MTM & Robotics 2016

The Joint International Conference of the

12. International Conference on
Mechanisms and Mechanical Transmissions
and the 23. International Conference on Robotics
Program (prelim.)
Wednesday, 26.10.16
08:00
08:4509:00
09:0009:30

09:4511:00

Registration
Opening ceremony and reception | B. Corves, E.-C. Lovasz, J. Feldhusen
Keynote
Prof. Robert Schmitt, RWTH Aachen University | Chair: B. Corves
Robotics Session B1.1
MTM Session A1.1
a. Mechanical Design of Robot Architecture
Mechanisms Analysis and Synthesis (1)
b. Sensors and Actuators in Robotics
Chair: A. Hernandez
Chair: G. Gogu
H. Shen, Chi-Yu Sun, D. Zhang, T. Yang
A. M. Stoian, I. Maniu, E.-C. Lovasz, C. Gruescu
A Type Synthesis Method for Parallel Mechanisms DesignSolutions to Simplify the Calibration of a
Based on SAKCs
Robotic Flexible Manufacturing System
M.-A. Voicu, E.-C. Lovasz, C. Gruescu, C. Moldovan
H. Yuan, X. Balandraud, J.-C. Fauroux, F. Chapelle
Optimal Design of a Grasping Device through
Compliant rotary actuator driven by shape memory
Simplified Pose Synthesis of a Four-Bar Linkage
alloy
J. Drewniak, P. Garlicka, S. Zawislak, J. Kopec
V. Dolga, L. Dolga, C. Moldovan
Modified method of the kinematic analysis of
Modelling and Simulation of Linear Actuators in
planar link mechanism for non-stationary motion
Mechatronic Systems
modes

11:0011:15

Coffee break
MTM Session A1.2
Mechanical Transmissions
Chair: S. Zawislak
Yaping Zhao
Edge Tooth Addendum Thickness of Hindley
Worm
K. Ivanov, G. Balbayev
A Single Speed (CVT) Transmission

11:1512:55

13:0014:00

Robotics Session B1.2

Parallel Robots
Chair. C. Gosselin
T. A. Dwarakanath, K. Lagoo, D. N. Badodkar
"6-PSS based Parallel Manipulators
T. Haschke, M. Lorenz, J. Brinker, M. Hsing, B. Corves
Synthesis and Modeling of Redundantly Actuated
Parallel Kinematic Manipulators - An Approach to
Efficient Motion Design

B. Hatton, B. C. Bouzgarrou, J.-C. Fauroux,

V. Gagnol, G. Gogu
An approach for modelling harvester head
mechanisms dedicated to hardwood stands

T. Detert, B. Corves
Extended procedure for Stiffness modeling based on
the Matrix Structure Analysis

M. Neagoe, R. Saulescu, C. Jaliu, N. Cretescu

Novel Speed Increaser used in Counter-Rotating
Wind Turbines

A. Hernandez, Z. Zhen, V. Petuya, E. Macho,

E. Amezua
Translational parallel manipulator with Pa2
kinematic joints

Lunch

14:0014:30

Keynote
Dr.-Ing. Marwene Nefzi, Zeiss AG | Chair: B. Corves
MTM Session A1.3
Robotics Session B1.3
Dynamics of Mechanisms and Machines
Robotic Control Systems
Chair: M. Hsing
Chair: S. Mohan
Z. Iskakov
Dynamics of a Vertical Unbalanced Gyroscopic
Rotor with Nonlinear characteristics

M. Ivanescu, M. Nitulescu, D. H. Nguyen

Dynamic Control for a Class of Continuum Robotic
Arm

J. P. Barreto, F. Schler, B. Corves

D. Haarhoff, M. Kolditz, D. Abel, S. Brell-Cokcan

Actuator design for stabilising single tendon
platforms

I. Visa, M. Neagoe, M. Moldovan

Structural Synthesis of Planar Geared Linkage
Mechanisms as Multibody Systems

S. Mousavi, V. Gagnol, B. C. Bouzgarrou, P. Ray

Dynamic modeling of a machining robot and stability
prediction

14:45The Concept of Natural Motion for Pick and Place

16:00 Operations

16:0016:15

Coffee break
MTM Session A1.4
Biomedical Engineering (1)
Chair: E.-C. Lovasz

Robotics Session B1.4

Compliant structures
Chair: N. Joni

H. Terada, K. Makino, K. Ishida, M. Ichikawa

Development of an Assisting Instrument of
Standing-up Motion Using Driving Springs for
Elderly Persons

A. Milojevic, N. Pavlovi, H. Handroos

Adaptive Compliant Gripper Finger with Embedded
Contracting and Extending Actuators

J. K. Mohanta, S. Mohan, S. Kurtenbach, B. Corves,

16:15M. Hsing
17:30 Augmented PID Control of a 2PPR-2PRP Planar

Parallel Manipulator for Lower Limb Rehabilitation

Applications
N.N.

