, by Kuan-Han Chen and Jyh-Jone Lee.- Wind turbine based on antiparallel link mechanism, by Marat Dosaev, Lyubov Klimina and Yury Selyutskiy.- Model and analysis of a novel piezo-electric rotational motor based on deformation wave precession, by Marco Leonesio, Nicola Cau, Giacomo Bianchi and Paolo Bonfiglio.- Estimating characteristics of a contact between sensing element of medical robot and soft tissue, by Anastasya Yakovenko, Irina Goryacheva and Marat Dosaev.- Parallel manipulators 2.- A coordinate-free dynamical model for cable-driven parallel robots, by Georges Le Vey.- Path Generation Synthesis of Planar Double-Slider Linkages via the Elliptic Coupler Curve, by Gökhan Kiper, Almina Akbalçık and Zehra Betül Şen.- A Controller for Avoiding Dynamic Model Degeneracy of Parallel Robots during Type 2 Singularity Crossing, by Damien Six, Sébastien Briot, Abdelhamid Chriette and Philippe Martinet.- Singularity Analysis of a Wall-mounted Parallel Robot with SCARA Motions, by Guanglei Wu and Shaoping Bai.- Design of a Cable-Driven Four-Bar Mechanism for Arm Rehabilitation, by Talha Eraz and Gökhan Kiper.
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