Proceedings of the 2nd International Symposium On Multibody Systems And Mechatronics
 (2005)
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The MuSMe 2005, the International Symposium on Multibody Systems and Mechatronics is the second event of a series that has been started in 2002 as joint activity of the IFToMM Technical Committee for Mechatronics and the FeIbIM Commission for Mechatronics. The MuSMe International Symposium is a new conference initiative to bring attention to mechatronic multibody systems in the IFToMM and FeIbIM communities at large.

In particular, the aim of the MuSMe Symposium is to be a forum to exchange views, opinions, and experiences on the several aspects of mechatronic systems. Modern systems can be considered as integrated systems that can be properly studied, designed, and operated by using Mechatronics viewpoints, but even considering the multibody architecture. MuSMe events are characterized by being: conferences stimulating integration between Mechatronics and Multibody Systems disciplines; a forum for facilitating contacts among research people and students; match conferences for IFToMM and FeIbIM communities.

This year MuSMe Symposium has come to Uberlandia in Brazil, after the challenging first event in 2002 that was held in Mexico City, Mexico. The MuSMe 2005, the International Symposium on Multibody Systems and Mechatronics will be held at the Federal University of Uberlândia, Brazil, from 6 to 9 March 2005. The program of the Symposium includes technical sessions with oral presentations and plenary lectures, which, together with informal conversations, enable to offer wide opportunities to share experiences and discuss scientific achievements and current trends in the areas encompassed by the symposium.

These Proceedings contain 41 papers by authors from all around the world, including 9 papers of student works. These papers cover several aspects of the wide field of Mechatronics. The contributions address mainly to simulation, kinematics, design, path planning, dynamics, control and transportation machinery.

These Proceedings can be considered to be of interest to researchers, graduate students and engineers specializing or addressing attention to Mechatronics. We believe that a reader will take advantage of the papers in these Proceedings with further satisfaction and motivation for her or his work, both in teaching and researching on mechatronic systems. We would like to express grateful thanks to the members of the International Scientific Committee of the Symposium: Prof. Javier Cuadrado (Spain), Prof. João Carlos Mendes Carvalho (Brazil), Prof. Jorge A. C. Ambrósio (Portugal), Prof. Leo Joskowicz (Israel), Prof. Manfred Husty (Austria), Prof. Marco Ceccarelli (Italy), Prof. Marek R. Kujath (Canada), Prof. Mario Acevedo (Mexico), Prof. Tatu Leinonen (Finland), Prof. Vicente Mata (Spain) for co-operating enthusiastically for the success of the MuSMe initiative.

We thank the authors who have contributed with very interesting papers in several subjects, covering many fields of Mechatronics and Multibody Systems. We hope that they will like to ask for publication of their papers also in Journals and they will mention the first presentation at this MuSMe 2005 International Symposium. We are grateful to the reviewers for the time and effort they spent evaluating the papers.

We thank the School of Mechanical Engineering of the Federal University of Uberlândia, Brazil for supporting the MuSMe 2005 and hosting the event. We would like also to thank the auspices of ABCM - The Brazilian Society of Engineering and Mechanical Sciences, IFToMM - The International Federation for the Promotion of Mechanisms and Machine Science, and FeIbIM - The Iberoamerican Federation of Mechanical Engineering.

We would like to thank our colleagues and assistants for their help: Dr Erika Ottaviano and Dr Giuseppe Carbone at the University of Cassino; Dr. Roberto de Souza Martins, Dr. Vera Lúcia Donizeti Souza Franco and Mrs. Vânia Cristina Velasco de Andrade e Lima at Federal University of Uberlândia. The Organizing Committee would like to thank the support of CNPq, CAPES, FAPEMIG, FINEP, UNIMINAS, PETROBRAS and BANCO DO BRASIL for their financial help, recognizing that without their partnership it would not be possible to organize this meeting.

The novel mechatronic approach for engineering systems is well recognized even at the level of teaching activity in the engineering curricula. Thus we have thought interesting to stimulate contacts and exchange opinions and experiences among academic people and students through a specific Symposium. In particular, this event has been scheduled again in the Latin America region in order to help and promote the development of Mechatronics in this part of the world. Nevertheless, we have asked paper submissions from all around the world and obtained a very good response with the final acceptance of 32 qualified papers. Although only few papers have came from Latin America region, we still hope that there will be many attendees from Brazil and surrounding countries.

