bluuebunny/crossref_metadata_2025_split huggingface dataset:
On the Generation of Identical Noncircular Pitch Curves
Authors: Tong Shih-Hsi , Yang Daniel C. H. 
Published: February 2021

Abstract
In this paper the theory and algorithm for generating pairs of identical noncircular conjugate pitch curves are presented. A set of criteria for two identical rigid bodies engaging in conjugate rolling motion is established. Based on these criteria, an algorithm is developed, which can be used to design this type of rolling pairs with almost unlimited profile varieties and any number of lobes. Geometrical conditions for having C1 (or slope) continuity at the intersections of tips and roots of lobe profiles are also established. A family of similar profiles can be designed at the same time by using a single parameter, the pitch noncircularity, via a dimensionless analysis. Results from this investigation should have applications to the design of noncircular gears and lobe pumps.
A Method for Creative Design of Mechanisms and its Application
Authors: Shen Hui-ping , Xu Zhen 
Published: February 2021

Abstract
This paper presents an operable and practical similarity transplant creation method for creative design of mechanisms and mechanical structures. The theoretical basis and the procedures of this creation method are given. As an industrial example, the process of creation design of an expansion-contraction plugger designed by this method is discussed in detail. The method can be used in efficient solving one kind of mechanical creative design problems.
Modal Loss Factor Predication in Flexible Mechanism Systems With Constrain Viscoelastic Layers
Authors: Xianmin Zhang , Jike Liu 
Published: February 2021

Abstract
Control of dynamic vibration is critical to the operational success of many flexible mechanism systems. This paper addresses the problem of vibration control of such mechanisms through passive damping, using constrained layer damping treatment technique. A new type of shape function for three layer frame element containing a viscoelastic layer is developed. The equations of motion of the damped flexible mechanism are derived. Modal loss factors of this kind mechanisms are predicated from undamped normal mode by means of the modal strain energy method. Comparisons between the results obtained by this paper and the results obtained by exact solution of the governing equations for a well known sandwich beam demonstrate that the method presented in this paper is correct and reliable. Application of this method in predication of modal damping ratios for damped mechanisms is discussed. It is believed that the method of this paper hold the greatest potential for optimal design of damped flexible mechanism systems.
Inverse Force Analysis of General Planar Three-Spring System Using Continuation Method
Authors: Liu An-Xin , Shi Bao-Qian , Zhang Ming , Yang Ting-Li 
Published: February 2021

Abstract
The inverse force analysis of planar three-spring system is studied in this paper. First, the force balance equations and moment balance equations, together with the loop equations, are reduced into polynomial form. Then continuation method is used to find all static equilibrium positions of the system.
3D Dynamic Modelling of Flexible Gear-Bar Mechanical Systems: A Specific Finite Element Approach
Authors: Wang Y. , Zhang W. J. , Li Q. 
Published: February 2021

Abstract
A mechanical system considered here consists of gear, bar, shaft and bearing. The objective of the study is to develop a unified and systematic procedure to build a dynamic model for such complex mechanical systems taking into account as many as factors. These factors include the flexibility of all components and gear transmission errors. Existing literature provides a separate studies of dynamic behaviors on gear transmissions and multi-body systems (usually excluding gear transmission or at most considered as two disks with pure rolling). In this paper we propose to apply a specific finite element theory that has been widely successful in multi-body dynamics. This specific finite element theory promises that a dynamic model will be systematically established provided that an appropriate type of finite element is defined which of course should represent the dynamic features of a real world system. For this reason, we develop a new type of finite element that can describe the transmission behavior of a pair of gears with parallel axes. This new type of finite element is 3D, therefore we can demonstrate to build a dynamic model for such complex systems with consideration of rotational, transverse and axial deformations and gear transmission errors. A case study is provided.
A Numerical Scheme for Dynamic Systems Containing Fractional Derivatives
Authors: Yuan Lixia , Agrawal Om P. 
Published: February 2021

Abstract
This paper presents a numerical scheme for dynamic analysis of mechanical systems subjected to damping forces which are proportional to fractional derivatives of displacements. In this scheme, a fractional differential equation governing the dynamic of a system is transformed into a set of differential equations with no fractional derivative terms. Using Laguerre integral formula, this set is converted to a set of first order ordinary differential equations, which are integrated using a numerical scheme to obtain the response of the system. Numerical studies show that the solution converges as the number of Laguerre node points are increased. Further, results obtained using this scheme agree well with those obtained using an analytical technique.
Control of Robot Manipulators Using a Dual-Model-Based Structure
Authors: Li Q. , Zhang W. J. , Tso S. K. 
Published: February 2021

