New Trends in Mechanism Science Analysis and Design
EUCOMES (European Conference on Mechanism Science) has been established as an international forum within the European Community to provide an informal, friendly and stimulating environment for discussions and exchanges on achievements in all aspects of Me
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MECHANISMS AND MACHINE SCIENCE Volume 5 Series Editor MARCO CECCARELLI
For other titles published in this series, go to www.springer.com/series/8779
Doina Pisla • Marco Ceccarelli • Manfred Husty Burkhard Corves Editors
New Trends in Mechanism Science Analysis and Design
Editors Prof. Dr. -Ing. Doina PISLA Technical University of Cluj-Napoca Memorandumului 28 400114 Cluj-Napoca Romania [email protected]
Univ. Prof. Dr. Manfred HUSTY University Innsbruck Technikerstr.13 6020 Innsbruck Austria [email protected]
Prof. Marco CECCARELLI University of Cassino Via Di Biasio 43 03043 Cassino (Fr) Italy [email protected] Prof. Dr. -Ing. Burkhard J. CORVES RWTH Aachen University 52056 Aachen Germany [email protected]
ISBN 978-90-481-9688-3 e-ISBN 978-90-481-9689-0 DOI 10.1007/978-90-481-9689-0 Springer Dordrecht Heidelberg London New York Library of Congress Control Number: 2010933197 © Springer Science+Business Media B.V. 2010 No part of this work may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, microfilming, recording or otherwise, without written permission from the Publisher, with the exception of any material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Cover design: eStudio Calamar S.L. Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com)
Table of Contents
Preface
xiii COMPUTATIONAL KINEMATICS
Design and Kinematic Analysis of a Multiple-Mode 5R2P Closed-Loop Linkage C. Huang, R. Tseng and X. Kong
3
Synthesis of Spatial RPRP Loops for a Given Screw System A. Perez-Gracia
11
Contributions to Four-Positions Theory with Relative Rotations H.-P. Schr¨ocker
21
Cusp Points in the Parameter Space of RPR-2PRR Parallel Manipulators G. Moroz, D. Chablat, P. Wenger and F. Rouiller
29
Kinematics and Design of a Simple 2-DOF Parallel Mechanism Used for Orientation T. Itul, D. Pisla and A. Stoica
39
Special Cases of Sch¨onflies-Singular Planar Stewart Gough Platforms G. Nawratil
47
The Motion of a Small Part on the Helical Track of a Vibratory Hopper D.I. Popescu
55
Kinematic Analysis of Screw Surface Contact ˘ ıgler J. Sv´
63
v
vi
Table of Contents
Aspects Concerning VRML Simulation of Calibration for Parallel Mechanisms A. Capustiac and C. Brisan Protein Kinematic Motion Simulation Including Potential Energy Feedback M. Diez, V. Petuya, E. Macho and A. Herm´andez Implementation of a New and Efficient Algorithm for the Inverse Kinematics of Serial 6R Chains M. Pfurner and M.L. Husty Composition of Spherical Four-Bar-Mechanisms G. Nawratil and H. Stachel
73
83
91
99
MICRO-MECHANISMS Simulation and Measurements of Stick-Slip-Microdrives for Nanorobots C. Edeler, I. Meyer and S. Fatikow
109
Analysis and Inverse Dynamic Model of a Miniaturized Robot Structure A. Burisch, S. Drewenings, R.J. Ellwood, A. Raatz and D. Pisla
117
Design and Modelling a Mini
