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)
This volume contains applications of mechanisms and transmissions in several modern technical fields such as mechatronics, biomechanics, machines, micromachines, robotics and apparatus.
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| Main Authors | , , , , |
|---|---|
| Format | eBook |
| Language | English |
| Published |
Cham
Springer International Publishing AG
2016
Springer International Publishing Springer |
| Edition | 1 |
| Series | Mechanisms and Machine Science |
| Subjects | |
| Online Access | Get full text |
| ISBN | 3319454498 9783319454498 |
| ISSN | 2211-0984 2211-0992 |
| DOI | 10.1007/978-3-319-45450-4 |
Cover
Table of Contents:
- Intro -- Preface -- Organization -- Contents -- Abstracts of Keynote Speeches -- MTM-Mechanisms-Analysis and Synthesis -- 1 Optimal Design of a Grasping Device Through Simplified Pose Synthesis of a Four-Bar Linkage -- Abstract -- 1 Introduction -- 2 Structure and Actuation Design -- 3 Limitations in Applying the Five-Pose Synthesis -- 4 Chebyshev Spacing Method Applied in Pose Synthesis -- 5 Simplified Four-Pose Synthesis Method -- 6 Theoretical Precision of the Grasping Device -- 7 Conclusions -- References -- 2 Modified Method of the Kinematic Analysis of Planar Linkage Mechanism for Non-stationary Motion Modes -- Abstract -- 1 Introduction -- 2 Analysis of Velocities of the Mechanism Linkages -- 3 Analysis of Accelerations of Mechanism Linkages -- 4 Conclusions -- References -- 3 A Type Synthesis Method for Parallel Mechanisms Based on SAKCs -- Abstract -- 1 Introduction -- 2 Mechanism Composition Principles and New Expression Based on SAKCs -- 2.1 Coupling Degree of a SAKC -- 2.2 A New Composition Expression of the PM Based on SAKC -- 3 Basic Types of SAKCs -- 3.1 All Possible SAKC Basic Types -- 3.2 Common SAKC Structures -- 4 Type Synthesis Method Based on SAKCs -- 4.1 Virtual POC Set of a SAKC Structure -- 4.2 Type Synthesis Method Based on SAKCs -- 5 Conclusions -- Appendix: Classification of SAKC Structures Based on Virtual POC Set -- References -- 4 Matlab GUI for SVAJ Cam Analysis Diagrams -- Abstract -- 1 Introduction -- 2 General Description of the GL 112 Cam Analysis Apparatus -- 3 The Svaj Diagrams Application -- 4 Conclusions -- References -- 5 On the Kinematic Analysis of a Sixth Class Mechanism -- Abstract -- 1 Introduction -- 2 Kinematic Analysis of a Sixth Class Mechanism -- 2.1 Transmission Function of 0-Order -- 2.2 Transmission Function of 1st-Order. Velocities' Distribution -- 3 Numerical Example and Proposed Application
- 4 Conclusions -- References -- 6 Zero-Free-Length Elastic Systems for Static Balancing -- Abstract -- 1 Introduction -- 2 Zero-Free-Length Elastic Systems -- 3 Example -- 4 Conclusions -- References -- 7 Analytic and FEM Study of Load Distribution on the Length of Spline Joints Under Pure Torque -- Abstract -- 1 Introduction -- 2 Analytic Model -- 3 FEM Model -- 4 Results Comparison -- 5 Conclusions -- References -- 8 Dimensional Synthesis of Planar Parallel Manipulator Using Geared Linkages with Linear Actuation as Kinematic Chains -- Abstract -- 1 Introduction -- 2 Synthesis of the 3-R(RPRGR)RR Manipulator -- 3 Numerical Examples -- 4 Conclusions -- References -- MTM-Dynamics of Mechanisms and Machines -- The Concept of Natural Motionfor Pick and Place Operations -- 1 Introduction -- 2 The Concept of Natural Motion -- 3 Natural Motion of a Five Bar Linkage -- 3.1 Kinematic and Dynamic Model -- 3.2 Determination of the Appropriate Springs and Trajectory -- 3.3 Estimation of the Energy Consumption -- 4 Results -- 5 Conclusion and Outlook -- References -- 10 Structural Synthesis of Planar Geared Linkage Mechanisms as Multibody Systems -- Abstract -- 1 Introduction -- 2 Structural Synthesis of Mechanisms as Multibody Systems -- 3 Conclusions -- Acknowledgments -- References -- 11 Dynamics of a Vertical Unbalanced Gyroscopic Rotor with Nonlinear Characteristics -- Abstract -- 1 Introduction -- 2 Rotor Motion Equations -- 3 Amplitude-Frequency and Phase-Frequency Characteristics and Stability of Oscillations -- 4 Numerical Results and Assessment of Parameters Impact -- 5 Conclusions -- References -- MTM-Mechanical Transmissions -- 12 Edge Tooth Addendum Thickness of Hindley Worm -- Abstract -- 1 Introduction -- 2 Equations of Hindley Worm Surface and Its Axial Tooth Profile -- 3 Top Thickness Computation of Edge Tooth
