MECHANISM AD MACHINE THEORY Dynamics of Machine Systems Gears and Power Transmissions Robots and Manipulator Systems Computer-aided Design Methods List of Contents and Author Index Volume 31, 1996 © PERGAMON MECHANISM AND MACHINE THEORY The scientific journal of IFToMM The International Federation for the Theory of Machines and Mechanisms EDITOR-IN-CHIEF ASSOCIATE EDITORS Professor T. E. Shoup Professor B. Roth, Stanford, Calif., USA Dean of Engineering and Sobrato Professor of Professor B. S. Thompson, East Lansing, Mich., USA Engineering, Santa Clara University, Professor H. S. Yan, Tainan, Taiwan, ROC Santa Clara, CA 95053, USA HONORARY EDITORIAL ADVISORY BOARD e-mail: [email protected] Dr R. S. Berkof, Cresco, Pa, USA Professor G. Bianchi, Milan, Italy EDITORIAL ASSISTANT Dr L. Cloutier, Québec, Canada Joy Neely Professor Dr-ing. B. Dizioglu, Braunschweig, Germany School of Engineering, Santa Clara University, Professor S. Dubowsky, Cambridge, Mass., USA Santa Clara, CA 95053, USA Professor F. Freudenstein, New York, N.Y., USA e-mail: [email protected] Professor R. S. Hartenberg, Evanston, Ill., USA EDITORS Professor K. H. Hunt, Clayton, Victoria, Australia Dr J. Ishikawa, Yokohama, Japan Rédacteur pour toutes les oeuvres écrites en langue francaise: Professor !. Kato, Tokyo, Japan Professor C. M. Gosselin Professor Dr F. L. Litvin, Chicago, Ill, USA Department of Mechanical Engineering, Université Laval, Québec, Professor L. Maunder, Newcastle upon Tyne, UK Canada G1K 7P4 Dr S. Molian, Olney, Bucks., UK e-mail: [email protected] Professor Dr A. Morecki, Warsaw, Poland Professor Dr J. Oderfeld, Warsaw, Poland Russian language editor: Dr E. Peizer, New York, N.Y., USA Professor Jack Phillips, Sydney, Australia Professor P. A. Lebedev Dr J. M. Prentis, Cambridge, UK Ul. Sergievskaja 22, Stary Petershoff, 198904 St Petersburg, Russia Professor J. S. Rao, New Delhi, India Editor for book reviews and feature articles: Professor D. S. Tavkhelidze, Tbilisi, Georgia Professor G. V. Tordion, Québec, Canada Professor A. Midha Professor John J. Uicker Jr, Madison, Wis., USA School of Mechanical Engineering, Purdue University, Professor J. Volmer Chemnitz, Germany 308 Mechanical Engineering Building, West Lafayette, Professor H. J. Warnecke, Stuttgart, Germany IN 47907, USA Mr E. J. Wellauer, Milwaukee, Wis., USA e-mail: [email protected] Professor Dr W. Wunderlich, Vienna, Austria Editor for papers on dynamics of machine systems: Professor A. T. Yang, Davis, Calif., USA Professor J. P. Sadler IFTOoMM EXECUTIVE COUNCIL Department of Mechanical Engineering, University of Kentucky, Lexington, KY 40506-0046, USA President: Professor J. Angeles, Canada e-mail: [email protected] Vice-President: Professor Y. Hori, Japan Secretary General: Professor Tatu Leinonen, Finland Editor for papers on manipulators, robotics and man—machine Treasurer: Dr R. Bicker, UK systems: Members: Professor A. P. Bessonov, Russia Dr E. Heer Professor J. K. Davidson, USA 5329 Crown Avenue, La Canada, CA 91011, USA Professor J. C. Guinot, France e-mail: [email protected] Professor A. Rovetta, Italy Professor G. Stépan, Hungary EDITOR EMERITUS Professor K. Wohthart, Austria Professor F. R. E. Crossley, Branford, Conn., USA Past President: Professor A. Morecki, Poland Publishing Office Production Editor: \an Nutt Elsevier Science Ltd, The Boulevard, Langford Lane, Kidlington, Oxford OX5 1GB, UK [Te/. (01865) 843000; Fax (01865) 843010). Subscription and Advertising Offices North America: Elsevier Science Inc., 660 White Plains Road, Tarrytown, NY 10591-5153, USA. Rest of the World: Elsevier Science Ltd, The Boulevard, Langford Lane, Kidlington, Oxford OX5 1GB, UK [Te/. (01865) 843000; Fax (01865) 843010]. 