bluuebunny/crossref_metadata_2025_split huggingface dataset:
State Library Materials Handling System Design: Part II
Authors: Derby Stephen , Simon Matthew P. , Puffer Raymond H. , Allen Mark A. , Shone Tristan M. , Winston Jeremy B. , Judd Van 
Published: December 2020

Abstract
This paper (part two of two) discusses the concepts generated by the Center for Automation Technologies, Rensselaer Polytechnic Institute, for an automation system for the New York State Talking Book and Braille Library (TBBL). It describes the last several module concepts in the system, designed to assist the TBBL staff in the processing of “talking books” (books on cassette), and discusses system simulations, and conclusions from this work. Part one discussed the assessment of needs, requirements, and process flow (all of which are summarized here), as well as the first several modules in the system.
The primary purposes for this modular system are 1. To assist the TBBL in meeting increased throughput demands and 2. To reduce work-related injury claims. The modules are designed to work individually (as to allow the possibility of similar libraries in other states to purchase modules as desired), and facilitate incremental implementation toward a complete system (for maximized benefit).
In this paper, the modules discussed are the latch closer, label remover, and the virtual turnaround shelves system.
Agile Automation Control Systems: The Hansford Assembly Flex Project
Authors: Durante Ryan , Derby Stephen 
Published: December 2020

Abstract
This paper reviews the Hansford Assembly Flex project recently conducted at RPI. Assembly Flex is a modular automation assembly system in the truest sense. It most cases it can be reconfigured (re-tooled) in under 20 minutes and go from building water pumps to car stereos. Much of this flexibility stems from its unique software control system developed by the authors and others.
A New Method for Overconstraint Analysis Based on Kinematic Compatibility of Single-Opened-Chains
Authors: Jin Qiong , Hang Lu-Bin , Yang Ting-Li 
Published: December 2020

Abstract
A new method for analyzing overconstrained mechanisms is presented in this paper according to the kinematic compatibility criterion of single-opened-chains (SOCs). This criterion states that: if for any value of an active input, two SOCs have die same distances and angles between two ending axes of each SOC, and the difference of axis-lengths corresponding to each hand-side for two SOCs is kept constant, then the two SOCs can be combined together as one closure loop which is an overconstrained mechanism. This method is simple with four clear targets. It is quite different from other methods because the input-output relationships of variables can be obtained during overconstraint analysis. In order to find overconstrained mechanisms, we can begin with parts of compatibility conditions to obtain some kinematic relationships, so that the input-output law and the overconstraint conditions satisfying all compatibility relationships could be given. As examples, the 4R overconstrained mechanisms and a 4R2P overconstrained mechanism are proved using this method.
Assembly Configurations of Spatial Single-Loop Single-DOF Mechanisms With at Least One Spheric or Planar Joint
Authors: Foster David E. , Cipra Raymond J. 
Published: December 2020

Abstract
This paper examines the problem of finding the assembly configurations, also called circuits, of spatial single-loop single-DOF mechanisms with spheric and planar joints. All six lower pairs are considered: revolute (R), cylindric (C), prismatic (P), helical (H), spheric (S), and planar (E). The RSSR, CSS, CCS, RRSC, RSRC, and RRSRR mechanisms are covered, along with all variations in which an R joint is replaced with a P or H joint, or an S joint is replaced with an E joint. A numerical method is given to find the ACs, and is illustrated with several examples.
Analytic Geometric Design of Spatial R-R Robot Manipulators
Authors: Mavroidis Constantinos , Alam Munshi , Lee Eric 
Published: December 2020

