PROCEEDINGS OF THE SIXTH WORLD CONGRESS ON

THE THEORY OF MACHINES AND

•VI c C H A tm 15> IVI %> DECEMBER 15-20, 1983, NEW DELHI, INDIA

VOLUME II

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EDITORS

J.S. RAO K.N. GUPTA

w W I L E Y E A S T E R N L I M I T E D New Delhi Bangalore Bombay Calcutta

EXPERIMENTAL METHODS VOLUME TWO Evaluation of Diesel Injector Dynamic Properties,

Krepec, T.; To, C.H.; Krepec, M. 693 Experimental Study of Unbalance Response of Rotor Mounted on Dissimilar Hydro-Dynamic

Bearings, Subbaiah. ft.; Bhat. R.B.; Sankar. T.S. 697

Experimental Identification of Contact Impulse in Roller Chain Mechanisms, Müller, J.; Kaminsky, W. 701

Some Experi mental Studies on the Influence of Wheel Base and Trail on the Dynamic Stability of the Bicycle-Rider System,

Nadpurohit, R.N.; Suryanarayan, S. 705 External Measurement of Dynamic Pressure in Piping Systems,

Kakad. Y.P. 709 Six Component Thrust Vector Evaluation for Sounding Rockets, Using a Horizontal Stand,

Russo, £.; Mans our, W.M. 713

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Measurements of Small Mechanical Oscillations, Sandler, B.Z.: Slonim, A. 717

Etude Experimentale de (.'influence des Dimensions des Fentes de 2100 CV Fabriqueesen Roumanie,

Tudosie. I.; Vatreanu. A.; Manolescu, N.I.; Pielmus. M. 721 An Experimental study of Ludodynamics in a Revolute Joint,

Haines. R.S. 725 Problems in Accuracy of Estimates of Machine Testing Results,

Pereponov. V.l.; Vinokurov, Yu. V. 729

CAD AND OPTIMIZATION TECHNIQUES Optimised Location of a Variable length Actuator,

Shrivastava. A.-fC. 733 Synthesis of the Structure and the optimisation of Parameters of

Vibromachines with the Help of Computer, Lavendel. E.E. 737

Optimisation of Forces in Two Dimensional Multiloop Mechanisms, Sarkisyan. Y.L.; Javakhyan, R.P.; Borisenko, A.I. 741

Position Synthesis Using Computer Vector Techniques, Baumgarten, J.R.; Wolford. J.C. 745

Computer Aided Optimization of Disel Power Unit Elastic Foundation, Kuhelj. A.; Medica. V. 749

Computer-Aided Optimal Design of A Motorcycle Suspension, Sankar. S.; Van Valiet, M. 753

Optimization of Design of Equipment of Mechanical Loader, Cha Jian—Zhong; Zhu Yu-Hu 757

Computer-Aided Synthesis of the Seven-Bar Linkage with Rotary Inputs and Output to Generate Functions of Two Variables,

Mruthyunjaya. T.S.; Raghavan. M.R. 761 Optimum Design of a Gear Train for Minimum Effective Mass by Stochastic Signomial Geometric

Programming, Beohar, S.B.L 765

Numerisches Verfahren fur die Optimierung der Kinematischen Synthese der Kardangelenkgetriebe Zwischen Traktor Und Landmaschine,

Duditza. F.I.; Souca. N.; Lixandroiv, D.I. 769 Optimum Design of a Rigid Rapier Drive Mechanism,

Tim's. P.; Soylemez, £.; Turner. S. T. 773 A Computer Approach to the Generation of Conjugate Tooth Forms,

Kinzel. G.K.; Farley. D.M. 778

GEARS AND TRANSMISSION The Selection of the Optimum Scheme of N-Gearset Planetary Gearbox of Different Types by

Means of Computer, Liu Tai Lai 783

A Research on Load Carrying Capacities of Re-Mg Spheroidal Cast-iron Gears, Zhu Xiaolu; Shen Shuifoo; Yi Bingyue; Fang, Qjiru; Hawang Chi Hua 787