We wish to attendees a fruitful participation at MuSMe 2005 sessions as well as in the social events.

Uberlândia and Cassino, January 2005

Prof. Joao Carlos Mendes Carvalho (Co-Chairman for MuSMe 2005)
Federal University of Uberlândia, Brazil
jcmendes@mecanica.ufu.br

Prof. Marco Ceccarelli (Co- Chairman for MuSMe 2005)
University of Cassino, Italy
ceccarelli@unicas.it

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Notes
Sunday 6 March 2005
9:00 – 10:00 Opening Act – Welcome speeches
10:00 – 11:00 Plenary Lecture – Prof. Dr. Hendrik Van Brussel , “A Virtual Engineering
Environment for Designing Mechatronic Multibody Systems”
Session “Kinematics Design”
11:30 – 12:00 F. Pernkopf, M. Husty, “Reachable Workspace and Manufacturing Errors of
Stewart-Gough Manipulators”
12:00 – 12:30 G. Gogu, “Structural Synthesis and Singularity Analysis of 6R Orthogonal Robotic
Manipulators with Three Parallel Axes”
12:30 – 13:00 P.R. Bergamaschi, S.F.P. Saramago, A.C. Nogueira, "An Optimal Design of 3R
Manipulators with Prescribed Workspace”
13:00 – 13:30 C. Lanni, G. Carbone, M. Ceccarelli, E. Ottaviano, "Numerical and Experimental
Analysis of Radial Cams with Circular-Arcs Profiles”
Session “Simulation I”
15:00 – 15:30 F. Benimeli, N. Farhat, V. Mata, F. Valero, "Some Considerations About the
Dynamic Simulation of Industrial Robots Based on Identified Inertial and Friction
Parameters”
15:30 – 16:00 A.C. Valdiero, P.L. Andrighetto, L. Carlotto, “Dynamic Modeling and Friction
Parameters Estimation to Pneumatic Actuators”
16:00 – 16:30 G.F. Botta, J.M. Balthazar, B.R. Fischer, H.A. Hermini, “On Mechatronics Systems
Management with Fault Tolerant Architectures”
16:30 – 17:00 J. Naudet, D. Lefeber, “Simulation of Open-Loop Multibody Systems with Time-
Varying Topology: a Recursive Hamiltonian Approach”
Session “Path Planning”
17:30 – 18:00 Y. Gonthier, C. Lange, E. Martin, “Online Trajectory Generation for Hardware-inthe-
loop Simulation”
18:00 – 18:30 G. Carbone, M. Ceccarelli, P.J. Oliveira, S.F.P. Saramago, J.C.M Carvalho,
"Optimum Path Planning of CAPAMAN (Cassino Parallel Manipulator) by Using
Inverse Dynamics”
18:30 – 19:00 E. Ottaviano, M. Ceccarelli, G.A. Danieli, D. Mundo, "Analysis of Non-Circular
Gears and Cam-Follower Systems as Function Generators”
Monday 7 March 2005
Session “Student paper”
15:00 – 15:20 N.P.N. Narváez, E.P.M. Ruiz, L.U. Martínez, “Generalized Method for the
Kinematics Development of an Articulated Manipulator with 5 DOF”
15:20 – 15:40 B.A. Huacan, A.P. Quispe, P.C. Perez, S.L. Alvarado, C.I. Valer, “Omnidirectional
Mobile Robot with Avoid of Obstacles in Real Time”
15:40 – 16:00 D.R.A. Diaz, N.C.A. Arestegui, R.P.J. López, S.J.M. Gonzales, “Fuzzy Logic
Control of a Exploration Vehicle Monitored of Mode Wireless whit a Visual C++
Interface”
16:00 – 16:20 E.F.H. Romaní, E.L. Lazo, V.P.L. Uculmana, E. Sal, R. Celi, “Prototype of Vehicle
All Land with Auto Balance QUADBOT - DRAGUNOV V2.0”
16:20 – 16:40 M.J.X. De Souza, B.H. Mulina, W.R. Miranda, L.F. Pacheco, V. Moreira,
A.M. Cardoso, A. Angeruzzi, Taschelmayer M., Seara F., Destro-Filho J.B.,
