Table Of ContentMechanisms and Machine Science 17
Victor Petuya
Charles Pinto
Erwin-Christian Lovasz Editors
New Advances in
Mechanisms, Transmissions
and Applications
Proceedings of the Second Conference
MeTrApp 2013
123
Mechanisms and Machine Science
Volume 17
Series Editor
Marco Ceccarelli, Cassino, Italy
For further volumes:
http://www.springer.com/series/8779
Victor Petuya · Charles Pinto
Erwin-Christian Lovasz
Editors
New Advances in
Mechanisms, Transmissions
and Applications
Proceedings of the Second Conference
MeTrApp 2013
BA C
Editors
Victor Petuya Erwin-Christian Lovasz
Mechanical Engineering Department Mechanical Engineering Faculty
University of the Basque Country Politehnica University of Timisoara
Bilbao Timisoara
Spain Romania
Charles Pinto
Mechanical Engineering Department
University of the Basque Country
Bilbao
Spain
ISSN 2211-0984 ISSN 2211-0992 (electronic)
ISBN 978-94-007-7484-1 ISBN 978-94-007-7485-8 (eBook)
DOI 10.1007/978-94-007-7485-8
Springer Dordrecht Heidelberg New York London
Library of Congress Control Number: 2013945390
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Preface
The Second Conference on Mechanisms, Transmissions and Applications,
MeTrApp 2013, has been organized by the Department of Mechanical En-
gineering of the University of the Basque Country, and has been held in the
Bizkaia Aretoa building in the city of Bilbao, Spain, during the period 2–4
October 2013. This conference constitutes the consolidation of the new born
MeTrApp conference, which was held for the first time in Timisoara.
The International Federation for the Promotion of the Mechanism and
Machine Science, IFToMM, has several technical committees, two of them
being the Technical Committee on Linkages and Mechanical Controls and
the Technical Committee on Micromachines. One of the main efforts of these
two committees is directed to promoting the interaction among university
professors and researchers, engineers that work in industry and postgraduate
students, with the purpose of testing hypothesis and sharing knowledge in
the field of Machine Theory. In this sense, this Conference constitutes the
most suitable atmosphere to achieve this target.
The contents of this conference are brought together in this book formed
by a collection of 50 peer-reviewed papers, dealing with important and up-to-
date topics in the field of mechanisms and robotics. The main areas covered
in this conference are mechanism and machine design, mechanical transmis-
sions, automotive applications, biomechanical applications, parallel mecha-
nisms, walking mechanisms, and computational and experimental methods.
A significant number of authors have contributed to the success of this
conference. The research papers included in this book are a compilation of
relevant results developed by active research groups from many universities
and institutions all over the world such as: Canada, Germany, Japan, Italy,
France, Poland, Romania, Russia, Turkey, and Spain.
We are grateful to the authors for their contributions and to all re-
viewers for their critical and valuable recommendations. Also, we want to
thank IFToMM, the Spanish Association of Mechanical Engineering and the
MeTrApp 2013 International Scientific Committee for their cooperation and
support. A special recognition is also due to all members of the Local
VI Preface
Organizing Committee for their continuous work during the preparation of
the meeting.
Finally, we kindly appreciate the work done by the staff of Springer in
assisting to prepare this book.
Prof. Alfonso Hern´andez
Conference Chairman
Contents
Automotive Applications
Kinetostatic Benchmark of Rear Suspension Systems
for Motorcycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
A. Noriega, D.A. Ma´ntaras, D. Blanco
Interconnected Suspension System on Sport Motorcycles . . . . 9
C. Moreno-Ram´ırez, P. Garc´ıa-Ferna´ndez, A. de-Juan,
M. Tomas-Rodr´ıguez
Simulation Tool for Motorbike Prototype Design . . . . . . . . . . . . 17
P. Garc´ıa-Ferna´ndez, J. Gutierrez de Quevedo, C. Moreno-Ram´ırez,
A. Ferna´ndez del Rinc´on
Modelling and Control of a Semi-active Suspension
System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
A. Colina, G. Lerma, I. Cabanes, I. Iglesias
Topological Synthesis of a Novel Parallel Mechanism
for Vehicle Rear Suspensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
F. Malvezzi, T.A.H. Coelho
Vibration Model of a POM Chain Conveyor for the
Automobile Industry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
A.F. Cubero, M. Art´es
Mechanical Transmissions
Development of a Trochoidal Gear Reducer with a Slipping
Rollers Type Torque Limiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
H. Terada, M. Kobayashi, K. Imase
VIII Contents
Uncertainty Propagation in the Grinding Process of High
Contact Ratio Gears for a Planetary Geared Turbofan . . . . . . . 57
A. Mart´ınez-Ciudad, L.N. Lo´pez de Lacalle, J. S´anchez
Efficiency Analysis of Shifted Spur Gears . . . . . . . . . . . . . . . . . . . . 65
A. Diez-Ibarbia, A. Ferna´ndez del Rinc´on, M. Iglesias, F. Viadero
Interactive Geometric Design of Closed External
Single-Range Gearing with Straight Toothing . . . . . . . . . . . . . . . . 75