The Application of Enveloping Worm Drives in Precision Transmission Mechanisms, Zha Ji-Rui 792

Computing Gear Misalignment and Setting up Tooth Thickness Tolerances, Castellani, G.; Moretti, G. 795

Optimisation of Load Distribution Along the Contact line in Cylindrical Gear Drives, Zablonsky. K.I; Schjokin, B.M. 799

The Kinetics of the Contact Point and Oscillatory Mechanisms in Resilient Spur Gears Rebbechi. B.; Crisp, J.D.C. 802

Automated Technological Synthesis of Spatial Gearings, Minkof—Petrol. K. 807

A New and Unified Approach to the Solution of Epiciclic Gear Trains with Several Degress of Freedom, Khanderia. N.N. 811

Interaction Index for a Loaded Multi-Channel Electrohydraulic Drive, Ramachndaran, S.; Dransfield, P. 816

On Some Precision Aspects of the Double Universal Joint Transmission, Nitescu. P.N. 820

Effect of Non-Linear Material Behaviour of Elastomers on the Dynamic Properties of Elastic Couplings,

Peeken, H.; Troeder, Ch.; Benner. J. 824 Power Losses at Gears with Special Toothing,

Hiebanja. J. 833

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Optimisation der Zahnradpaare mit Eine Mindeste Zahneahl des Ritzels, Stamboliev. D. 837

Formula of Reduced Curvature of Two Conjugate Surfaces with Conjugate Motions of Two Degrees of Freedom,

Chih-Hsin Chen 842 Differences Between Harmonic Drives and Epicyclic Gear Drives According to Gear Tooth Action,

Terplan, Z ; Peter, J. 846 On Dynamic Load Estimation for a Gear Pair,

Kishor, B.; Sinha, V.R. 850 The Hybrid Graph Method for Determining the Gear Ratios in Complex Gear Trains,

Wojnarowski. J.; Swider, J. 854 Effect of Tooth Play on Dynamic Forces in Toothed Gears Subjected to Alternating Loads,

Theissen, J.; Jayaram, V.D.; Diekhans. G. 859 An Improved Method to Establish the Heat Transfer Coefficient on Gear Tooth Surface,

Gauvin, /?.; Girard. P.; Yelle, H. 864 An Efficent Measure to Improve the Bending Strength of Gears,

Jiang Xiao-Yu; Chang Si-Pu 868 Raumliche Verzahnungsprobleme,

Brandner. G. 872 On Efficiency Optimization of Hydrodynamic Transmission Systems Under Stochastic Loading

Conditions, Zobory. I. 877

Optimization of Field of Contact on Worm Gear Drive With Concave-Convex Profile, Drobni, J. 881

Performance Studies on Tufftrided C20 Gears, Chandrasekharamurthy, CS.; Ramamohana Rao, A. 883

Optimierung der Synthese der aus Vier Planeteneinheiten Bestehenden Umlaufradergetriebe, die in Kraftfahrzeuggetrieben Anwending Finden,

Chisu, f.; Jula, A.; Visa, I. 887 Consideration of Design, Technological and Operating Factors in the Determination of Forces in

Gear Drives, Zablonsky, K.I.; Belyaev, M.S.; Filipowich, S.I. 891

Research into the Scuffing Load Capacity of All-Recess Action Gears, Meng Huirong; Chen Qitai 895

Surface Durability of Power Transmission Gears, Natrajan, R.; KrishnamurXhy. R. 902

Theoretical and Experimental Analysis of the Cardan Mechanisms within Locomotive Transmissions,

Spirea, E.; lonescu, T. 906 Study and Calculations of Gear Linkage Impulse Systems,

Maize v, W.F. 910 Improvement of Kinematic Accuracy of Gear Drive by Technological Methods,

Matveyev, V.V. 914 Calculation of Contact Pattern and Longitudinal Flank Correction in Spur and Helical Involute Gears,

