mechanisms, transmissions and...
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Mechanisms, Transmissions and Applications
MECHANISMS AND MACHINE SCIENCEVolume 3
Series Editor
MARCO CECCARELLI
For further volumes:http://www.springer.com/series/8779
Erwin-Christian Lovasz · Burkhard CorvesEditors
Mechanisms, Transmissionsand Applications
123
EditorsErwin-Christian LovaszPolitehnica University of TimisoaraMechanical Engineering FacultyBv. Mihai Viteazul 1RO-300222 [email protected]
Prof. Dr. Burkhard CorvesRWTH AachenUniversity AachenEilfschornsteinstrasse 1852056 [email protected]
ISSN 2211-0984ISBN 978-94-007-2726-7 e-ISBN 978-94-007-2727-4DOI 10.1007/978-94-007-2727-4Springer Dordrecht Heidelberg London New York
Library of Congress Control Number: xxxxxxxxxx
© Springer Science+Business Media B.V. 2012No part of this work may be reproduced, stored in a retrieval system, or transmitted in any form or byany means, electronic, mechanical, photocopying, microfilming, recording or otherwise, without writtenpermission from the Publisher, with the exception of any material supplied specifically for the purposeof being entered and executed on a computer system, for exclusive use by the purchaser of the work.
Printed on acid-free paper
Springer is part of Springer Science+Business Media (www.springer.com)
Scientific Committees
Workshop Chairman
Erwin-Christian Lovasz (Romania)
Workshop Co-Chairmans
Burkhard Corves (Germany)G.K. Ananthasuresh (India)Marco Ceccarelli (Italy)Ion Visa (Romania)
International Scientific Committee
Florin Breaban (France)Giuseppe Carbone (Italy)Nicolae Mircea Dehelean (Romania)Ionut Doroftei (Romania)Gheorghe Gheorghe (Romania)Grigore Gogu (France)Clement Gosselin (Canada)Antoni Gronowicz (Poland)Mikio Horie (Japan)Mathias Hüsing (Germany)Manfred Husty (Austria)Brian Jensen (USA)Dan Mandru (Romania)Dan Margineanu (Romania)Karl-Heinz Modler (Germany)Mircea Neagoe (Romania)Nenad Pavlovic (Serbia)
Scientific Committees
Dan Perju (Romania)Victor Petuya (Spain)Doina Pisla (Romania)Anupa Saxena (India)Lin Song (China)
Local Organising Committee at Politehnica Universityof Timisoara
Dan PerjuInocentiu ManiuIosif CarabasValer DolgaCorina GruescuValeria VacarescuMesaros-Anghel VoicuNicolae Mircea DeheleanDan MargineanuSteliana Vatau
with the support of Romanian IFToMM National Committee -ARoTMM
Ion VisaVistrian MatiesErwin-Christian LovaszCatalin Alexandru
and the support of the Romanian IFToMM Associationof Mechanical Transmissions - ROAMET
George DobreVasile BolosGheorghe Moldovean
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Preface
The first Workshop on Mechanisms, Transmissions and Applications - MeTrApp-2011 is organized by the Mechatronics Department at the Mechanical EngineeringFaculty, “Politehnica” University of Timisoara, under the patronage of the IFToMMTechnical Committees Linkages and Mechanical Controls (old MechanicalTransmission) and Micromachines.
The workshop aims to bring together researchers and students who develop theirwork in disciplines associated with Mechanisms Science in a friendly, colleague-likeand collaboration environment. MeTrApp-2011 offers a great opportunity for scien-tists all over the world to present their achievements, exchange innovative ideas andcreate solid international links. The scientific event is meant to gather the noveltyand originality in Mechanisms Science and its application and to depict the trend ofthis important and creative field.
The topics proposed for the Workshop are Mechanisms and Machine Design,Mechanical Transmissions, Mechatronic and Biomechanic Applications, Computa-tional and experimental methods, History of Mechanisms and Mechanisms Scienceand Teaching Methods.
MeTrApp-2011 received 29 papers which were carefully reviewed by at least twoprestigious reviewers chosen from the international academic or scientific commu-nities. A number of 26 papers were accepted for publication and presentation duringthe workshop.
We would like to express grateful thanks to IFToMM International Federationfor the Promotion of Mechanism and Machine Science, to the Romanian IFToMMNational Committee ARoTMM and the members of the International ScientificCommittee of MeTrApp-2011.