Abstract
This paper proposes a dual-model-based structure for uncertainty attenuation in the trajectory-tracking control of robot manipulators. A conventional model-based control algorithm with an estimated robot dynamic model employed is first placed in the overall structure as a basic control component. To further attenuate the unwanted effects caused by modelling uncertainties, another model-based structure, appended in the outer-loop of the basic control structure as a compensator, is developed based on the concept of the internal model control. Combination of these two model-based structures results in a novel dual-model-based controller for robot manipulators. Sensitivity analyses show that the effects due to both modelling errors and external disturbances can be significantly reduced by applying this dual-model-based control structure without relying on a high-gain control solution. Effectiveness of this control design is successfully demonstrated by simulation studies on a 2 degree-of-freedom robot.
Active Residual Vibration Control for Flexible Robot Manipulator Systems
Authors: Xianmin Zhang , Li Song , Jike Liu 
Published: February 2021

Abstract
In this paper, a mathematical model for flexible robot manipulators with smart links featuring piezoelectric films is developed in conjunction with the finite element method. The dynamics of piezoelectric actuators and strain gage sensors bonded on the flexible links are presented for beam model. Theory and measures of active vibration control for flexible manipulators are studied based on the modal and modern control theory, and the correspondent optimal control scheme is proposed. The robust control low is formulated based on the modified independent modal control method and the Linear Quadratic theory. The computational method for the actual control moments and the control voltages are also presented.
Orthonormal Isotropic Vector Bases
Authors: Ciblak Namik , Lipkin Harvey 
Published: February 2021

Abstract
Orthonormal bases of isotropic vectors for indefinite square matrices are proposed and solved. A necessary and sufficient condition is that the matrix must have zero trace. A recursive algorithm is presented for computer applications. The isotropic vectors of 3 × 3 matrices are solved explicitly. Deviatoric stresses in continuum mechanics, the existence of isotropic vectors (particularly in screw space), and stiffness synthesis by springs are shown to be related to the isotropic vector problem.
Structure Types Synthesis of Multiloop Spatial Kinematic Chains With General Variable Constraints
Authors: Luo Yufeng , Yang Tingli , Seireg Ali 
Published: February 2021

Abstract
A systematic procedure is presented for the structure type synthesis of multiloop spatial kinematic chains with general variable constraints in this paper. The parameters and the structure types of the contracted graphs and the branch chains used to synthesize such kinematic chains are given for kinematic chains with up to four independent loops. The assignments for the constraints values of all the loops in a kinematic chain are discussed. Using these as the basis, the structure types of the multiloop spatial kinematic chains with hybrid constraints could be synthesized.
A Geometric-Algebraic Exploration of Two Kinds of Schatz 6R Linkages
Authors: Lee Chung-Ching 
Published: February 2021

Abstract
The generation of two kinds of Schatz six-revolute linkages is first delineated from the view point of geometry and then, the general analytical kinematic closed-form solutions of both types are developed by matrix algebra and its differentiation for confirming the constrained motion and further application. The full cycle range of motion about the input link for these linkages is also verified by using the matrix differential closure loop equation. Furthermore, based on the six-by-six screw coordinate transformation matrix, we establish the algebraic formulas of screw coordinates of six-revolute joint axes and the single screw axis reciprocal to the five-order screw system defined by the joint axes of linkages. Then we make their algebraic and geometric analysis with the help of 3D computer graphics. Two kinds of algebraic surfaces for both linkages’ reciprocal screws are presented for understanding the real features and for proving the fact that during their cycles of movement there are no transversal to all six-revolue joint axes permanently.
Design of Spherical 4R Mechanisms: Function Generation for the Entire Motion Cycle
Authors: Farhang Kambiz , Zargar Yasir S. 
Published: February 2021

Abstract
A class of spherical 4R mechanisms are studied for which the crank is relatively smaller than the remaining links. The theory of small-crank mechanisms is applied to obtain approximate descriptions for the follower angular displacement in terms of the input crank angle. The follower angle is presumed to comprise a mean and a perturbational motion. This results in an approximate expression in which the follower displacement is given as a linear combination of simple harmonic functions of the first and second harmonics of the crank angle. The approximate equations are utilized for synthesis of spherical 4R mechanisms for function generation. In contrast to the conventional design procedures, the use of the approximate equations allows synthesis of spherical mechanisms in which the prescribed function is satisfied for the entire motion of the mechanism. In addition to design examples, sample error charts are provided to assist the designer in ascertaining feasible ranges for design and corresponding orders of error.
Identification of Singularity Free Joint Rotation Space of Two-DOF Parallel Manipulators
Authors: Dou Xiaohong , Ting Kwun-Lon 
Published: February 2021

