MeTrApp 2019 5th IFToMM International Conference on

Mechanisms, Transmissions and Applications

Dalian, China

October 9-11, 2019

SCIENTIFIC PROGRAM

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MeTrApp 2019

Organized by

School of Mechanical Engineering, Dalian University of Technology

Under the patronage of

International Federation for Promotion of Mechanism and Machine Science

Conference Co-chairs

Delun Wang, Dalian University of Technology, China

Victor Petuya, University of the Basque Country, Spain

Yan Chen, Tianjin University, China

Shudong Yu, Ryerson University, Canada

International Scientific Committee

Martin Bilek, Technical University of Liberec, Czech Republic

Mehmet Ismet Can Dede, Izmir Institute of Technology, Turkey

Marco Ceccarelli, University of Rome Tor Vergata, Italy

Yan Chen, Tianjin University, China

Burkhard Corves, RWTH Aachen University Aachen, Germany

Jian S. Dai, King’s College of London, UK

Xilun Ding, Beihang University, China

Feng Gao, Shanghai Jiaotong University, China

Ashitava Ghosal, Indian Institute of Science, India

Weizhong Guo, Shanghai Jiaotong University, China

Uwe Hanke, Technische Universität Dresden, Germany

Tian Huang, Tianjin University, China

Gökhan Kiper, Izmir Institute of Technology, Turkey

Chin-Hsing Kuo, University of Wollongong, Australia

Wei Lin, Singapore Institute of Manufacturing Technology, Singapore

Erwin-Christian Lovasz, Politechnica University of Timisoara, Romania

J. Michael McCarthy, University of California (Irvine), US

Domenico Mundo, University of Calabria, Italy

Takaaki Oiwa, Shizuoka University, Japan

Victor Petuya, University of the Basque Country, Spain

Giuseppe Quaglia, Politecnico di Torino, Italy

Jaroslaw Szrek, Wroclaw University of Technology, Poland

Yukio Takeda, Tokyo Institute of Technology, Japan

Hidetsugu Terada, University of Yamanashi, Japan

Monica Urízar, University of the Basque Country, Spain

Miroslav Václavík, Research Institute of Textile Machines, Czech Republic

Shudong Yu, Ryerson University, Canada

Xianmin Zhang, South China University of Technology, China

Local Organizing Committee

Guanglei Wu, Dalian University of Technology, China

Zhi Wang, Dalian University of Technology, China

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MeTrApp 2019

Conference Venue

The Conference will be held in:

Hi Chance (Dalian) Science and Technology Center, Dalian, China (海创大连科技交流中心)

Address 507 Huang Pu Road

High-Tech Industrial Zone

Dalian, Liaoning Province

116001 China

中国辽宁省大连市高新园区黄浦507号

Tel. (电话)：+ 86 (0) 411 6262 0777

http://meeting.dlut.edu.cn/meeting/index_en.asp?id

=2649

Transportation

Dalian has the international airport to connect the international flights from Europe, North

America with a break at Beijing, Shanghai, Guangzhou, etc. The airport also has the direct

flights to Japan and South Korea. Two high-express train stations (Dalian Bei Station and

Dalian Station) connect the Chinese cities via Shenyang.

Transferring from/to conference site (Subway exit at Haishidaxue (海事大学)):

1. Airport: Taxi (35 CNY); No. 2 and 1 subways with change at Xi'an Road Station

2. Dalian Bei Station: Taxi (50 CNY); No. 1 subway

3. Dalian Station: Taxi (30 CNY); No. 2 and 1 subways with change at Xi'an Road Station; No.

531 Bus

DALIAN

Dalian is a financial, shipping and logistics centre for Northeast Asia. Dalian is a popular

destination among domestic tourists and foreign visitors, especially from Japan, South Korea

and Russia. Its mild climate and multiple beaches as well as its importance in the modern

history of China have attracted tourists. Some of the most famous beaches are Jīnshítān

Golden Coast (金石滩黄金海岸) beach, Fùjiāzhuāng (付家庄) beach, Bàngchuídǎo (棒棰岛)

beach, Xīnghǎi Park (星海公园) beach, Xīnghǎi Bay (星海湾) beach, and Xiàjiāhézi (夏家河子)

beach. It was one of the three cities named "China's best tourist city", along with Hangzhou

and Chengdu, recognized by the National Tourism Administration and the United Nations

World Tourism Organization.