We appreciate the effort of the reviewers gathered in the International ScientificCommittee of MeTrApp-2011. They spent time for a serious work of evaluation andimprovement guidance, meant to assure a high quality of all papers.
We thank to the authors who contributed valuable papers on different subjects,covering a wide scientific area of the Mechanisms and Machine Science.
We thank to the “Politehnica” University of Timisoara, Mechanical EngineeringFaculty and Mechatronics Department for hosting the scientific event and support-ing all associated activities. The First Workshop on Mechanisms, Transmissionsand Applications became a real event due to an enthusiastic and hard-working
Preface
organizing team: Dan Perju, Inocentiu Maniu, Iosif Carabas, Valer Dolga, CorinaGruescu, Valeria Vacarescu, Mesaros-Anghel Voicu, Nicolae Mircea Dehelean, DanMargineanu, Steliana Vatau and Valentine Ciupe.
Last, but not least we are grateful to the staff at Springer Publishers for theirexcellent technical and editorial support. Special thanks go to Mrs. Nathalie Jacobs,Senior Publishing Editor.
Timisoara, Romania Erwin-Christian LovaszAachen, Germany Burkhard CorvesJuly 2011
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Contents
Part I History of Mechanisms and Machine Science and Teaching Methods
1 On the Evolution of Graphical Representation of Gears Ceccareli M, Cigola M.
2 Kurt Hain and Walther Meyer zur Capellen: A View from Aachen at Two Shapers of German Mechanism Theory Corves B.
3 thinkMOTION - DMG-Lib goes Europeana U. Döring, R. Brecht, T. Brix
4 Multilingual Illustrated μ-thesaurus in Mechanisms Science E.-C. Lovasz, D. Perju, B. Corves, T. Brix, K.-H. Modler, I. Maniu, C.M. Gruescu, A. Lovasz and V. Ciupe
5 A General Classification for Mechanisms Regarding the Motion Task B. Corves, S. Kurtenbach, M. Hüsing, C. Schneider
Part II Mechatronic and Biomechanic Applications
6 Developments of a Knee Motion Assist Mechanism for Wearable Robot with a Non-circular Gear and Grooved Cams H. Terada, Y. Zhu, M. Suzuki , C. Cheng, R. Takahashi
7 Force Distribution for a Walking Robot with Articulated Body I. Doroftei, Ghe. Plesu and B. Stirbu
8 Numerical Root Finding from an Engineer's Point of View M. Färber and U. Döring
9 Kinetostatic Analysis of an Articulated Walking Mechanism F. Moldovan, V. Dolga and C. Pop
10 A Mirror Tracking Mechanism N.M. Dehelean, L.M. Dehelean
11 Choppers: Optomechatronic Devices for the Controlled Modulation of Light V.-F. Duma, M. F. Nicolov, M. Kiss, T. Ilca, C. Mnerie, D. Demian, L. Szantho
12 Motion Laws of a Varifocal Objective Working with a 1/2" CCD Camera C.M. Gruescu
Part III Mechanisms and Machine Design
13 A New Principle of Adaptive Compliant Gripper D. Petkovic, N. D. Pavlovic
14 Optimum Design of Cam Mechanisms I. Simionescu, M. Ene, L. Ciupitu
15 Linkage Solutions for the Manufacture of Complex, Thermoplastic Lightweight Structures M. Krahl, U. Hanke, K.-H. Modler
16 RBS Simulation of Integrated Piezo-Ceramic Actuation for Textile Reinforced Composite Compliant Mechanisms N. Modler, K.-H. Modler, W. Hufenbach, D. Margineanu, E.-C. Lovasz, D. Perju, E. Ianosi
Part IV Computational and Experimental Methods and Dynamics of Mechanisms and Machines
17 Maximally Regular Planar Non Fully Parallel Manipulators G. Gogu
18 An Experimental Characterization of a Rickshaw Prototype T. Li, M. Ceccarelli
19 Considerations upon the Influence of Manufacturing and Assembly Errors on the Kinematic and Dynamic Behavior in a Flight Simulator Stewart-Gough Platform A. Pisla, T. Itul, D. Pisla, A. Szilaghyi
20 Characterization of Flexure Hinges Using the Script Oriented Programming within a FEM Software Application I. Ivanov, B. Corves
Contentsx
21 Basic Result on Type II DM Self-motions of Planar Stewart Gough Platforms G. Nawratil
22 Active Bearing for Vibration Damping of Roller Systems with Piezoelectric Actuators M.-C. Voicu, R. Schmidt, B. Lammen, M. Mersch, I. Maniu
23 On the Kinematics of a Hybrid Parallel Robot Used in Minimally Invasive Surgery M. Suciu, B. Gherman, C. Vaida, N. Plitea, D. Pisla
