conference

Proceedings of the 6th International
MACHINE DESIGN and PRODUCTION
CONFERENCE
21 - 2 3 September 1994
TECHNISCHE
INF0RMATIONS3IDLIOTHEK
UNIVERSITATSBIBLIOTHEK
HANNOVER
editorial board
OmerANLAfiAN
FarukARINg
AbdOlkadir ERDEN
S. Engin KILIQ
A. Erman TEKKAYA
UB/TIB Hannover
123 616 212
DEPARTMENT OF MECHANICAL ENGINEERING - MATIMAREN
MIDDLE EAST TECHNICAL UNIVERSITY
ANKARA-TURKEY
89
vii
CONTENTS
Preface
Contents
Artifical Intelligence in the Large Dimensional Rails' Robot Exploitation
Parameters Design
Janusz SZPYTKO
A Control System for Mobile Cranes
Tuna BALKAN
Constructive and Structural Considerations Above Mechanical System
and Mechanisms of Mobile Robots
losifTEMPEA, Adriana COMANESCU
The Metu Hand: Design, Implementation and Control
Aydan ERKMEN, Erkan ZENGEROGLU, Tolga KUTLU
1
9
19
29
Design and Construction of an Original High Performance Industrial
Robot
Muzio M. GOLA, Aurelio SOMA
39
Optical Sensor for the Visualisation of the Geotextile Mass Per Unit
Area Migration During a Mechanical Stress
F. THORR, D. ADOLPHE, J.Y. DREAN
49
R & D of the Combine Drive for Wall Climbing Robots
Michael RACHKOV, Eugene SEMENOV
59
Comparative Analysis of the Transport Mechanical Systems for
Wall Climbing Robots
ValeryGRADETSKY, Valery VESHNIKOV, Sergei KALINICHENKO
67
Development of Prototype Mobile Robots as Technology
Demonstrators
Cem KENDI, Dog"u OZTURK, Zuhal UNSAL, Abdulkadir ERDEN
81
Computer Simulation Study of a Leg Mechanism
Hamid A. ORAL
Design of a Crank Mechanism with Variable Radius and Phase for
Legged Vehicle Applications
Hamid O. ORAL
93
103
Walking Vehicle for Agriculture
Talgat T. KAYIMOV
113
Dynamic Performance Evaluation of Robot Manipulators
Efe BCJYOKLIMANLI, Refit SOYLU
119
viii
The Modification of the "Freundstein" Formula for the Crank -and- Rocker
Mechanizm Synthesis, a Generator of the Movement Theoric Function
of the Working Bar and the Fulfillment of the Supplementary Conditions
Pullumb KARAULLI, Agim ANXHANKU
129
A Learning Control Strategy for Path Tracking of Mechanical Manipulators
Hasan Riza OZCALIK, Ibrahim UZMAY, Sabri CELlK
141
Optimal Synthesis for Machine Design
Plamen RAIKOV, Zlatko M. SATIROV
151
Type-Dimensional Synthesis of Mechanisms for Robot Manipulators
Vitan B. GALABOV, Ivan I. AVRAMOV, Vladimir K. MICHAILOV
Zlatko M. SATIROV, Josif M. DEJANOV
159
Inverse Kinematics and Dynamics Solution of Redundant Manipulators
Using a Minimum Number of Actuators
S. Kemal IDER
Trajectory Planning for Robotic Manipulators
AH KlREQCl, Mike J. GILMARTIN
Experimental Investigations of Complex Mechanical Systems by
Means of Mechatronic Systems
Nina VOLCHKOVA
171
181
191
A Respresentation for Hybrid Machines Bond Graphs
L. Canan TOKUZ, J. Rees JONES
199
Power Transmission and Flow in Hybrid Machines
L. Canan TOKUZ, J. Rees JONES
209
Development of Principles Construction System of Forecasting and
Calculation of Belt Conveyer Parameters for Design Automation
Jienkulov Serghazy AKMETOVICH, Kajkenova Mira GANIEVNA
219
Analysis of Flexible Manufacturing Systems with Finite Buffers
and Unreliable Machines
Ayse KAVUSTURUCU, Surendra M GUPTA
229
On the Cycle Time Distribution of a Closed Loop Type Manufacturing
Flow Line
Fikn KARAESMEN, Surendra M. GUPTA
237
Flexible Manufacturing Robotic System for Electrical Units Assembly
Valery VESHNIKOV, Valery GRADETSKY
247
Automatic Tool Selection for Rotational Parts
Nabeel ASHRAF, Omer ANLAGAN
255
ix
A User Friendly Geometric Data Input Interface for Rotational Parts
Yavuz ILIK, Omer ANLAGAN
265