- 3 Conceptual Design of the Cam Workbench -- 3.1 Realized Transfer Function -- 3.2 Determination of the Cam Dimension -- 3.3 Calculation of the Cam Surface -- 4 Embodiment Design of the Workbench -- 5 Conclusions -- References -- 19 Kinematic Characterization of the Origami Spring Based on a Spherical 6R Linkage -- Abstract -- 1 Introduction -- 2 Features of the Origami Spring -- 3 Theoretical Kinematic Characterization -- 4 Practical Kinematic Characterization -- 5 Conclusions -- References -- 20 Scaled Test Stand Simulation for Studying the Behavior of Anti-lock Brake Systems on Bumpy Roads -- Abstract -- 1 Introduction -- 2 The Scaled Stand Design Concept -- 3 Solution Implementation -- 3.1 System Scaling -- 3.2 Profile Generation -- 4 Simulation Results -- 5 Conclusions -- References -- MTM-Terminology -- 21 Activities of Russian-Speaking Scientists in Development of MMS Terminology -- Abstract -- 1 Introduction -- 2 Activities at Preparation of "IFToMM Terminology" -- 3 Individual Sections of the IFToMM Terminology -- 3.1 Gearing Terminology -- 3.2 Quality Factors of Machines and Their Components -- 4 Separate Projects for Gearing Terminology -- 5 Conclusions -- Acknowledgments -- 22 State of Art in Separate Sections of MMS Terminology and Some Proposals -- Abstract -- 1 Introductions -- 2 Proposals for "Biomechanics" Terminology -- 3 The Current State and Proposals for Development of Gearing Terminology -- 4 The State of Terminology in the Field of Mechatronics -- 5 Transportation Machinery and Logistics -- 6 The Proposals for Section of Quality Factors of Machines -- 7 Compliant Mechanisms -- 8 Conclusions -- Acknowledgments -- References -- Robotics-Mechanical Design of Robot Architecture -- 23 Design Solutions to Simplify the Calibration of a Robotic Flexible Manufacturing System -- Abstract -- 1 Introduction
- 2 Calibration Solutions Using a Common Base Plate -- 3 Design Solutions for Uncoupling the Position Movements -- 4 Conclusions -- References -- Robotics-Mobile Robots -- 24 Reconbot: A Reconfigurable Rescue Robot Composed of Serial-Parallel Hybrid Upper Humanoid Body and Track Mobile Platform -- Abstract -- 1 Introduction -- 2 Robot Structures for Complex Environments -- 3 Reconbot Concept and Mechanism Design -- 4 Mobility Analysis -- 4.1 Screw System of Single Offset URU Branch Chain -- 4.2 Mobility Analysis of the Offset 2-URU PM -- 4.3 Reconfigurable Functions Description -- 5 Locomotion and Manipulation Functions -- 6 Conclusions -- Acknowledgments -- References -- Kinematics Modelling of Mobile Robot with Articulated Limbs Without Wheel Slip -- 1 Introduction -- 2 Kinematics Modelling of Holonomic Constraints -- 3 Differential Kinematics Model of the Robot -- 4 Results of Simulation -- 5 Conclusions -- References -- 26 Experimental Platform for Hexapod Locomotion -- Abstract -- 1 Introduction -- 2 The Hexapod Mobile Robot -- 2.1 Leg Design and Kinematics -- 2.2 Workspace Analysis of the Leg -- 2.3 Hexapod Robot Model -- 3 Software Platform for Hexapod Robot Simulations -- 4 Experiments in Locomotion -- 4.1 Locomotion Strategy on a Spiral Stair -- 5 Conclusions -- References -- 27 Quadcopter Propeller Design and Performance Analysis -- Abstract -- 1 Introduction -- 2 Propeller Performance Parameters -- 3 Propeller Design Profile -- 4 Simulation Results and Discussions -- 5 Conclusions -- Acknowledgments -- References -- A Method for Structural Synthesis of Cooperative Mobile Manipulators -- 1 Introduction -- 2 Specific Approach of Structural Synthesis of m-Bots and p-Bots -- 2.1 Structural Parameters -- 2.2 Specifications of the m-Bots/p-Bots and Simplifying Hypotheses -- 3 Application of the Approach for the Design of m-Bots/p-Bots
- 4 Numerical Examples and Discussion -- 5 Conclusions -- Acknowledgments -- References -- 13 A Single Speed (CVT) Transmission -- Abstract -- 1 Introduction -- 2 Kinematic Analysis of the Planetary Train with Two Carriers -- 3 Start-up of Mechanism with Two Carriers -- 4 Conclusion -- References -- 14 An Approach for Modelling Harvester Head Mechanism in the Harvesting Process of Hardwood Stands -- Abstract -- 1 Introduction -- 2 Geometric Modelling of Crooked Trunks -- 3 Modelling Building Blocks -- 3.1 Cutting Model -- 3.2 Feeding Model -- 4 Delimbing Process Simulation -- 5 Conclusions -- Acknowledgments -- References -- 15 Novel Speed Increaser Used in Counter-Rotating Wind Turbines -- Abstract -- 1 Introduction -- 2 Problem Formulation -- 3 Transmission Modelling -- 4 Numerical Simulations: Results and Discussions -- 5 Conclusions -- Acknowledgments -- References -- MTM-Micromechanisms and Microactuators -- 16 On Application Melnikov Method to Detecting the Edge of Chaos for a Micro-Cantilever -- Abstract -- 1 Introduction -- 2 The Dynamics Modeling of Micro-Cantilever -- 3 Melnikov Function and Its Solutions -- 3.1 Melnikov Function -- 3.2 Analytical Solution of Melnikov Function -- 3.3 Numerical Solution of Melnikov Function -- 4 The Conditions of Chaos Occurrence and Results -- 5 Conclusions -- Acknowledgments -- References -- MTM-Computational and Experimental Methods -- 17 Use of the Structomatic Method to Perform the Forward Kinematic and Kinetostatic Analyses of a Hydraulic Excavator -- Abstract -- 1 Introduction -- 2 Structomatic Analysis -- 3 Kinematic Analysis -- 4 Kinetostatic Analysis -- 5 Implementation and Results -- 6 Conclusion -- References -- 18 Application of a Cam Workbench for Education in Mechanical Engineering -- Abstract -- 1 Introduction -- 2 Requirements of a Cam Workbench for Education
- 4 Conclusion