New Trends in Mechanism and Machine Science

Part I. Mechanics of Robots 1

1. Calculation of the Ball Raceway Interferences Due to Manufacturing Errors and Their Influence on the Friction Moment in Four-Contact-Point Slewing Bearings
Iker Heras, Josu Aguirrebeitia, Mikel Abasolo

2. Meshing Analysis for TA Worm Drive
Yaping Zhao

3. Trade-Off for Space Mechanisms Actuator Technology via a General Purpose Language and Domain Specific Simulations Framework
Manolo Omiciuolo, Kristin Paetzold, Matthias Baader, Markus Thiel, Klaus Peter Förster

4. Tolerance Analysis of Planar Serial Manipulators with Decoupled and Non-decoupled Dynamics
Jiali Xu, Jean-Paul Baron, Vigen Arakelian

Part II. Mechanism Analysis 1

5. Coupler-Link Mobility Analysis of Planar Four-Bar Linkages
Shaoping Bai

6. On the Dynamic Equivalence of Planar Mechanisms, an Inertia Decomposition Method
Jan Jong, Johannes Dijk, Just Herder

7. Determination of a Rigid Body Orientation by Means of Indirect Measurements
Irina Gavrilovich, Sébastien Krut, Marc Gouttefarde, François Pierrot

8. Algebraic Analysis of a New Variable-DOF 7R Mechanism
Martin Pfurner, Xianwen Kong

9. Overconstrained Single Loop Four Link Mechanisms with Revolute and Prismatic Joints
Martin Pfurner, Thomas Stigger, Manfred L. Husty

Part III. Parallel Manipulators 1

10. Planar Stewart Gough Platforms with Quadratic Singularity Surface
Bernd Aigner, Georg Nawratil

11. Forward Kinematic Analysis of the 3



3



-RPRS Parallel Manipulator
Anirban Nag, Santhakumar Mohan, Sandipan Bandyopadhyay

12. Computing the Safe Working Zone of a 3-RRS Parallel Manipulator
Dhruvesh Patel, Rohit Kalla, Halil Tetik, Gökhan Kiper, Sandipan Bandyopadhyay

13. Comparison of 3-RPS and 3-SPR Parallel Manipulators Based on Their Maximum Inscribed Singularity-Free Circle
Abhilash Nayak, Latifah Nurahmi, Philippe Wenger, Stéphane Caro

14. On the Workspace Representation and Determination of Spherical Parallel Robotic Manipulators
Khaled Arrouk, Belhassen-Chedli Bouzgarrou, Grigore Gogu

Part IV. Tensegrity Mechanisms

15. Compliant Gripper Based on a Multistable Tensegrity Structure
S. Sumi, V. Böhm, F. Schale, K. Zimmermann

16. Compliant Multistable Tensegrity Structures with Simple Topologies
Valter Böhm, Susanne Sumi, Tobias Kaufhold, Klaus Zimmermann

17. Towards the Control of Tensegrity Mechanisms for Variable Stiffness Applications: A Case Study
Quentin Boehler, Salih Abdelaziz, Marc Vedrines, Philippe Poignet, Pierre Renaud

18. Kinematic Analysis of a Continuum Parallel Robot
Oscar Altuzarra, Mikel Diez, Javier Corral, Gennaro Teoli, Marco Ceccarelli

Part V. Mechanics of Robots 2

19. 3D Formulation for Revolute Clearance Joints
Filipe Marques, Fernando Isaac, Nuno Dourado, Paulo Flores

20. Efficiency Assessment in Spur Gears with Shifting and Profile Modifications
Alberto Diez-Ibarbia, Alfonso Fernandez-del-Rincon, Miguel Iglesias, Ana De-Juan, Pablo Garcia, Fernando Viadero

21. Motion Design Considering Moment of Inertia
Sören Schulze, Carsten Teichgräber, Maik Berger

22. Recent Developments on Cylindrical Contact Force Models with Realistic Properties
Fernando Isaac, Filipe Marques, Nuno Dourado, Paulo Flores

23. On the Determination of the Meshing Stiffness and the Load Sharing of Spur Gears
José I. Pedrero, Miguel Pleguezuelos, Miryam B. Sánchez

Part VI. Industrial and Non-industrial Applications 1

24. WinMecC: Software for the Analysis and Synthesis of Planar Mechanisms
Alex Bataller, Antonio Ortiz, Juan Antonio Cabrera, Fernando Nadal

25. Manipulator Motion Planning in Redundant Robotic System for Fiber Placement Process
Jiuchun Gao, Anatol Pashkevich, Stéphane Caro

26. Free and Open Source Software Applications for Education of TMMDiscipline in Bauman University
Andrei Vukolov

27. A Novel One-DoF Gravity Balancer Based on Cardan Gear Mechanism
Yu-Chun Hung, Chin-Hsing Kuo

28. Galvanometer Laser Scanning: Custom-Made Input Signals for Maximum Duty Cycles in High-End Imaging Applications
Virgil-Florin Duma

Part VII. Control Issues

29. Optimal Motion of Flexible Objects with Oscillations Elimination at the Final Point
Natalia Varminska, Damien Chablat

30. Alternating Error Effects on Decomposition Method in Function Generation Synthesis
Omar W. Maaroof, Mehmet ?smet Can Dede, Gökhan Kiper

31. Control-Based Design of a Five-Bar Mechanism
Lila Kaci, Sébastien Briot, Clément Boudaud, Philippe Martinet

Part VIII. History of Mechanisms

32. F. Reuleaux, F. Wittenbauer: Their Influence on Evolution of Applied Mechanics in Russia at the Beginnings of XXth Century
Andrei Vukolov