Part V Mechanical Transmissions
24 Synthesis of Toothed Continuously Variable Transmission (CVT) K.S. Ivanov
25 Differential Planetary Gear Transmissions Usable in Renewable Energy Systems R. Saulescu, C. Jaliu, D. Ciobanu, D. Diaconescu
26 Loading Devices for Closed-loop Gear Test Stands C. M. Gruescu, I. Nicoara, E. Busa
Author Index
Contents xi
Contributors
R. Brecht Ilmenau University of Technology, Ilmenau, Germany,[email protected]
T. Brix Ilmenau University of Technology, Ilmenau, Germany,[email protected]
E. Busa “Politehnica” University of Timisoara, Timisoara, Romania,[email protected]
M. Ceccarelli LARM: Laboratory of Robotics and Mechatronics, Universityof Cassino, Cassino, Italy, [email protected]
C. Cheng University of Yamanashi, Yamanashi, Japan
B. Corves RWTH Aachen University, Aachen, Germany,[email protected]
M. Cigola DART, University of Cassino, Cassino Frosinone, Italy,[email protected]
D. Ciobanu Transilvania University of Brasov, Brasov, Romania,[email protected]
V. Ciupe Universitatea “Politehnica” din Timisoara, Timisoara, Romania
L. Ciupitu “Politehnica” University of Bucharest, Bucharest, Romania,[email protected]
L.M. Dehelean “Politehnica” University of Timisoara, Timisoara, Romania,[email protected]
N.M. Dehelean “Politehnica” University of Timisoara, Timisoara, Romania,[email protected]
D. Demian “Aurel Vlaicu” University of Arad, Arad, Romania
D. Diaconescu Transilvania University of Brasov, Brasov, Romania,[email protected]
Contributors
V. Dolga “Politehnica” University of Timisoara, Timisoara, Romania,[email protected]
U. Döring Ilmenau University of Technology, D-98684 Ilmenau, Germany,[email protected]
I. Doroftei “Gheorghe Asachi” Technical University of Iasi, Iasi, Romania,[email protected]
V.-F. Duma “Aurel Vlaicu” University of Arad, Arad, Romania,[email protected]
M. Ene University of Quebec in Abitibi Témiscamingue, Rouyn-Noranda, QC,Canada, [email protected]
M. Färber Ilmenau University of Technology, D-98684 Ilmenau, Germany,[email protected]
B. Gherman Technical University of Cluj-Napoca, Cluj-Napoca, Romania,[email protected]
G. Gogu LaMI, IFMA, Clermont University, Clermont, France,[email protected]
C.M. Gruescu “Politehnica” University of Timisoara, Timisoara, Romania,[email protected]
U. Hanke Dresden University of Technology, Dresden, Germany
W. Hufenbach Technische Universität Dresden, Dresden, Germany
M. Hüsing RWTH Aachen University, Aachen, Germany,[email protected]
E. Ianosi Universitatea “Politehnica” Timisoara, Timisoara, Romania
T. Ilca “Aurel Vlaicu” University of Arad, Arad, Romania
T. Itul “Technical” University of Cluj-Napoca, Cluj-Napoca, Romania
K.S. Ivanov Almatinsky University of Power Engineering andTelecommunications, Almaty, Kazakhstan, [email protected]
I. Ivanov RWTH Aachen University, Aachen, Germany,[email protected]
C. Jaliu Transilvania University of Brasov, Brasov, Romania, [email protected]
M. Kiss “Aurel Vlaicu” University of Arad, Arad, Romania
M. Krahl Dresden University of Technology, Dresden, Germany,[email protected]
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Contributors
S. Kurtenbach RWTH Aachen University, Aachen, Germany,[email protected]
B. Lammen University of Applied Sciences Osnabrück, Osnabrück, Germany,[email protected]
A. Lovasz Universitatea “Politehnica” din Timisoara, Timisoara, Romania
E.-C. Lovasz Universitatea “Politehnica” din Timisoara, Timisoara, Romania,[email protected]
T. Li LARM: Laboratory of Robotics and Mechatronics, University of Cassino,Cassino, Italy, [email protected]
D. Margineanu Universitatea “Politehnica” Timisoara, Timisoara, Romania
I. Maniu University “Politehnica” Timisoara, Timisoara, Romania,[email protected]
M. Mersch University of Applied Sciences Osnabrück, Osnabrück, Germany,[email protected]
C. Mnerie “Aurel Vlaicu” University of Arad, Arad, Romania
K.-H. Modler Technische Universität Dresden, Ilmenau, Germany,[email protected]
N. Modler Technische Universität Dresden, Dresden, Germany