Abstract
In this article, a novel approach is presented to identify the singularity free joint rotation space (JRS) of two-DOF seven-bar parallel manipulators. The configuration space of a seven-bar manipulator is expressed as joint rotation space sheets and each sheet may have one, two or four-sides. Each sheet represents a manipulator branch and each side of a sheet corresponds to a singularity free Joint rotation space. The article presents a logical approach to understand how the joint rotatability of one loop in a seven-bar manipulator is affected by the other loop, the formation of branches and its relationship to singularities. Based on the types of interaction between loops, manipulators are classified into three types. The paper offers an effective method to identify and understand the problems with branch and singularity of parallel manipulators. The concept and method can also be used in other types of parallel manipulators.
Analysis of the DLR Planetary Roller Spindle Drive
Authors: Balázs Matthias , Spieck Martin 
Published: February 2021

Abstract
The DLR Planetary Roller Spindle Drive (PRSD), a new linear actuator developed at the German Aerospace Center (DLR), transforms fast rotation of a drive into slow but powerful linear movement. To optimize dynamical behaviour and performance of modified PRSD design versions, modelling and calculation methods have been developed, taking into account the very special requirements of this new design.
To analyze the operating characteristics and performance figures, the DLR Planetary Roller Spindle Drive was modelled as a multibody system (MBS). Special attention was directed on the description of the complex contact mechanics between the PRSD elements. Accompanying experiments ensured the accuracy of the modelling. Analysis of the MBS model of an existing PRSD in the time domain showed satisfying accordance with testbench measurements.
Burmester Field Envelopes for Multiple Design Parameters
Authors: Mlinar John R. , Erdman Arthur G. 
Published: February 2021

Abstract
The Burmester field is the area swept by a Burmester curve as one or more of the design variables change. This paper presents the envelope of the Burmester field for more than one design parameter. It is shown that the envelope consists of various segments. These segments are found to be portions of Burmester curves and curves found using envelope theory. A two- and three-parameter example are provided and discussed. The application of the Burmester field concept to the design of linkages is also discussed. This includes the limitations on the selection of the second dyad.
A Parametrization Scheme for the Burmester Curves
Authors: Niyogi Siddhartha , Kinzel Gary L. 
Published: February 2021

Abstract
The cubic representation of the Burmester curve in Cartesian coordinates has certain disadvantages when automated searches are carried out. A parametric representation of the curve would be ideal. A systematic search could then be carried out by tracking points in a continuous fashion along the curve. In addition, solution rectification methods could be applied to determine the feasible segments, and the search could be limited to those portions only. This paper presents an alternative scheme for parametrizing the Burmester curves, as opposed to the complex number approach used by Chase et al. It uses the graphical method as its basis. The final scheme is not single valued, as it involves a parameter value as well a sign variable, but otherwise fulfils the requirements for an automatic search. It is an improvement on the cubic representation as it is double valued, rather than triple valued. The basic theory associated with the parametrization and the issues arising out of it are developed.
Solving the Kinematics of Planar Mechanisms
Authors: Wampler Charles W. 
Published: February 2021

Abstract
This paper presents a general method for the analysis of planar mechanisms consisting of rigid links connected by rotational and/or translational joints. After describing the links as vectors in the complex plane, a simple recipe is outlined for formulating a set of polynomial equations which determine the locations of the links when the mechanism is assembled. It is then shown how to reduce this system of equations to a standard eigenvalue problem, or if preferred, a single resultant polynomial. Both input/output problems and tracing-curve equations are treated.
Path Generation Using a Random Walk Algorithm
Authors: Camuto Matthew , Kinzel Gary 
Published: February 2021

Abstract
This paper develops a method for improved path generation utilizing optimization and rectification theory. Gradient based optimization methods with respect to path generation are examined and proved impractical by example. A random walk algorith is presented then tailored for path generation. By parameterizing the desired curve and utilizing this random walk algorithm results using gradient based methods are improved upon. An example using this algorithm is presented.
Optimal Tolerance and Clearance Allocation in Mechanisms to Minimize Manufacturing Cost
Authors: Biswas Arunava , Kinzel Gary L. 
Published: February 2021

Abstract
A procedure has been developed for the optimal allocation of tolerances and clearances in complex assemblies. The objective is to minimize manufacturing costs and sensitivity to variations in the design variables. The assemblies considered are single loop planar and spatial mechanisms including those with analytically defined surface contact joints. The procedure, to be used in early design stages, allows the incorporation of manufacturing tolerances and clearances based on actual manufacturing process and cost information. This allows the designer’s intent and the manufacturing and process capabilities to be tied together in the development of the product or assembly. The allocation of tolerances is done with the idea of minimizing the overall “life cycle cost” of the assembly, which not only involves the actual manufacturing cost but also the cost involved in maintaining the design variables within tolerable values. A multicriteria optimization procedure is used to handle the two aforementioned conflicting objectives. The kinematic analysis of mechanisms with clearance joints is performed using an iterative procedure along with an equivalent “clearance link” model.
Linkage Synthesis of a Four-Bar Mechanism for N Precision Points Using Simulated Annealing
Authors: Martínez-Alfaro Horacio , Valdez Homero , Ortega Jaime 
Published: February 2021