A.A. Pereira, "Approaches for Low-cost Robotic Prototypes”
16:40 – 17:00 P.C. Abril, M.B. Cornejo, M.A. Suárez, C. Ingar, Z.R. Leonor, "Analysis of Control
PD-PID in Real Time by Means of DSP for a Table of Positioning with Trajectory x
and y”
Session “Simulation II”
17:30 – 18:00 A.R.L. Albuquerque, G.A.P. Caurin, A.L.A. Mirandola, M. Prado, G.S. Gioria,
“Dynamic Modelling of the BRAHMA – Brazilian Anthropomorphic Hand”
18:00 – 18:30 P. Fanghella, B. Borasca, C. Galletti, "Modeling and Simulation of a Singling-out
Mechanism for Automated Mail Handling”
18:30 – 18:50 M.T.P. Paes, C.M. Formoso, M.P. Jardim, T.C. Ferreira, V.L.D.S. Franco,
S.D. Franco, “Development and Implementation of a Control Software for a Friction
Hydro Pillar Processing Machine”
Tuesday 8 March 2005
9:00 – 10:00 Plenary Lecture Dr. Walter V. Pype
“Mechatronics in Agriculture and Construction Equipment”
Session “Transportation Machinery and Education”
10:00 – 10:30 L. Kela, “Stability of a car-trailer combination towards a better model –
mathematically or by a computer program?”
10:30 – 11:00 T.A.H. Coelho, "Research and Teaching Experience on Parallel Mechanisms at
University of São Paulo”
Session “Kinematics and Design”
11:30 – 12:00 M. Ceccarelli, G. Carbone, E. Ottaviano, "An Optimization Problem Approach for
Designing Both Serial and Parallel Manipulators”
12:00 – 12:30 K. Brunnthaler, M. Pfurner, M. Husty, “Synthesis of Planar Four-bar Mechanisms”
12:30 – 13:00 E.J. Lima II, G.C.F. Torres, I. Felizardo, F.A. Ramalho-Filho, A.Q. Bracarense,
"Development of a Robot for Orbital Welding of Pipes”
Session “Control”
15:00 – 15:30 J. M. Rosário, L. F. Melo, M. A. P. Saramago, C. R. Erig-Lima, "A Reconfigurable
Control Architecture for Mobile Robots”
15:30 – 16:00 L. Shengping, L. Zhen, “A PID Adaptive Control Scheme for Planar Under-actuated
Manipulators with a Passive Joint”
16:00 – 16:30 G. Arantes Jr., A. Fenili, I.M. Fonseca, "Dynamics and Control of a Flexible Robotic
Manipulator Applied to the Problem of Tracking Objects in Space”
16:30 – 17:00 R. Balan, V. Maties, S. Stan, “A Solution of the Inverted Pendulum Problem Using
On Line Simulation and Rule Based Control”
Wednesday 9 March 2005
Session “Dynamics”
9:00 – 9:30 D. Dopico, U. Lugris, M. Gonzalez, J. Cuadrado, "On the Aptitude of IRK Integrators
for the Real-Time Dynamics of Multibody Systems”
9:30 – 10:00 V. H. Arakelian, M.R. Smith, “Balancing Method Based on the Properties of the Watt
Gear-slider Mechanism”
10:00 – 10:30 K. Lee, G.S. Chirikjian, “O(n) Inversion of the Mass-matrix for Hyper-redundant
Manipulators and Polymer Chains”
10:30 11:00 V. Royzman, V. Boyeva, “Dynamics and Balancing of Multibody Flexible Rotor
Systems as an Inverse Problem”
Session “Design”
11:30 – 12:00 J. Karhunen, “Some Means to Minimize Self-exciting Resonance Vibrations”
12:00 – 12:30 M.T.P. Paes, R.J. Souza, C.M. Formoso, L.O.A. Cardoso, F.F. Ramos-Neto,
V.L.D.S. Franco, S.D. Franco, "Development of a Friction Welding Machine to
Repair Steel Structures”
12:30 – 13:00 I. Zaharov, S. Jatsun, D. Safarov, “Mechatronical Vibrating System for Pressing of
Metal Shaving”
13:00 – 13:30 Closing Act