Abstract
This paper studies the geometric design of spatial two degrees of freedom, open loop robot manipulators with revolute joints that perform tasks, which require the positioning of the end-effector in three spatial locations. This research is important in situations where a robotic manipulator or mechanism with a small number of joint degrees of freedom is designed to perform higher degree of freedom end-effector tasks. The loop-closure geometric equations provide eighteen design equations in eighteen unknowns. Polynomial Elimination techniques are used to solve these equations and obtain the manipulator Denavit and Hartenberg parameters. A sixth order polynomial is obtained in one of the design parameters. Only two of the six roots of the polynomial are real and they correspond to two different robot manipulators that can reach the desired end-effector poses.
A Comparative Study on Some Different Methods for Complete Balancing of Shaking Force and Moment of Linkages Using Force Counterweights and Inertia Counterweights
Authors: Yang Ting-Li , Zhang Ming , Xu Zhen 
Published: December 2020

Abstract
A systematical comparative study of some methods for complete force and moment balance is presented in this paper, such as, the linearly independent vectors method, the mass-moment substitution method, the complex mass substitution method and a numerical method by a few kinematic positions for force balance; the quasi-linearly independent vectors method and the momentum-moment substitution method for complete moment balance. Their fundamental principles and characteristics are described and their relative merits and some limitations are discussed. This comparative study shows:
(1) for complete force balance, the linearly independent vectors method and the mass-moment substitution method are two systematical methods. Relatively, the latter has two merits: i) according to the derived formula, the force balance conditions can be written down directly instead of extracting them from kinematic equations of a linkage, and derivation of the formula is rather simple; ii) there need not to introduce the complex masses and to determine their loci.
(2) for complete moment balance, the momentum-moment substitution method is a systematical theory and there are two merits: i) according to the derived formula, the moment balance conditions can be written down directly instead of extracting them from kinematic equations of the linkage; ii) the basic idea of this method is the same as of the mass-moment substitution method. Perhaps, the mass-moment and momentum-moment substitution method is a systematical and practical theory for complete force and moment balance of planar and spatial linkages.
On the Development of Reactionless Parallel Manipulators
Authors: Ricard Rémi , Gosselin Clément M. 
Published: December 2020

Abstract
This article presents a method for the complete dynamic balancing of 3-dof planar parallel manipulators. The method is based on the use of special legs constructed with modules based on dynamically balanced four-bar linkages. First, different families of dynamically balanced four-bar linkages are established. Then, examples of the different families of four-bar linkages are given as well as examples of 3-dof planar reactionless parallel manipulators.
A Novel Three-DOF Translational Platform Mechanism and its Kinematics
Authors: Zhao Tie Shi , Huang Zhen 
Published: December 2020

Abstract
To enrich the type of three-DOF parallel mechanisms, a novel 3-RRC platform mechanism model is presented in this paper. The upper platform of this 3-DOF parallel manipulator can realize three-dimension translations without any rotations. The solutions are developed for both the inverse and forward kinematics. The inverse position kinematics produces two solutions for each limb of manipulator. The forward position kinematics is reduced to an eighth-degree polynomial equation. The velocity and acceleration analyses are also given. Some numerical examples and relational curves are presented finally.
A Geometric Algorithm for the Computation of the Constant-Orientation Workspace of 6-RUS Parallel Manipulators
Authors: Bonev Ilian A. , Gosselin Clément M. 
Published: December 2020

Abstract
This paper presents a geometric algorithm for the computation of the constant-orientation workspace of 6-RUS parallel manipulators. While the basic philosophy of this algorithm is not new, the proposed computational process involving surface intersections is original and is the major contribution of the paper. Particularly, an analytic description of the points that constitute the edges of the constant-orientation workspace is presented. The latter is done through a new algorithm for the computation of the intersection points between a general torus and a circle.
Closed-Form Forward Dynamic Equations of 6-DOF

P

US Type Parallel Manipulators
Authors: Kim Jong-Phil , Ryu Jeha 
Published: December 2020