Abstract
This paper presents an alternative way of linkage synthesis by using a computational intelligence technique: Simulated Annealing. The technique allows to define n precision points of a desired path to be followed by a four-bar linkage (path generation problem). The synthesis problem is transformed into an optimization one in order to use the Simulated Annealing algorithm. With this approach, a path can be better specified since the user will be able to provide more “samples” than the usual limited number of five allowed by the classical methods. Several examples are shown to demonstrate the advantages of this alternative synthesis technique.
Size and Shape Optimization of Compliant Mechanisms: An Efficiency Formulation
Authors: Hetrick Joel A. , Kota Sridhar 
Published: February 2021

Abstract
Compliant mechanisms are jointless mechanical devices that take advantage of elastic deformation to achieve a force or motion transformation. A milestone toward systematic design of compliant mechanisms has been the development of topology optimization techniques. The next logical step is to incorporate size and shape optimization to identify the exact dimensional form of the mechanism. A new objective formulation based on maximizing the mechanical efficiency of a compliant mechanism is developed in order to perform the size and shape optimization. An advantage of this formulation is that precise control over the mechanism’s mechanical or geometric advantage can be enforced during optimization. Finite element beam models are used to perform dimensional synthesis of planar compliant mechanisms. This technique allows stress constraints to limit the maximum stress in the mechanism which improves the mechanism’s durability and flexibility. Resulting optimized mechanisms exhibit efficient mechanical transmission and meet kinematic and stress requirements. Several examples are given to demonstrate the effectiveness of the optimization procedure.
A Multi-Criteria Optimization Method for Mechanism Tolerance and Clearance Design
Authors: Biswas Arunava , Kinzel Gary L. 
Published: February 2021

Abstract
A procedure has been developed for optimally allocating tolerances and clearances in single loop planar and spatial mechanisms for minimum cost and minimum sensitivity to parameter variations. The cost of incorporating individual tolerances and clearances using specific manufacturing processes and their overall effects (sensitivities) on the whole assembly is established for each individual part. These are then incorporated into a multicriteria nonlinear optimization procedure to obtain the best tolerance and clearance specification for a part and the best manufacturing process. The procedure is developed for use in the early design stages of an assembly to allow the design to accommodate dimensional variations occurring during overall life cycle of the mechanism. The design is made as insensitive as possible to these variations, i.e. “robust” against the manufacturing and operating variations.
Automated Synthesis and Optimization of Robot Configurations
Authors: Leger Chris , Bares John 
Published: February 2021

Abstract
We present an extensible system for synthesizing and optimizing robot configurations. The system uses a flexible representation for robot configurations based on parameterized modules; this allows us to synthesize mobile and fixed-base robots, including robots with multiple or branching manipulators and free-flying robots. Synthesis of modular robots is also possible with our representation. We use an optimization algorithm based on genetic programming. A distributed architecture is used to spread heavy computational loads across multiple workstations. We take a task-oriented approach to synthesis in which robots are evaluated on a designer-specified task in simulation; flexible planning and control algorithms are thus required so that a wide variety of robots can be evaluated. Our system’s extensibility stems from an object-oriented software architecture that allows new modules, metrics, controllers, and tasks to be easily added. We present two example synthesis tasks: synthesis of a robotic material handler, and synthesis of an antenna pointing system for a mobile robot. We analyze several key issues raised by the experiments and show several important ways in which the system can be extended and improved.
A Simple Finite Element Based Model for a Constrained-Layer of Viscoelastic Material: Part 1 — Experimental Verification and Comparison With Analytical Models
Authors: Sisemore Carl , Smaili Ahmad 
Published: February 2021

Abstract
In this article, a simple, finite element based model for a constrained layer of viscoelastic damping for beams is developed and implemented. The proposed model uses a series of discrete springs and dampers to model the stiffness and damping, and lumped masses to account for the mass of the viscoelastic material while the base material and constraining layers are modeled with a five-node Timoshenko beam element. The accuracy of the model is verified experimentally by testing damped beams with various damping treatment configurations. The results from the proposed model and the experiments are then compared with the Mead-Markus analytical model. Concerns over the accuracy of the Mead-Markus analytical model are raised and discussed. The results demonstrate that the proposed model can predict the fundamental natural frequency of damped beams to within 3.5% or better of the experimentally determined values and that, with the exception of short and intermediate length constraining layers, the damping ratio can be predicted to within about 8% of the experimental values under most circumstances.