Hosel, T.H. 918 Minimisation of the Side Thrust Acting on the Cylinder Pair of a Bevel Gear-CSSRR Spatial

Mechanism by a Cubic Camber Optimization Method, Yu. Zheng 924

Determination du Diametre deTetedela vis Equivalente A la Fraise-Mere Pour Tailler des Roues Cylindriques Ä Profils Queleconques,

Maros, D.; Orban, G.: Csibi, V. 928 Determination of Quota over the Balls in Conic-Involute Gears by Numerical Modelling,

Chiroeanu, V. 932 Causes and Effect of Torque Change in Hammering of Toothed Gears,

Troeder, Ch; Peeken-H; Laschet, A.; Tooten, K. - 936

ROBOTS AND MANIPULATORS The Comparative Merits of Analogue and Digital Computers in the Simulation of Hydraulically

Driven Robot-Manipulators, Baysec, S.; Rees Jones 944

Geometric Design of Manipulators Using Interactive Computer Gnaphics, Tai Ming Jou; Waldron, K.J. 949

Generation and Evaluation of the Workspace of a Manipulator, Hansen, J.A.; Gupta, K.C; Kazerounian, S.M.K. 955

Analysis of Mechanical Errors in Manipulators, Alok Kumar, Sunil Prakash 960

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Computer Aided Procedure of Forming of Robot Motion Equations in Analytical Forms, Vukobratovic, M.K.; Kricanski, N.M. 965

A New Approach to the Solution of the Inverse Kinematic Problem for Industrial Robots, Knostantinov, M.S.; Patarinski. S.P.; Zamanov, V.B.; Nenchev, D.N. 970

Generation de Trajectoires Par un Manipulateur a Cing Parameters, Dahan, M.; Minotti. P.: Henrich, B. 974

Tensor Actuated Manipulator, Hirose, S.; Kado. J.; Umetani, Y. 978

Control of a Boom-Type Manipulator with Access Constraints, Hewit, J.R. 982

A New Device for the Improved Operations of Remote Manipulators, Ihnatowicz. E.; Broome, D.R. 984

Work Space and Jacobian Surfaces of Regional Structures of Industrial Robots, Ming-Shu Hsu: Dilip Kohli; Dwivedi, S.N. 988

Efficient Jacobian Determination for Robot Manipulators, Orin, D.E.; Schrader, W.W. 994

Dynamic Model for Generalized Planar Robotic Manipulator, Freemen, R.; Tesar, D. 998

Determining the Motions of Joints on a Parallel Connection Manipulator, Fichter, F.F.; Mcdowell, F.D. 1003

Structure Synthesis and Application of Q-Manipulators, Galabov, V. 1007

Etude d'un Prehenseur Tridigital Avec Sens Tactile Pour Une Operation D'Assemblage, Guinot. J.C.; Lallemand, J.P.; Zeghloul. S. 1011

Manipulator Postures and Kinematic Assembly Configurations, Rooney. J.; Earl. C.F. 1014

The Contribution to the Study of Dynamics of Flexible Manipulation Robots, Vukobratovic, M.K.; Kojic. M.R.; Nikolic. I.Z. 1021

Volumetric Synthesis of 3R,4R, 5R and 6R Robots: part I Methodolgy, Tsai. Y.C.; Soni. A.H. 1025

Performance and Application of Two-hand Robots for Assembly Operations, Konstantinov, M.S.; Markov, M.D.; Genova. P.I.; Brankov, G.I.;Anguelov, A.S.;Shivarov, N.S. 1029

Fugemechanismen Zur Automatisierten Monage Mit Industrierobotern,. Volmer. J.; Jacobi, P. 1032

Zur Kinematischen Struktur Von Industrierobotern Im Greate Bau, Bogelsack. G.; Ifrim, V.} Braunschweig. A. 1036

Automatic Insertion Module for Light Robotics, Stepourjine, R.; Rouget, J.P. 1040