Plenary Session: 15 min. Presentation + 5 min. Discussion

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MeTrApp 2019

Program at a Glance

Onsite registration from 16:00 on October 8 2019

October 9 2019

8:00-8:30 Registration

8:30-8:50 Opening Ceremony

8:50-9:35 Keynote Speaker 1: Prof. Feng Gao

9:35-10:20 Keynote Speaker 2: Prof. Xianmin Zhang

10:20-10:50 Group photo, Coffee break

10.50-12.10 Engineering Applications I Robots and Mechatronics I

12:10-13:30 Lunch

13:30-15:10 Linkage Synthesis Parallel Manipulators I

15:10-15:30 Coffee break

15:30-17:30 Lab. visiting

18:30-21:30 Reception

October 10 2019

8:30-9:50 Compliant Mechanism Machinery Dynamics

9:50-10:10 Coffee break

10:10-11:50 Control Application Robots and Mechatronics II

11:50-13:30 Lunch

13:30-14:30 Poster session EC meeting

14:30-18:00 Sightseeing tour

18:30-21:30 Banquet

October 11 2019

8:30-10:10 Engineering Applications II Mechanical Transmission

10:10-10:30 Coffee break

10:30-11:50 Parallel Manipulators II Robots and Mechatronics III

11.50-13.30 Lunch

13.30-15.10 Education on Theory of Machines and Mechanisms

15.10-15.30 Farewell

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MeTrApp 2019

Keynote Speech 1

Supper Large Parallel Robots for Ground-based Simulation of

Space Collision and Docking Dynamic Process

Abstract

The dynamic collisions are the typical physical phenomena for spacecraft rendezvous and

docking, space robot operation, interplanetary spacecraft landing, rocket landing, and so

on. The ground-based simulation equipment of the real space collision and operation

dynamic process is the foundation of development of the space operation systems mentioned

above. This speech will introduce the research on both mechanism design and real time control

of the supper large parallel robots for the ground-based simulation equipment of the real space

collision and operation dynamic process, which is the ground-based semi-physical simulator of

space collision and operation dynamic process. The main contents are the key science and

technological issues, including the design of the supper large 9-DOF parallel robots for the space

collision and operation dynamic semi-physical simulator, the equipment dynamics parameter

matching (e.g., stiffness, mode and frequency), distortion modeling and compensation methods

of the semi-physical simulation system, and real-time control system and control algorithms

and so on. The supper large 9-DOF parallel robots developed by us is the one that cannot be

replaced for the simulation of space collision and operation dynamic process as well as the

verification of the effectiveness and feasibility of the docking and operation mechanisms in

China's Manned Spaceflight, space station project, and so on.

Bibliography

Feng Gao is a Chair Professor at the Shanghai Jiao Tong

University. He earned his Ph.D. in mechanical engineering at

Beijing University of Aeronautics and Astronautics in 1991, and

his Master in Mechanical Engineering at Northeast Heavy

Machinery Institute in 1982. From 1995 to 1997, he was a

postdoctoral research associate in the School of Engineering

Science at Simon Fraser University. He was a full professor at

Yanshan University from 1995 to 1999. He served first as Vice

President and then as President of Hebei University of

Technology from 2000 to 2004. He served as the director of the

State Key Laboratory of Mechanical Systems and Vibration at

Shanghai Jiao Tong University from 2008 to 2013. Since 2004, he

has been a full professor at Shanghai Jiao Tong University.

He has been serving as an Associate Editor of Mechanism and Machine Theory since 2008

and the ASME Journal of Mechanical Design since 2012, and the General Member of the ASME

Mechanisms and Robotics Committee since 2012. He gave the Keynote Speeches on the

conferences of the ASME 2012 and IFToMM 2015, respectively. He won the 2013 China

National Natural Science Award because of his contributions in parallel mechanism design and

the 8 items of awards from the provincial science and technology invention prizes in China. And

he won the ASME Leonardo Da Vinci Award for his invention of parallel manipulators in USA

in 2014. He has been granted 120 patents and has published 3 research books on mechanisms

and robotics, as well as 120 papers in international journals.