Abstract
This paper presents closed-form forward dynamic equations of six degree-of-freedom HexaSlide type parallel manipulators. The HexaSlide type parallel manipulators are characterized by an architecture with constant-length links that are attached to moving sliders on the ground and to a mobile platform. Based on the kinematic analysis, forward dynamic equations of motion of the parallel manipulator are derived by the Newton-Euler approach. In this derivation, joint frictions as well as all link inertia are included. The correctness of derived dynamic equations is validated by a commercial dynamic simulation software. The kinematic and dynamic equations may be used in the computer simulation of various control strategies.
Force Coordination of a Discretely Actuated Parallel Array
Authors: Yang Po-hua , Waldron Kenneth J. 
Published: December 2020

Abstract
An array of two-state actuators, i.e. a bundle of binary actuators acting in parallel, can be regarded as a simplified model of biological muscle. The subject of this paper is to investigate the properties of a wrench generator system which is composed of a bundle of pneumatic cylinders connected between an output member and base. Each actuator is postulated to operate in a discrete manner. The parallel array is viewed as a programmable force generator, rather than as a motion generator. The force control problem of this kind of system is not straightforward, since it requires a boolean solution. In this paper, we will propose and explore three possible methods for controlling the force generation of a discretely actuated parallel array.
A Linear Displacement Bistable Micromechanism
Authors: Baker Michael S. , Lyon Scott M. , Howell Larry L. 
Published: December 2020

Abstract
Bistable mechanisms have proven their importance at both the macro and micro level in switches, valves and positioners. This paper examines the application of compliant functionally binary pinned-pinned segments in linear motion bistable mechanisms. The equations which govern the force-deflection characteristics of a circular-arc pinned-pinned segment are developed and then applied to create a linear displacement bistable mechanism. The results are then applied to a specific bistable micromechanism configuration that was fabricated and successfully tested.
Study of Kinemtically Singular Configurations for the Seven Degree-of-Freedom Anthropomorphic Arm
Authors: Cheng Li-Ping , Kazerounian Kazem 
Published: December 2020

Abstract
In this paper, a seven degree-of-freedom anthropomorphic arm model defined by zero-position notation is used to study the kinematically singular configurations of human arm. The three findings of this study are: (1) A relationship is shown between the rank of Jacobian matrix J and the number of corresponding reciprocal screws for singular configurations of any three dimensional manipulator arm. (2) By investigating the geometrical positions of this model, its various singular configurations are identified and illustrated. (3) The determinant and cofactor matrix of JJT, and the sub-determinants of J are also examined to help a better understanding of the singularity conditions and characteristics for the seven degree-of-freedom anthropomorphic arm.
A Spatial Mechanism With Higher Pairs for Modelling the Human Knee Joint
Authors: Di Gregorio Raffaele , Parenti-Castelli Vincenzo 
Published: December 2020

Abstract
By generalizing a previous model proposed in the literature, a new spatial kinematic model of the knee joint passive motion is presented. The model is based on an equivalent spatial parallel mechanism which relies upon the assumption that fibres within the anterior cruciate ligament (ACL), the medial collateral ligament (MCL) and the posterior cruciate ligament (PCL) can be considered as isometric during the knee flexion in passive motion (virtually unloaded motion). The articular surfaces of femoral and tibial condyles are modelled as 3-D surfaces of general shapes. In particular, the paper presents the closure equations of the new mechanism both for surfaces represented by means of scalar equations that have the Cartesian coordinates of the points of the surface as variables and for surfaces represented in parametric form. An example of simulation is presented in the case both femoral condyles are modelled as ellipsoidal surfaces and tibial condyles as spherical surfaces. The results of the simulation are compared to those of the previous models and to measurements. The comparison confirms the expectation that a better approximation of the tibiofemoral condyle surfaces leads to a more accurate model of the knee passive motion.
A Polynomial Equation for a Coupler Curve of the Double Butterfly Linkage
Authors: Pennock Gordon R. , Hasan Atif 
Published: December 2020