F. Moldovan “Politehnica” University of Timisoara, Timisoara, Romania,[email protected]
G. Nawratil Institute of Discrete Mathematics and Geometry, Vienna Universityof Technology, Vienna, Austria, [email protected]
I. Nicoara “Politehnica” University of Timisoara, Timisoara, Romania,[email protected]
M.F. Nicolov “Aurel Vlaicu” University of Arad, Arad, Romania
N.D. Pavlovic Faculty of Mechanical Engineering, University of Niš, Niš, Serbia,[email protected]
D. Perju Universitatea “Politehnica” Timisoara, Timisoara, Romania
D. Petkovic Faculty of Mechanical Engineering, University of Niš, Niš, Serbia,[email protected]
Ghe Plesu “Gheorghe Asachi” Technical University, Iasi, Romania
N. Plitea Technical University of Cluj-Napoca, Cluj-Napoca, Romania,[email protected]
xv
Contributors
A. Pisla “Technical” University of Cluj-Napoca, Cluj-Napoca, Romania,[email protected]
D. Pisla Technical University of Cluj-Napoca, Cluj-Napoca, Romania,[email protected]
C. Pop “Politehnica” University of Timisoara, Timisoara, Romania,[email protected]
R. Saulescu Transilvania University of Brasov, Brasov, Romania,[email protected]
R. Schmidt University of Applied Sciences Osnabrück, Osnabrück, Germany,[email protected]
C. Schneider RWTH Aachen University, Aachen, Germany,[email protected]
I. Simionescu “Politehnica” University of Bucharest, Bucharest, Romania,[email protected]
B. Stirbu “Gheorghe Asachi” Technical University, Iasi, Romania
M. Suciu Technical University of Cluj-Napoca, Cluj-Napoca, Romania,[email protected]
M. Suzuki University of Yamanashi, Yamanashi, Japan
L. Szantho “Aurel Vlaicu” University of Arad, Arad, Romania
A. Szilaghyi “Technical” University of Cluj-Napoca, Cluj-Napoca, Romania
R. Takahashi Suncall Engineering Corporation, Japan,[email protected]
H. Terada University of Yamanashi, Yamanashi, Japan, [email protected]
C. Vaida Technical University of Cluj-Napoca, Cluj-Napoca, Romania,[email protected]
M.-C. Voicu University “Politehnica” Timisoara, Timisoara, Romania; Universityof Applied Sciences Osnabrück, Osnabrück, Germany, [email protected]
Y. Zhu University of Yamanashi, Yamanashi, Japan
xvi
Part IHistory of Mechanisms and Machine
Science and Teaching Methods
On the Evolution of Graphical Representationof Gears
M. Ceccarelli and M. Cigola
Abstract In this paper, a historical evolution of graphical representation of geardesigns is reported as a short survey by using significant drawings bath in thehistory of gear systems and design standards. A graphical representation of gearsystems has evolved from a pictorial illustration towards a synthetic drawing offunctionality and characteristics of gears that is today summarised in internationalstandards. Those standards as from ISO and Italian UNI codes are still based ongraphical schematic representation of gear characteristics with pictorial representa-tion for an intuitive understanding of an intuitive understanding of main features ofgear designs. A historical study is focused on the last century practical applicationof this gear representative.
Keywords History of MMS · Gears · Drawing · Standards · History of technicaldrawing
1 Introduction
Gears and gear systems have bean fundamental machine components and machineryyet that have been used and contributed to an evolution of machinery efficiency andcapability as reported in many historical surveys like for example [1]. Technologicalevolution of gear systems has been supported also by suitable graphical repre-sentation of design features and functionalities both in practical applications andtheoretical studies. In this paper attention is addressed to historical evolution ofgraphical representation of designs and features of gears and gear applications witha special focus on looking at recent practical views.
M. Ceccarelli (B)LARM, University of Cassino, Cassino, Italye-mail: [email protected]
E.-C. Lovasz, B. Corves (eds.), Mechanisms, Transmissions and Applications,Mechanisms and Machine Science 3, DOI 10.1007/978-94-007-2727-4_1,C© Springer Science+Business Media B.V. 2012