Research on Micro-Mechanism, Hayashi, T.; Hoshi, S. 1045

The Increasing Accuracy of the Braking of the Industrial Robot's Organ, Natbiladze, V. Sh. 1049

Analytical Method for Explicite Determination of Spatial Mechanism's and Robototechnical System's Efficiency,

Lebedev, P.A. 1052 Rational Robot's Mechanisms,

Korendyasev, A.I.; Salamandra. B.L; Tyves. LI. 1056 Mechanics and Governing Principles of Drilling Robototechnical systems,

Frolov. A.V. 1060 Volumetric Synthesis of 3R, 4R, 5R and 6R Robots: part II Synthesis,

Tsai, Y.C.; Soni. A.H. 1063 Algorithms of Dynamic Control of Manipulation Robots and its Microprocessor Implementation,

Stokic. D.M.; Timotijevic, M.B. 1067 Coordination Camera-Telemanipulateur par Microprocesseur,

Vertut. J.; Marchal, P.; Clement. G.; Kuspriyanto, P.; Chirouze. M.Y.; Coiffet. P. 1071 Programmed Control Systems for Industrial Manipulators with Rational Structures,

Strzelacki. T.W. 1076 Aspects Particuliers Concernant L'etude Technique des jManipulateurs Automatiques Dans la

Metallurgie, Oranescu, A.; Bumbaru, S.; Oranescu, F.; Georgescu, A.; Strugari. P.; Munteaneau, V. 1080

Elastodynamic Performance Analysis of a Robot Operated Through Step-by-Step Motors, Caudrado, J.I.; Fuenmayor, J.; Suarez, D.B. 1087

Development of Grippers of Industrial Robots, Semyonov, E.I.; Skorodumov, S.A.; Kruchkov. M.A. 1090

Designing of Pneumatic Servodrive of Industrial Robots, Solntsava, K.S. 1094

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CONTROL SYSTEMS On Multi-Load Load-Sensitive Hydraulic Control,

Mai. V.K.L.; Dransfield, P. 1 0 9 8

Exact Analysis of Digital Automatic Machines Having Mechnical Parts, Saratov, I. S. 1102

A Graphical Procedure For Determining the Size of Timing Orifices of a Quack Service Valve of Automatic Brake system of Freight Trains,

Cheng, R.M.H.; Murakami, S. 1106 Modelling of a Hydraulically Driven Oscillating Cylinder Mechanism,

Venkataraman, V.; Mayne. R. W.; Sadler, I.P. 1113 Experimental Study of A Hydraulically Driven Oscillating Cylinder Mechanism,

Mayne, R. W.; Venkatraman, V. 1117 A Prieumatic-Mechanical Linkage Mechanism for Tool Handling for an N C Machine,

Tewari, N.K.; Wadhwani, K.P. 1121 Optimal Control of Large Parameter Systems,

Moamed Abdel Rohman 1125 Dynamic Control of Manipulators in Operational Spaces,

Khatib, 0. 1128 Digital Control Design for Aircraft Engines,

Wells. W.R.; Rattan, K.S. 1132 Eigenschaften des Impulsegesteuerten Schraubenmechanismus Zu Umwandlung Einsinniger,

Drehbewegung in Die Wechselsinnige Geradlinige Bewegung, Petrovic, T.; Zivkovic. Z. 1135

MACHINE AND SYSTEM DESIGN An Investigation on Human Performance in Tracking Task with P.R.B.S Input Signal and Optimal

Control of Grinding Process Based on Man-Machine System Model, Kong, X.L.; Yang, H.H. 1139

System Analysis and Structural Criteria concerning Diesel Locomotives, lonescu, T. 1144

Design of a Pressure Tight Connection Mechanism for Solar Parabolic Trough Collector Systems, Gupta, G.D. 1148

International Standardization in the Field of Ergonomics—Aims, Activities, Results, Juptner, M. 1154

On the Non-Linear Viscoelastic Behaviour Under the Time Dependent Loading. A Contribution for Designing of Machine Elements from Polymeric Materials,