19:00

O. Altuzarra, M.Diez, J. Corral, F. J. Campa

Kinematic Analysis of a Flexible Tensegrity Robot
N. Cretescu, M. Neagoe, R. Saulescu
Kinematic and Dynamic Analysis of a 4DOF Parallel
Robot with Flexible Links

Banquet

Thursday, 27.10.16
09:3010:00

10:1511:30

Keynote
Prof. Clement Gosselin, Universit Laval, Kanada | Chair: M. Hsing
MTM Session A2.1
Robotics Session B2.1
Micromechanisms and Microactuators
Mobile Robots (1)
Mechanisms Analysis and Synthesis (2)
Chair: J.-C. Fauroux
Chair: A. Milojevic
J. Xie, S. -H. He, Z.-H. Liu, Y. Chen
On Application Melnikov Method to Detecting
the Edge of Chaos for a Micro-Cantilever

M. Nitulescu, M. Ivanescu, S. Manoiu-Olaru, D. H.

Nguyen Van
Experimental Platform for Hexapod Locomotion

D. T. Mrgineanu, C. Sticlaru, A. Davidescu,

E. Mrgineanu
Analytic and FEM study of load distribution on
the length of spline joints under pure torque

W. Ding, T. Detert, B. Corves, Y. Yan-An

Reconbot: A Reconfigurable Rescue Robot Composed
of Serial-Parallel Hybrid Upper Humanoid Body and
Track Mobile Platform

C. Pop, E.-C. Lovasz, F. Pop, A. Davidescu,

S. M. Grigorescu
Matlab GUI for SVAJ cam analysis diagrams

P. Sperzynski
Kinematics Modelling of Mobile Robot with
Articulated Limbs without Wheel Slip

11:3011:45

11:4513:25

Coffee break
MTM Session A2.2
Computational and Experimental Methods
Chair: I. Visa

Robotics Session B2.2

Biomedical Engineering (2)
Chair: H. Terada

H. Matsuo, D. Matsuura, Y. Sugahara, Y. Takeda

Kinematic Characterization of the Origami Spring
Based on a Spherical 6R Linkage

. Selvi, K. Ylmaz
Inverse Kinematics and Dynamics of an
Overconstrained Manipulator for the Rehabilitation of
UpperExtremity

M. Mailloux, M. n, I. Simionescu, I. A. Tabara

Use of the structomatic method to perform the
forward kinematic and kinetostatic analyses of a
hydraulic excavator
V. Ciupe, D. T. Margineanu, E.-C. Lovasz
Scaled Test Stand Simulation for Studying the
Behavior of Anti-Lock Brake Systems on Bumpy
Roads
H. Chen, T. N. Nguyn Th, M. Mller,
S. Kurtenbach, C. Pan, M. Hsing, B.Corves
Application of a Cam Workbench for Education
in Mechanical Engineering

13:3014:30
14:3015:00

15:1516:30

F. Girbacia, D. Pisla, S. Butnariu, B. Gherman,

T. Girbacia, N. Plitea
An Evolutionary Computational Algorithm for
Trajectory Planning of an Innovative Parallel Robot for
Brachytherapy
M. Olinski, A. Gronowicz, M.Cceccarelli, D. Cafolla
Human motion characterization using wireless
inertial sensors
F. Pop, E.-C. Lovasz, C. Pop, V. Dolga, S. M. Grigorescu
Trajectory analysis for modified Jansen leg
mechanism configuration

Lunch
Keynote
Dr.-Ing. Frank Harmeling, Karl Mayer Textilmaschinen | Chair: B. Corves
MTM Session A2.3
Robotics Session B2.3
Mechanisms Analysis and Synthesis (3)
Mobile Robots (2)
Chair: M. Neagoe
Chair. W. Ding
L. Ciupitu, I. Simionescu
Zero-free-length Elastic Systems for Static
Balancing

R. Zemouri, P. Patic
Mobile Robot used to collect data from a difficult
access area

C. Moldovan, D. Perju, E.-C. Lovasz, K.-H. Modler,

I. Maniu
On the kinematic analysis of sixth class
mechanism

E. Kuantama, D. Craciun, I. C. Tarca, R. Tarca

Quadcopter Propeller Design and Performance
Analysis

S. M. Grigorescu, E.-C. Lovasz, D. T. Margineanu,

Z. E. Chebab, J.-C. Fauroux, G. Gogu, N. Bouton,

C. Pop, F. Pop
Synthesis of the planar parallel Manipulator
using Geared Linkages with linear Actuation as
kinematic Chains

16:3016:45

L. Sabourin, Y. Mezouar
A Method for Structural Synthesis of Cooperative
Mobile Manipulators

Coffee break
Robotics Session B2.4
Robotics Applications
Teleoperation, Haptics, Virtual reality
Chair: M. Nitulescu

MTM Session A2.4

Terminology
Chair: V. Dolga
V. Starzhinsky, E. Shalobaev, M. Kane, V. Goldfarb
Activities of Russian Speaking Scientists in
Development of MMS Terminology

16:4517:35

17:3517:45

E. Shalobaev, S. Shil'ko, R. T. Tolocka, V.

Starzhinsky, G.Iurkova, D. Surikov
State of Art in Separate Sections of MMS
Terminology and Some Proposals

J. Brinker, I. Prause, P. Kosse, H.-C. Frh, C. Printz,

C. Henke, M. Hsing, B. Corves, R. Schmitt, T. Gries,
S. Jeschke
Automated Handling and Draping of Reinforcing
Textiles Challenges and Developments
B. Taner, M. I. C. Dede
Image Processing Based Stiffness Mapping of a
Haptic Device

Closing ceremony