Romod: A Product Modelling System for Rotational Parts
I. Huseyin FlLlZ, M. Cengiz KAYACAN, Turkay DERELl
271
Automatic Generation of CNC Part Programs for Rotational Parts
I. Huseyin FlLlZ, Turkay DERELl, M. Cengiz KAYACAN
281
A Multi-Site Approach to Quality in Manufacturing: Tyre Production as a
Case Example
Giorgio BASAGLIA, Marco GUIDA, Louise Claire TREANOR
Vittorio ROSETTI
A Portable System for Ultrasonic Inspections
T. BERUTTI, MM. GOLA
A Comparison Between Measurement Techniques in Surface Edge
Evaluation For Razer Blades
Osama A. RASHED
Applied Research Activities for the Automated Factory: Studies and
Experiences in Progress at the Applied Robotics Group of ITIA-CNR
Roberto RINALDI, Ernosto IMPERIO, Claudio R BOER
Jamal EL-CHAAR
An Expert Process Planning and Fixturing System for Prismatic Parts
Using Step Standart
M. GOLESiN, R.N. JONES
Castex-Continuous Casting and Conform Extrusion of Aluminium
Anita M. GIBBS
The Theoretical and Pratical Phosphate Cold Solid-State Mixture
Application in Machine-Building
Rashid BAKIROV, Vladimir SHERSHNEV, Iliya ILLARIONOV
Photochemical Machining of Copper Alloys Using Cupric Chloride Etchant
David M. ALLEN, Orhan CAKIR
291
299
309
319
327
339
349
357
Intelligent Topology Definition and Automatic Grid Generation with
GEMS
Esin KOC, Izzet §IRIN, Cem DENER
367
The Effect of Blade Geometry on the Performance of an Axial
Flow Fan
A.J. AL-DAINI, T.T. AL-SHEMMERI
377
Geometrical Modelling of the Combustion Chamber of a Rover
K-Series Engine
B. ZHUO, T.T. AL-SHEMMERI, R.G. ABDEL-GAYED, A.J. AL-DAINI
387
Integration and Interfacing of a Robotic PCBA Rework Cell
Necdet GEREN, Alan REDFORD
397
Surface Mount Automated Rework Workcell
Ismail FIDAN, Stephen DERBY
407
Rigid-Plastic Finite Element Modelling of Three-Dimensional Bulk-Metal
Forming Processes
A. Erman TEKKAYA, Murat SAVKILIOGLU, Sebahattin KAVAKLI
Mehmet FIRAT
Prediction of Process-Induced Warpage in Injection Moulded ,
Thermoplastic Plaques and 3D Components
Mustafa AKAY, Sedat OZDEN
415
429
Increasing The Strength of Silent Chain by Residual Stresses
Adnan OZEL, Melih BELEVl
441
Axially Loaded Cylindrical Tubes as Energy Absorbers
Mahir H. H. ES-SAHEB
451
Design of Shape Memory Alloy Actuators
A. Erol SELIMBEYOGLU, O. GundOz BlLlR
463
Determination of Addendum Modification Coefficients for Spur Gears
by Considering Gearset Performance
M. A. Sahir ARIKAN
Polymeric Composite Hip Joint Prosthesis
Mustafa AKAY, Nuri ASLAN
473
483
An Application of the Finite Element Method to the Analysis of an
Aircraft Bearing
Shahnor BASRI
497
Vibration Analysis of Dynamic Structures Using a New Structural
Modification Method
Murat TAHTALI, H. Nevzat OZGUVEN
511
Analysis of High Frequency Vibrational Energy Transfer in Connected
Structures
Ahmet Nasuhi BERQlN
521
Manipulating System for Automatic Nibbing of Pipes
Slavcho MATEJN, Jozef BENJOZEF
531
xi
Experimental Stress Analysis of Rocket Motor and Numerical Evaluation
Aydin KUNTAY, A. Erman TEKKAYA *
537
Considerations for Chucking System for Internally Turned Components
Mohamed Y AL-MAKKY
547
Design and Construction of an Instrumented Drop Hammer for Impact
Testing of Materials
Sami S. HABIB, Mahmoud N. NAHAS
559
Development and Testing of an Existing Ballistic Type Medium-Speed
Impact Device
Mesut GORETAS, R. Orhan YILDIRIM
569
Perforation of Metal Targets
Tunay ISDAS, R. Orhan YILDIRIM
577
Design and Performance of a Tractor Operated Groundnut Digger
Desa AHMAD
587
/am Tension: Model and Measure
.aurence BOUGET, Bernard DURAND
595
ndex of Authors
605