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List of Contents NUMBER 1 Deng-Maw Lu Spherical four-bar linkages with symmetrical coupler- and Wen-Miin Hwang curves Deng-Maw Lu Synthesis of planar five-bar pantograph configur- and Wen-Miin Hwang ations by a geometric method Blaise Morton A new computational algorithm for 7R_ spatial and Michael Elgersma mechanisms Frédéric Boyer Symbolic modeling of a flexible manipulator via and Philippe Coiffet assembling of its generalized Newton Euler model D. P. Chevallier On the transference principle in kinematics: its various forms and limitations Ozgiir Turhan Dynamic stability of four-bar and slider—crank mech- anisms with viscoelastic (Kelvin-Voigt model) coupler P. Minotti et V. Nocton Etude theorique d’un microtranslateur piezoelectrique a ondes stationnaires: une introduction aux futurs micromoteurs multi degres de liberte B. Lévesque et M. J. Richard Traitement des forces de trainée agissant sur les manipulateurs sous-marins Jungkeun Rhee Dynamic response of a revolute joint with clearance and Adnan Akay NUMBER 2 Obituary Postscript H. Bruyninckx and Symbolic differentiation of the velocity mapping for a J. de Schutter serial kinematic chain Clément M. Gosselin Kinematische und statische Analyse eines ebenen parallelen Manipulators mit dem Freiheitsgrad zwei Gao Feng, Physical model of the solution space of 3-DOF Zhao Yong-Sheng parallel planar manipulators and Zhang Zhi-Hui Gao Feng, Zhang Xiao-Qiu, A physical model of the solution space and the atlas Zhao Yong-Sheng and of the reachable workspace for 2-DOF parallel planar Wang Hong-Rui manipulators Morgan D. Murphy, The topological synthesis of compliant mechanisms Ashok Midha and Larry L. Howell John J. McPhee, Wittenburg’s formulation of multibody dynamics Milad G. Ishac and equations from a graph-theoretic perspective Gordon C. Andrews David Beale and Nonlinear equation instability boundaries in flexible Shyr Wen Lee mechanisms W. Wang and K. M. Marshek Determination of load distribution in a threaded con- nector with yielding threads L. A. Sanchez, S. J. Kleis Determining screw axes using holographic and T. E. Shoup interferograms NUMBER 3 A. C. Nearchou and Application of genetic algorithms to point-to-point N. A. Aspragathos motion of redundant manipulators Hong-Sheng Fang and Mathematical model and bearing contacts of the Chung-Biau Tsay ZK-type worm gear set cut by oversize hob cutters Kwun-Lon Ting and Classification and branch identification of Stephenson Xiaohong Dou six-bar chains D. Surdilovié and One method for efficient dynamic modeling of flexible M. Vukobratovié manipulators D. Surdilovié and Deflection compensation for large flexible manipula- M. Vukobratovié tors Charles W. Wampler Forward displacement analysis of general six-in- parallel SPS (Stewart) platform manipulators using soma coordinates S. Doughty Single degree of freedom mechanism vibration near equilibrium Z. Luo, X. Sun and Coupled torsional-lateral-axial vibration analysis of a J. N. Fawcett geared shaft system using substructure synthesis Behrooz Fallahi A nonlinear finite element approach to kineto-static analysis of elastic beams NUMBER 4 An algorithm for solving the direct kinematics of general Stewart—-Gough platforms IV C. G. Gibson, D. Marsh An algorithm to generate the transition curve of the and Y. Xiang planar four-bar mechanism H. S. Yan, M. C. Tsai An experimental study of the effects of cam speeds and M. H. Hsu on cam-follower systems Jawaharlal Mariappan A generalized exact gradient method for mechanism and Sundar Krishnamurty synthesis Sumant Mauskar A loop configuration approach to automatic sketching and Sundar