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MeTrApp 2019

Keynote Speech 2

Origami-inspired Compliant Mechanisms

Abstract

Origami is an ancient art of paper folding. In the field of engineering, many deployable

structures, metamorphic mechanisms and compliant mechanisms are inspired from it. On

one hand, the kinematic motions of rigid origami can be mapped to the rigid mechanisms

isomorphically. Origami providing convenient design thought for the complex spatial

mechanisms. On the other hand, the potential energy of actual origami can also reflect

some characteristics of the compliant mechanisms, such as the multistable performances

and underactuated behaviors. Inspired from the origami-kaleidocycles, we have proposed a

kind of multi-DOF compliant mechanisms with multistability. The mechanisms can not

only inherit the continuous rotation of origami-kaleidocycles but also present the

underactuated kinematic motions. In this presentation, a novel flexural lamina emergent

spatial(LES) joint is also proposed to simplify the manufacturing process of the origami

kaleidocycles inspired compliant mechanisms. Since the LES joint can be considered as a

kind of nonstandard hook hinge, it provides new possibilities for the design of more complex

spatial compliant mechanisms, including Delta mechanisms and Spherical mechanisms.

Bibliography

Prof. Xianmin Zhang received the Ph.D. degree in

mechanical engineering from the Beijing University of

Aeronautics and Astronautics, Beijing, China, in 1993. He

has been the Director of the Guangdong Provincial Key

Laboratory of Precision Equipment and Manufacturing

Technology since 2010, and has been the Dean and the

Chair Professor with the School of Mechanical and

Automotive Engineering, South China University of

Technology since 2013. His research interests include

robotics, analysis and design of compliant mechanisms,

dynamics and vibration control of mechanisms. He has

finished more than 50 projects and authored or

coauthored more than 400 technical papers and more

than 100 patents. Dr. Zhang has been serving as the Chair

of China Committee of the International Federation for

the Promotion of Mechanism and Machine Science since

June 2016.

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MeTrApp 2019

Wednesday 09/10/2019

8:00-8:30 Registration

8:30-8:50 Opening Ceremony

Welcome by Prof. Yongqing Wang, Dean of School of Mech. Eng. (DUT)

Welcome for MeTrApp 2019 by Prof. Delun Wang, Conference Chair

8.50-9:35 Keynote speech (Room-Songheting) Chairman: Victor Petuya

Supper Large Parallel Robots for Ground-based Simulation of Space Collision and

Docking Dynamic Process, Prof. Feng Gao

9:35-10:20 Keynote speech (Room-Songheting) Chairman: Hidetsugu Terada

Origami-inspired Compliant Mechanisms, Prof. Xianmin Zhang

10:20-10:50 Group photo, Coffee break

10:50-12:10 Engineering Applications I (Room-Zhongguancun)

Co-chairs: Zhi Wang, Guoguang Jin

10:50-11:10 Kinematics Analysis and Dynamics Simulation Optimization of Lower Limb

Rehabilitation Robot for the Stroke

Li Dong, Lu Li, and Shouqi Chen

11:10-11:30 Simulation analysis on key mechanisms of the automatic tobacco harvester

based on ADAMS

Jie Yu, Jinkui Chu, and Yang Li

11:30-11:50 Design and Analysis of a Novel Primary and Secondary Embedded Deployable

Offshore Cage

Zi-Yu Liu, Lu-Bin Hang, Le-Le Bai, Xiao-Bo Huang, Peng-Cheng Zhang, Su-Long Li,

Shi-Sen Lin, Jun-Rong Chen, and Ming-Yuan Wang

11:50-12:10 An active/passive joint for reconfiguration applications

Mykhailo Riabtsev, Victor Petuya, Aitor Riera, and Mónica Urízar

10:50-12:10 Robots and Mechatronics I (Room-Songheting)

Co-chairs: Yuan Chen, Dong Liang

10:50-11:10 Dimensional Synthesis for the Chang’e-Type Legged Mobile Lander Based on

Performance Atlas

Youcheng Han and Weizhong Guo

11:10-11:30 Kinematic Modeling and Simulation of a Leg-wheel Robot for Unexplored Rough