A.A. Golovin, A.M. Duzhev
Adaptive Mechanical Continuously Variable Transmission . . . 83
K.S. Ivanov, A.D. Dinassylov, E.K. Yaroslavceva
Design and Characterization of a New Planetary Gear
Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
G. Balbayev, Marco Ceccarelli
The Issues of Spurious Residual Oscillations in the
Displacement Laws of Cam Systems . . . . . . . . . . . . . . . . . . . . . . . . . 99
M. Va´clav´ık, P. Dostraˇsil, P. Jir´asko
Biomechanical Applications
Mechanism of a Leg Exoskeleton for Walking Rehabilitation
Purposes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
C. Copilusi, Marco Ceccarelli, G. Carbone, A. Margine
Human Finger Kinematics and Dynamics . . . . . . . . . . . . . . . . . . . . 115
Fai Chen Chen, Silvia Appendino, Alessandro Battezzato,
Alain Favetto, Mehdi Mousavi, Francesco Pescarmona
Design and Simulation of a Simplified Mechanism
for Sit-to-Stand Assisting Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Erika Ottaviano, Pierluigi Rea, Peru Errea, Charles Pinto
Collision Free Design of Dental Prosthesis . . . . . . . . . . . . . . . . . . . 131
E. Solaberrieta, L. Barrenetxea, E. Bilbao, O. Etxaniz,
N. Goikoetxea, R. Minguez, E. Sierra, A. Uribarri
Kinematics Simulation and Validation of a Medical Robot . . . 139
A. Szilaghyi, D. Pisla, C. Vaida, B. Gyurka, N. Plitea
Experimental Design and Control Approach of an Active
Knee Prosthesis with Geared Linkage . . . . . . . . . . . . . . . . . . . . . . . . 149
E.-C. Lovasz, V. Ciupe, K.-H. Modler, C.M. Gruescu, U. Hanke,
I. Maniu, D. M˘argineanu
Contents IX
Motion Control and Fall Prevention for an Active Walker
Mobility Aid. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
S. Irgenfried, H. W¨orn
Workspace and Tension Analysis of a Cable-Based Parallel
Manipulator for Lower Limb Rehabilitation . . . . . . . . . . . . . . . . . . 165
J.C.M. Carvalho, A.M. Barbosa, R.S. Gon¸calves
Walking Mechanisms
Tool for the Analysis of New Skills Biped Pasibot . . . . . . . . . . . 173
H. Rubio, A. Bustos, C. Castej´on, J. Meneses, J.C. Garc´ıa-Prada
Hybrid Quadruped Robot – Mechanical Design and Gait
Modelling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
M. Olinski, J. Ziemba
Wheel-Legged Robot – Construction and Obstacle
Detection Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
A. Gronowicz, P. Sperzyn´ski, J. Szrek, J. Jakubiak
Control of Constrained Dynamic System of Leg
of Wheel-Legged Mobile Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
P. Sperzyn´ski, J. Szrek
Planning an Optimal Step Motion for a Hybrid
Wheeled-Legged Hexapod . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
F. G´omez-Bravo, M.J. Aznar, G. Carbone
Mechanism and Machine Design
Geometrical Synthesis Approach for Compliant Mechanisms
– Design of Applications Exploiting Fibre Reinforced
Material Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
J. Ehlig, U. Hanke, E.-C. Lovasz, M. Zichner, K.-H. Modler
Derivation of Input/Output Relationships for the Bennett
6R Linkages Based on the Method of Decomposition . . . . . . . . 225
˙
R.I. Alizade, G. Kiper, M.I.C. Dede, E. Uzuno˘glu
Non-smooth Behaviour of a Linkage Mechanism with
Revolute Clearance Joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
A. Krinner, T. Thu¨mmel
Design of a Dynamometric Wheel Rim . . . . . . . . . . . . . . . . . . . . . . 243
Jesu´s Blasco, Francisco Valero, Antonio Besa, Francisco Rubio
X Contents
Design of a Feeder with the Use of the Path Synthesis
Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
J. Bu´skiewicz
A Fairly Simple Mechanism Design for a Rural Water
Pump . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
Marco Ceccarelli, Jorge Alencastre Miranda
Adjustable Low-Cost Robot Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
C. Teichgra¨ber, M. Berger, J. Mu¨glitz
2D Scan-Head Motion Characterization and Machine-Tool
Integration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
E. Ukar, S. Mart´ınez, A. Lamikiz, I. Tabernero
Development of a Pneumatic End-Effector for a 3-DOF
Robotic Local Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
S. Kurtenbach, M. Kochniss, A. Cousin, B. Corves
Enhancement of Mechanism Design Process by Interaction
with Haptic Feedback-Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
T. K¨olling, M Hu¨sing, B. Corves
Giuseppe Antonio Borgnis and Significance of His
Handbooks on Representation and Terminology
of Machines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
Michela Cigola, Marco Ceccarelli
A Comparative Study on Application of Decomposition
Method in Function Generation Synthesis of
Over-Constrained Mechanisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
˙
O.W.N. Maaroof, M.I.C. Dede
Parallel Mechanisms
A Novel 4 DoFs (3T-1R) Parallel Manipulator with
Actuation Redundancy – Workspace Analysis . . . . . . . . . . . . . . . 317
Samah Shayya, S´ebastien Krut, Olivier Company, C´edric Baradat,
Franc¸ois Pierrot
Two Parallel Robots with Actuators Situated on the Base . . . 325
A.V. Kozyrev, V.A. Glazunov
Geometric, Kinematic and Dynamic Analysis of Four
Degrees of Freedom Manipulating Robot, Using Methods
of Nonlinear Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
A. Evgrafov, A. Kornishov