Krishnamurty of mechanisms J. N. Yadav, C. R. Pratap Computer aided detection of isomorphism among and V. P. Agrawal kinematic chains and mechanisms using the concept of modified distance José Maria Rico Martinez An application of screw algebra to the acceleration and Joseph Duffy analysis of serial chains Shao Jie Wang Kinematic synthesis of adjustable moving pivot four- and Raj S. Sodhi bar mechanisms for multi-phase motion generation R. Maiti and A. K. Roy Minimum tooth difference in internal—external involute gear pair : Kemal Ozgiir and Fuat Pasin Separation phenomena in force closed cam mechanisms Ming Lun and Yonghou Leu Design of crank-rocker mechanisms with optimum transmission angle over working stroke Zhi-Kui Ling and A priori geometric design of an interference free Thomas R. Chase complex planar mechanism James C. Conwell and Design, construction and instrumentation of a G. E. Johnson machine to measure tension and impact forces in roller chain drives James C. Conwell and Experimental investigation of link tension and G. E. Johnson roller-sprocket impact in roller chain drives NUMBER 5 Koon-Ho Yang and Dynamic stability analysis of a closed-loop flexible Youn-Sik Park link mechanism M. J. Richard and Stochastic dynamical modelling of an open-chain B. Lévesque manipulator in a fluid environment Giovanni Legnani, A homogeneous matrix approach to 3D kinematics Federico Casolo, and dynamics—1. Theory Paolo Righettini and Bruno Zappa Giovanni Legnani, A homogeneous matrix approach to 3D kinematics Federico Casalo, and dynamics—lil. Applications to chains of rigid Paolo Righettini bodies and serial manipulators and Bruno Zappa Guang-Jun Liu and Asymptotically stable robust contro! of robot Andrew A. Goldenberg manipulators Chuen-Sen Lin, Use of compatibility linkages and solution structures Arthur G. Erdman and in the dimensional synthesis of mechanism Bao-Ping Jia components Marco Ceccarelli A formulation for the workspace boundary of general N-revolute manipulaiors Rachid Manseur Structural kinematics of 6-revolute-axis robot and Keith L. Doty manipulators Ahmad Smaili, Elastodynamic response of a d.c. motor driven Murali Kopparapu and flexible mechanism system with compliant drive train Muhammad Sannah components during start-up Donyong Lee, Youngil Youm Mobility analysis of spatial 4- and 5-link mechanisms and Wankyun Chung of the RS class V. F. Krasnikov Simulation of automated manufacturing systems Yin-Ren Lee and A study of planar orbiting mechanism and _ its Wen-Fang Wu applications to scroll fluid machinery NUMBER 6 X. Li, G. R. Symmons and Optimal design of involute profile helical gears G. Cockerham E. R. Tuttle Generation of planar kinematic chains Deng-Maw Lu, On the break-ups of spherical centre- and circle-point Chi-Feng Chang curves of the PP-PP case and Wen-Miin Hwang Ziya Saka The RSSR mechanisms with partially constant transmission angle J. K. Dutt and B. C. Nakra Stability characteristics of rotating systems with journal bearings on viscoelastic support R. Ganesan Dynamic response and stability of a rotor-support system with non-symmetric bearing clearances Bhaskar Dasgupta and A constructive predictor—corrector algorithm for the T. S. Mruthyunjaya direct position kinematics problem for a general 6-6 Stewart platform Vi Masao Nishioka Modular structure of spatial cam-linkage mechanism Dibakar Sen and The question of minimax loop-size in planar T. S. Mruthyunjaya homogeneous kinematic chains Tadeusz Miynarski Position analysis of planar linkages using the method of modification of kinematic units NUMBER 7 Jao-Hwa Kuang Determination of tip parameters for the protuberance and Wei-Liang Chen preshaving cutters Cai-Fang Meng, Xi-Nian