Terrain Environment

Xu Cai, Jun He, and Feng Gao

11:30-11:50 Four-legged robot mechanism design and leg kinematics analysis

G. M. Wang, G. Y. Ma, Y. L. Yao, and R. C. Liu

11:50-12:10 Optimization Design and Analysis of an Adaptive Variable Magnetic Adsorption

Climbing Robot

Denghui Guo and Yuan Chen

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MeTrApp 2019

12:10-13:30 Lunch

13:30-15:10 Linkage Synthesis (Room-Zhongguancun)

Co-chairs: Gökhan Kiper, Xiangyun Li

13:30-13:50 Optimized design of an RSSR mechanism for an unpowered assistive aid

Juewei He, Guangshun Liang, Zhi Lan, and Zhixiu Hao

13:50-14:10 Kinematic Acquisition of Quadratic Curve Constraints for Finite Position

Generation of Planar Mechanisms

Hao Lv, Ke Shi, and Xiangyun Li

14:10-14:30 Dimensional synthesis of non-periodic function generation of a spatial RSSR

mechanism using a numerical atlas method

Wenrui Liu, Jianwei Sun, and Jinkui Chu

14:30-14:50 Path Synthesis of Crank-Rocker Mechanism Using Fourier Descriptors Based

Neural Network

Xiaojuan Mo, Wenjie Ge, Donglai Zhao, and Yaqing Zhang

14:50-15:10 Function Generation Synthesis with Planar 4-bar Linkage as a Mixed Problem of

Correlation of Crank Angles and Dead-Center Design

Gökhan Kiper and Melih Erez

13:30-15:10 Parallel Manipulators I (Room-Songheting)

Co-chairs: Guanglei Wu, Yanbin Zhang

13:30-13:50 Kinematics and Dynamics Simulation Analysis of a 3-DOF Parallel Mechanism for

Application in Hybrid Machine

Haiqiang Zhang, Hairong Fang, Dan Zhang, Xueling Luo, and Fuqun Zhao

13:50-14:10 Kinematics and Singularity Analysis of a Novel Uncoupled 2-DOF Rotational

Parallel Mechanism

Keming Wang, Yanbin Zhang, and Xianling Jing

14:10-14:30 Performance analysis and comparison of three planar parallel manipulators

Xiaoyong Wu, Ran Yan, Zhaowei Xiang, Fangyan Zheng, and Rulong Tan

14:30-14:50 Singularity Loci of a New Four-limb Parallel Schönflies-Motion Generator

Guanglei Wu, Huiping Shen, Wenkang Zhao, and Zirong Lin

14:50-15:10 Kinematics and Multi-mode Application of a novel self-assembling robot with

parallel structure

Fuqun Zhao, Sheng Guo, Xiangyang Wang, and Majun Song

15:10-15:30 Coffee break

15:30-17:30 Lab. visiting

18:30-21:30 Reception

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MeTrApp 2019

Thursday 10/10/2019

8:30-9:50 Compliant Mechanism (Room-Zhongguancun)

Co-chairs: Haiyang Li, Fan Zhang

8:30-8:50 Design of a Controlled-stiffness Flexure Mechanism Based on the Fact Method

Kaiyu Wu, Fan Zhang, Minhua Zheng, Hecheng Li, and Jing Sun

8:50-9:10 Modelling and Prediction of Lifetime of Metal Rubber Isolator under Random

Vibration

Hongrui Ao, Yong Ma, Xianbiao Wang, and Hongyuan Jiang

9:10-9:30 Compliant Mechanism based Backbones for Continuous Manipulators and Robots

Haiyang Li, Qiaoling Meng, Guangbo Hao, Shujun Li, Yunpeng Gong, and Yong Zhao

9:30-9:50 A Recursive Integral-Based Dynamic Stiffness Matrix for Notch Flexure Hinges

Using in Compliant Mechanisms

Mingxiang Ling

8:30-9:50 Machinery Dynamics (Room-Songheting)

Co-chairs: Huimin Dong, Yutao Yan

8:30-8:50 A directly coupled finite element – meshless method with varying dilation

parameter

Yaqing Zhang, Wenjie Ge, Ziang Zhang, Xiaojuan Mo, and Yonghong Zhang

8:50-9:10 A New Dynamic Model to Predict Vibration of Cylindrical Roller Bearings with