Emri, I.J. 1158 Structural Functional Synthesis of Tightening Devices,

Milkov, M.; Stil'yanov, D. 1162 Designing and Calculation of Automatic Assembly Machines,

Zamytin. V.K. 1166 Inertial-lmpulse Mechanical Power Systems,

Vasin, G.G. 1170 Measurement of Force Variation in Fast Running Toothed Belts,

Funk, W.; Koester. L. 1174 Analysis of Thermal Stresses in Rotor of Squirrel-Cage Induction Machines,

Pavlicevic, M.; Muftic, 0. 1178

CAMS A Contribution to the Mathematical Modelling of Dynamical Properties of Special Cam Mechanisms,

Placet B. 1182 Leistungsfähige Kurvengetriebe,

Hammerschmidt, C; Volmer, J. 1186 Design of Buildler Motion Cams in Textile Ring Frame,

Ratna Prabhu, M.; Lunkad, M.N. 1190 Optimal Design of Disc Cam Mechanisms,

Dhande, S.G.; Kale, T.G. 1195 Analysis of Cam/Follower Motion,

Mattmew, G.K. 1201 Synthesis of the Link-Cam Differential in a Rapier Loom,

Hua Danian 1205 The Approximation of Functions and its Application in the Design Synthesis of Cam mechanisms,

Vaclavik, M.; Koloc, Z. 1209 Nonlinear Vibration Analysis of Cam-Follower Systems with Pneumatic Coupling,

Raghavacharyulu, C; Rao, J.S. 1213

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The Disc Cam Regarded as a Special Finite Element in Kinematics, klein Breteler. A.J. 1217

The Synthesis of a Mechanism for Tracing of the Complex Profiles, Tempea, I. 1221

Dynamic Synthesis of Cam Profiles Minimizing Vibrations and Peassure Angle, Dominguez, J.; Garcia-Lomas, J.; Martinez. J. 1 225

Cam-Gear-lever Mechanism with Periodical Fixed Dwell of the outlet Link, Virabov, R. V.; Kostrova, T.A. 1230

Equivalent Translating Flat-Faced Follower Motion for Plate Cams, Joseph, KD. 1234

TEACHING METHODS Application of the Exterior Calculus to Newton's law,

Browne, J.M.; Pengilley. C.J. 1238 Real Time Modelling of Dynamic Systems—An Aid to Design of Machines,

Parameswaran, M.A. 1 242 Present State of Research and Education in the Fieldof the Theory of Machines and Mechanisms

in Poland, Morecki, A.; Oderfeld, J. 1248

The Analysis of Planar mechanisms by Computer Subroutine, Johnson, A.L. 1252

Euler-Savary Equations at the Practice level. Smith. J.A. 1256

Button Pair Synthesis of some Simple F3 Joints, Phillips. J.R. 1260

Simple Drawing of the Tangent of the Center Point Curve, Filemon, E. (Mrs) 1264

Ingeniöse Machanisme aus der Rumänischen Volkstechnik, Popescu, I. 1268

Mechanism Synthesis by Programmable Calculator, Prentis.J.M. 1272

Historical Review of The Origin and Development of the Spatial Mechanisms Theory, Uskov. M.K. 1275

About the General Method of Determining Acceleration of Groups of Mechanisms with Various Number of Common General Constrains of Movable Links,

Panteleev, S.I. 1279 New Engineering Education Through Theory and Practice,

Pavelic. V. 1283 Algebraic Line Symmetric Motions,

Ravani. B.; Roth, B. 1287 Compuier-Aiaea uesign and Drafting Package for Educational Use,

Fichter, E.F. 1291

AOTOR DYNAMICS Effect of Hydrodynamic Bearings on Parametric Rotors Instabilities,

Krodkiewski, J.M.; Parszewski, Z.A.; Anastasiadis, P. 1295 Analysis and Optimization of a Randomly Excited Machine Tool Spindle For Minimum