33. Applying Modern CAD Systems to Reconstruction of Old Design
Gennady Timofeev, Olga Egorova, Ilya Grigorev

Part IX. Cable Mechanisms

34. Increase of Position Accuracy for Cable-Driven Parallel Robots Using a Model for Elongation of Plastic Fiber Ropes
Valentin Schmidt, Andreas Pott

35. Pose-Independent Counterweighting of Cable-Suspended Payloads with Application to Rehabilitation
Carl Nelson, Raphaël Thienpont, Ashish Shinde

36. Preliminaries of a New Approach for the Direct Kinematics of Suspended Cable-Driven Parallel Robot with Deformable Cables
Jean-Pierre Merlet

37. Static Analysis of Planar 3-DOF Cable-Suspended Parallel Robots Carrying a Serial Manipulator
Marc Gouttefarde

Part X. Mechanism Design and Synthesis 1

38. Structural Synthesis, Mobility Analysis and Creation of Complete Atlas of Multiloop Planar Multiple-Jointed Kinematic Chains on Base All Possible Sets of Color Multiple Joints for Industrial Applications
Ekaterina Ermoshina, Vladimir Pozhbelko

39. Design and Development of a Triggered Type Underactuated Grasping Mechanism and Its Application to an Experimental Test Bed
Steven Grech, Michael Saliba

40. Solving the Minimum Distance Problem for the Synthesis of Mechanisms
Igor Fernández de Bustos, Vaness García Marina, Gorka Urkullu

41. Mobile Robot with Multiple Modes Based on 4-URU Parallel Mechanism
Zhihuai Miao, Jieyu Wang, Bing Li

Part XI. Mechanisms for Biomechanics and Surgery

42. An Experimental Characterization of Human Knee Joint Motion Capabilities
Micha? Olinski, Marco Ceccarelli, Daniele Cafolla, Antoni Gronowicz

43. An Innovative Parallel Robotic System for Transperineal Prostate Biopsy
Bogdan Gherman, Nicolae Plitea, Doina Pisla

44. A 2PRP-2PPR Planar Parallel Manipulatorfor the Purpose of Lower LimbRehabilitation
Jayant Kumar Mohanta, Santhakumar Mohan, Sharad K. Pradhan, Burkhard Corves

45. Singularity Analysis of a Wall-Mounted Parallel Robot with SCARA MotionsLower Limb Exoskeleton with Hybrid Pneumaticaly Assisted Electric Drive for Neuroreabilitation
Anton Aliseychik, Elena Kolesnichenko, Victor Glazunov, Igor Orlov, Vladimir Pavlovsky, Natalia Petrovskaya

Part XII. Mechanism Design and Synthesis 2

46. An Adjustable Constant Force Mechanism Using Pin Joints and Springs
Patrice Lambert, Just L. Herder

47. Synthesis and Optimisation of Large Stroke Flexure Hinges
Martijn Grootens, Ronald Aarts, Dannis Brouwer

48. On the Grand 4R Four-Bar Based Inherently Balanced Linkage Architecture
Volkert Wijk

Part XIII. Mechanism Analysis 2

49. A Workspace Analysis of 4R Manipulators via Level-Set Formulation
Matteo Russo, Marco Ceccarelli

50. A Constructive Method for the Approximation of the Multiple Inverse Kinematics Solutions of Noncuspidal 6 DoF Manipulators
Vassilis Moulianitis, Dimitrios Vogiatzief, Nikos Aspragathos

51. Single-Loop Foldable 8R Mechanisms with Multiple Modes
Jieyu Wang, Guochao Bai, Xianwen Kong

52. Calibration of TCP-Fixed Bevel Units
Carsten Teichgräber, Jörg Müglitz, Maik Berger

Part XIV. Industrial and Non-industrial Applications 2

53. Mechanism Type Synthesis Approach for Automated Handling and Multiaxial Draping of Reinforcing Textiles
Jan Brinker, Jascha Paris, Mario Müller, Mathias Hüsing, Burkhard Corves

54. Design of a Reciprocal Hip Mechanism with Adjustable Flexion-Extension Coupling Ratios for Prosthetic Applications
Kuan-Han Chen, Jyh-Jone Lee

55. Wind Turbine Based on Antiparallel Link Mechanism
Marat Dosaev, Lyubov Klimina, Yury Selyutskiy

56. Model and Analysis of a Novel Piezo-Electric Rotational Motor Based on Deformation Wave Precession
Marco Leonesio, Nicola Cau, Giacomo Bianchi, Paolo Bonfiglio

57. Estimating Characteristics of a Contact Between Sensing Element of Medical Robot and Soft Tissue
Anastasya Yakovenko, Irina Goryacheva, Marat Dosaev

Part XV. Parallel Manipulators 2

58. A Coordinate-Free Dynamical Model for Cable-Driven Parallel Robots
Georges Le Vey

59. Path Generation Synthesis of Planar Double-Slider Linkages via the Elliptic Coupler Curve
Gökhan Kiper, Almina Akbalç?k, Zehra Betül ?en

60. A Controller for Avoiding Dynamic Model Degeneracy of Parallel Robots During Type 2 Singularity Crossing
Damien Six, Sébastien Briot, Abdelhamid Chriette, Philippe Martinet

61. Singularity Analysis of a Wall-Mounted Parallel Robot with SCARA Motions
Guanglei Wu, Shaoping Bai

62. Design of a Cable-Driven Four-Bar Mechanism for Arm Rehabilitation
Talha Eraz, Gökhan Kiper

Keywords: Engineering, Machinery and Machine Elements, Robotics and Automation, Manufacturing, Machines, Tools