Lu, The high-order optimum synthesis of a driving Yu-Hu Yang and Ce Zhang mechanism with flexible connector Xiaojian Liu Sensitivity analysis of constrained flexible multibody systems with stability considerations J. N. Yadav, C. R. Pratap Mechanisms of a kinematic chain and the degree of and V. P. Agrawal structural similarity based on the concept of link-path code J. N. Yadav, C. R. Pratap Computer aided detection of isomorphism among and V. P. Agrawal binary chains using the link—link multiplicity distance concept Shinn-Liang Chang, Mathematical model and undercutting analysis of Chung-Biau Tsay elliptical gears generated by rack cutters and Long-long Wu Faydor L. Litvin Computerized design and generation of cycloidal and Pin-Hao Feng gearings Khaled Khader, The synthesis of a multi-step cam mechanism to drive Sabry El-Shakery, a shaking belt conveyor Raafat Abou-Elinasr, Jorge Angeles and Mahmoud Moustafa J. 1. Pedrero and M. Artés Approximate equation for the addendum modification factors for tooth gears with balanced specific sliding J. 1. Pedrero, M. Artés Determination of the addendum modification factors and J. C. Garcia-Prada for gears with pre-established contact ratio Yue-Qing Yu The effect of cross-sectional parameters on the and M. R. Smith dynamics of elastic mechanisms Oancea Nicolae Méthode numérique pour l'étude des surfaces enveloppées C. Nageswara Rao Selection of best frame, input and output links for and A. C. Rao function generators modelled as probabilistic systems vil Takehiko Nomura, 985 Review of carriage feed mechanism with nanometer Masakazu Miyashita resolution and Akira Kanai NUMBER 8 Z. Huang, W. S. Tao 999 Study on the kinematic characteristics of 3 DOF and Y. F. Fang in-parallel actuated platform mechanisms Z. Huang and Y. F. Fang 1009 Kinematic characteristics analysis of 3 DOF in-parallel actuated pyramid mechanisms Keith G. Mattson 1019 The velocity problems of two 3-R robots manipulating and Gordon R. Pennock a four-bar linkage payload Evert A. Dijksman 1033 A-Formed 4-bar linkages set in a translation-position and Anton T. J. M. Smals to design mechanisms approximating a straight line Steven A. Velinsky 1043 Torsional stiffness of a machine drive element with tensile web structure J. K. Mills and G. Vukovich 1053 Stability problem formulation of structurally compliant robet manipulators during contact task execution: a singular perturbation approach James K. Mills Simultaneous control of robot manipulator impedance and generalized force and position Ming J. Tsai, Kinematic design optimization of the variable lead Jan-Shiung Sun screw mechanism with cone meshing element and Jan-Chung Chu Adel K. Al-Sabeeh and Kinematic characteristics and improvements for the Mohammad D. Al-Ansary modified intermittent gear mechanism H. Du, M. K. Lim A nonlinear finite element model for dynamics of and K. M. Liew flexible manipulators Vilmos Simon Stress analysis in worm gears with ground concave worm profile Vilmos Simon Displacements in worm gears with ground concave worm profile Madhusudan Raghavan Number and dimensional synthesis of independent suspension mechanisms Michael R. Hansen A general method for analysis of planar mechanisms using a modular approach J. Eddie Baker On 5-revolute kinematic loops with intersecting adjacent joint axes Venkatesh A. lyer RECDWELL—computer aided design of six-link planar dwell mechanisms Vill 1195 Response to a Letter to the Editor (Mech. Mach. Theory 28, 721-724 (1993)) concerning “Appli- cation of the Hamming number technique to detect isomorphism among kinematic chains and inversions” by A. C. Rao and D. V. Raju (Mech. Mach. Theory 26, 55-75 (1991)) Index for Volume 31 (1996)