Flexural Response, Sharan, A.M.; Sankar, T.S.; Sankar.S. 1300

Opitmum Design of Composite Rotor Blades, Manjunatha Udupa, K.; Nagaraj, V.T.; Varadan, T.K. 1304

Whirling Resonance of Aircraft Propeller-Engine Systems Excited by Cylinder Detonation Pressures,

Cr a,,ua il, S.H. 1 308 A General Linear Approach to Symmetric Distributed Parameter Rotor Systems,

Waiter. J. 1313 Gyroscopic Effect in Rotor-Bearing Parametric Instability,

Krodkiewski, J.M.:Parszewski, Z.A. 1318 Impact Friction Dampers for High Speed Rotors,

Zoratto. D.L. 1323 Dynamic of Torsional Driving Systems of Heavy Mills,

Slavik. J. 1327 Optimale Form der-Unwuchtmasse,

Dresig, H.; Komarov, S.M. 1331

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Comportement Dynamique d'un Rotor de Turbine a Vepeur, Berthier, P.; Ferraris, G.; Der Hagopian, J.; Laianne, M. 1335

Stability of Vertical Rotor Systems Supported by Hydrostatic Thrust Bearings, Jayachandra Prabhu, T.; Ganesan, N.; Rao. B. V.A. 1339

A method for Calculating the Dynamic Behaviour of Cracked Shafts, Bachschmid, N. 1343

Balancing of Single Cycle, Variable Speed, High Velocity Impacting Press, Dwivedi, S.N. 1347

Computation of Non-Linear Quasi-Periodic Torsional Oscillations in Drive Systems with Slip, Weyh, B. 1351

The Computer Simulation of Complex Drive System in the Instrument Engineering, Bogelsack, G.; Christen, G.; Schron, E. 1358

Torsional Response of Engine Compressor System by Transfer Matrix Method, Gahlaut, R.P.S.; Nakra, B.C. 1362

Influence of the Supporting Structure of the Pump Rotor Upon Its Vibrations, Wawrzecki, J. 1366

Mathematical Model for Rotating Systems, Kozhevnikov, S.N. 1370

On the Dynamics of the Flexible Rotor with the Cavity Partially Filled with Viscous Incompressible Liquid, Amandosov, A.; Kunakbaev, T.; Rakhimov. E.; Rakhmatulaev, A. 1374

BIO-MECHANICS Cardiac Simulation Facility for Prosthetic Heart Valve Studies,

Modi, V.J.; Akutsu, T. 1378 A New Biomechanical Method of Treating Injuries in the Occipitocervical and Lower Cervical Spine,

Adalberto Vinciguerra; Epimenio Ramundo Orlando 1382 Model of the Human Lumbar Spine,

Dietrich, M.; Kurowski, P. 1386 A Passive Knee Brace for Minimizing Joint Reactions during bycycling,

Seireg, A.; Gangotena, A. 1390 Application d'un Mecnismea Collisse Elargi Par Une Diade Sur Un Model De Marcheur Mecanique,

Stoimenov, M.; Pantelic, T. 1396 Some Notes of Biomechanics of Knee Motion: A Mechanical Model,

Alberto Rovetta; Giuseppe Cazzulani; Giovanni Frosi 1398 Mechanical Forces Generated in an Electric Motor and the Skeletal Muscle,

Pustola, J. 1402 Vertebral Prosthesis to replace Vertebral Bodies and Adjacent Discs in the Lumbar Spine,

Vera, P.; Hoyos, J.V.; Nieto, J. 1407 Modelling of Human Body Response to Impact Load,

Obraztsov, I.F.; Severin. G.I.; Lyapin, V.A. 1411 A Parametric Simulation Study of the Response of Spinal Curvature to Corrective Force Implications

to the Correction of Juvenile Kyphosis, Vanderby, R.; Daniele, M.; Patwardhan, A.; Stonecipher, T.; Bunch, W. 141 5

AUTHOR INDEX 1419

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