Abstract
This paper presents a closed-form polynomial equation for the path of a point fixed in the coupler links of the double butterfly linkage. The revolute joint that connects the two coupler links of this planar eight-bar linkage is chosen to be the coupler point. A systematic approach is presented to obtain the coupler curve equation, which expresses the Cartesian coordinates of the coupler point solely as a function of the link dimensions; i.e., the equation is independent of the angular joint displacements of the linkage. From this systematic approach, the polynomial describing the coupler curve is shown to be, at most, forty-eighth order. This result is believed to be an original contribution to the literature on coupler curves of a planar eight-bar linkage.
Surface Fatigue Lives of Case-Carburized Gears With an Improved Surface Finish
Authors: Krantz T. L. , Alanou M. P. , Evans H. P. , Snidle R. W. 
Published: December 2020

Abstract
Previous research provides qualitative evidence that an improved surface finish can increase the surface fatigue lives of gears. To quantify the influence of surface roughness on life, a set of AISI 9310 steel gears was provided with a near-mirror finish by superfinishing. The effects of the superfinishing on the quality of the gear tooth surfaces were determined using data from metrology, profilometry, and interferometric microscope inspections. The superfinishing reduced the roughness average by about a factor of 5. The superfinished gears were subjected to surface fatigue testing at 1.71-GPa (248-ksi) Hertz contact stress, and the data were compared with the NASA Glenn gear fatigue data base. The lives of gears with superfinished teeth were about four times greater compared with the lives of gears with ground teeth but with otherwise similar quality.
Effect of Gear-Side Case-Hardening on Residual Stresses of Case-Hardened Gears
Authors: Miyachika Kouitsu , Oda Satoshi , Fujio Hiroshige 
Published: December 2020

Abstract
This paper presents a study on effects of the case depth, the case-hardened part, the face width, the rim thickness and the standard pressure angle on residual stresses of case-hardened gears. A heat conduction analysis and an elastic-plastic stress analysis for the case-hardening process of spur gears were carried out by the three-dimensional finite-element method (3D-FEM), and then residual stresses were obtained. It was found that the compressive residual stress σ*θ = 30° at Hofer’s critical section of the end of the face width is smaller in magnitude than that of the middle of the face width, and that the absolute value of σ*θ = 30° of the middle of the face width decreases owing to case-hardening the gear-side and the decreasing rate increases with an increasing case depth and a decreasing face width.
Finite Element Modelling and Analysis for Involute Worm Gears With Localised Tooth Contact
Authors: Su D. , Yang F. , Gentle C. R. 
Published: December 2020

Abstract
A general approach is reported in this paper for finite element modelling and analysis of involute worm gear with localised tooth contact. The process of finite element modelling is based on the modified tooth geometry which was presented in a previous paper. The finite element analyses were conducted using commercially available software. The following topics have been investigated in this study: (1) geometric modelling method for involute worm gears, (2) tooth elastic deformation and tooth root stress of worm gear under different loads, and (3) instantaneous tooth meshing stiffness and loaded transmission error of the involute worm gear. Although this study is aimed at involute worm gears, the method developed is applicable for other worm gear types.
Metal Belt CVT’s: Performance Parameters
Authors: Browne Vance D. 
Published: December 2020

Abstract
Automotive applications of CVT’s using metal belts are continuing to grow. There has been a significant amount of work in the detailed mechanics for these CVT’s.
This CVT technology may be extended into non-automotive areas, which have different size, torque, ratio and speed requirements than automotive applications. The purpose of this paper is to explore the basic performance parameters for the metal belt CVT outside the automotive envelope and to present a design procedure for an initial estimate of torque capacity. This may then be used for preliminary functional feasibility evaluation of metal belt CVT’s in various applications. It can also serve as an instructional tool in mechanical engineering design courses.
The governing equations are first presented for the simplified analysis. Also an optimum pitch radius is derived to maximize torque capacity. A design procedure is listed. This is first applied to a baseline automotive type configuration CVT to illustrate the procedure. Next, the procedure is applied to a non-automotive CVT that could be a diesel engine vehicle or industrial drive characterized by lower engine speeds, higher torque, larger ratio range and greater space available for the transmission.
For the non-automotive application it is shown that optimization for maximum torque capacity vs minimum size for a given belt design can significantly increase torque capacity at overdrive in the range of 25%. The amount of increase depends on the engine speed and an increase in sheave diameters is required.
Transmission Error in Helical Timing Belt Drives: Case of a Period of Pulley Pitch
Authors: Kagotani Masanori , Ueda Hiroyuki , Koyama Tomio 
Published: December 2020

Abstract
Helical timing belts have been developed in order to reduce the noise that occurs when conventional timing belts are driven. Helical timing belts are characterized by synchronous rotation. Although several studies have been performed to clarify the noise characteristics and belt life of helical timing belts, the transmission error of these belts remains unclear. In the present study, the transmission error having a period of one pitch of the pulley was investigated both theoretically and experimentally for helical timing belt drives. Experimental conditions were such that the transmission force acts on the helical timing belts under quasi-static conditions and the belt incurs belt climbing at the beginning of meshing and at the end of meshing. Experimental results obtained for the transmission error agreed closely with the computed results. The computed results revealed that helical timing belts can be analyzed as a set of very narrow belts for which the helix angle is zero. The transmission error was found to decrease when the helix angle or the belt width increases within a range defined such that the face advance is less than one belt pitch. In addition, there exists an appropriate installation tension that reduces the transmission error.
Finish Roll Forming of Spur Gears for High Efficiency
Authors: Uematsu Seizo , Kato Masana 
Published: December 2020

Abstract
Finish roll forming under the constant center distance by forced feed of tool can be conceived as a method of eliminating errors in conventional form rolling under constant loads. This method generates a high-precision tooth profile by low-speed form rolling when a high rigid screw or cam is used as loading parts. In this study, the high-speed rolling conditions of this method for necessary to be applied in practical situations are discussed. The following conclusions are obtained. When the following design data are given (module, number of teeth, addendum modification coefficient, prescribed design precision, and material characteristics), the accuracy of rolled gear can be predicted from the relationship between the required feed for the tool and the theoretically calculated plastic deformation on the tooth profile. These conclusions are verified experimentally. For example, the tooth accuracy of rolled gears with module 5 can improve from JIS class 3 to JIS class 0 or 1 when the load Fmax is 4 to 5kN and the pitch line velocity is 7 m/min.
Application of the GWPS for Machining of a Transmission Housing
Authors: Rao Suren B. , Neal Gary L. , DeMeter Edward C. , Trethewey Martin W. 
Published: December 2020

Abstract
One component of a modern machining system that has remained virtually unchanged, since time immemorial, is part location. The fundamental basis of current methods of part location is the concept of a physical datum surface, which is created in the first machining operation and conducting all the further machining operations with reference to this physical surface. Current workpiece positioning practice utilizes physical contacts between the fixture and workpiece for location. Due to contact feature variations, the positioning is inconsistent and variable for sequential machining set-ups. Consequently, geometric errors are induced in machined features.
This paper proposes a novel concept, the Global Workpiece Positioning System (GWPS), for datum establishment. Precision artifacts are strategically located on the rough workpiece and a part reference frame is defined, with respect to these artifacts, at a qualification station. This part specific information now travels with the part to the machining station. At the machining station a probe is used to locate the artifacts on the part and determine their location with reference to the machine tool’s reference frame. Since the part reference frame is known with respect to the artifacts, its location can be derived with respect to the machine tool’s reference frame. The part program can then be modified to reflect the actual location of the part and the machining of the features carried out with a greater degree of accuracy and precision. A prototype system using the GWPS concept is implemented and presented. Experimental results validate the GWPS concept. A three-hole pattern is drilled and bored in an aircraft transmission housing component in a two set up operation. The GWPS located workpieces retained a hole center location accuracy within the required drawing specification without the use of the traditional location fixtures that are typically used for the two operational set-ups.