Clearance and Off-sized Roller Defects

Huimin Dong, Kui Zhang, and Chu Zhang

9:10-9:30 The Analysis for Stress Intensity Factor of Three-Dimensional Crack under

Combined Action of Friction Force and Tension

Yutao Yan, Yibo Zhang, Xin Wu, and Wendong Li

9:30-9:50 Numerical Simulations of the Dynamic Pressure Oil-Gas Separator

Yutao Yan, Yao Yu, Zhili Sun, and Xulei Su

9:50-10:10 Coffee break

10:10-11:50 Control Application (Room-Songheting)

Co-chairs: Jin Xie, Xiaoyan Yu

10:10-10:30 Passivity-based Force/Position Active Disturbance Rejection Control of Dual-arm

Space Robot Clamping Capture Spacecraft

Ai Haiping, Chen Li, and Yu Xiaoyan

10:30-11:50 Motion Planning of a 5-DOF Anthropomorphic Robotic Arm under ROS

Environment

Sida Zhang, Zirong Lin, and Guanglei Wu

11:50-11:10 Terminal Sliding Mode Adaptive Fuzzy Controller of A Free-floating Space

Manipulator Based on Time Delay Estimation

Jianyu Zhang, Xiaoyan Yu, and Li Chen

11:10-11:30 T-S Fuzzy Compensation Based Sliding Mode Control for a Free-floating Space

Manipulator

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Zihao Chen, Xiaoyan Yu, and Li Chen

11:30-11:50 Controlling Strategy of Rail Grinding Mechanism for the Constant Working Power

Jin Xie, Zhongqing Yi, and Zhaohui Liu

10:10-11:50 Robots and Mechatronics II (Room-Zhongguancun)

Co-chairs: Wei Wang, Koji Makino

10:10-10:30 Study on the Development of Toner Xerography Digital Printing Technology

Gaosheng He and Yan Li

10:30-10:50 Research on Knowledge Template Technology for Body Design of Transfer Robot

Wei Wang, Wenlin Gao, and Hongmin Yu

10:50-11:10 Development of Conductive Hydrogel Driven Dielectric Elastomer

Xiaoru Niu, Jianzhong Shang, Zirong Luo, and Tao Jiang

11:10-11:30 Development of Robotic Wiping System for Piezo Components

Lulu Chu, Yi Luo, and Xiaodong Wang

11:30-11:50 Position and Pose Optimization of Work Piece Based on Image Processing Data

Feng Qian, Sichen Cai, and Huimin Dong

11:50-13:30 Lunch

13.30-14:30 Poster session (Room-Songheting)

Project-Oriented Learning/Teaching Applied to Theory of Mechanisms and

Machines

Guanglei Wu, Delun Wang, Huimin Dong, Yuan Gao, and Feng Qian

APP Based Teaching/Learning Mode and Quality Evaluation of MMT Course

Huimin Dong, Delun Wang, Yuan Gao, Feng Qian, and Guanglei Wu

Experimental Study on Mechanical System Dynamics Performance

Yuan Gao, Hong Zhang, Delun Wang, Huimin Dong, and Cong Chen

U-Joint Induced Torsional Instabilities of a Family of 3-DOF Partially-Decoupled

Spherical Parallel Manipulators

Guanglei Wu and Stéphane Caro

13.30-14:30 TC meeting, Chaired by Prof. Delun Wang (Room-Zhongguancun)

14.30-18.00 Sightseeing tour

18:30-21:30 Banquet

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Friday 11/10/2019

8:30-10:10 Engineering Applications II (Room-Songheting)

Co-chairs: Erwin-Christian Lovasz, Guangying Ma

8:30-8:50 A Configuration Synthesis Method of Deployable Mechanism Cellulars Used for

Large Supporting Structures in Space

Chenhan Guang, Zilu Chen, and Yang Yang

8:50-9:10 Parameter Analysis and Optimal Design of Energy Storage Device for Non-Powered

Walking Aid

Fanyu Meng, Wenxiang Zhao, Rui Wang, and Zhixiu Hao

9:10-9:30 The design and analysis of Autonomous Underwater Pipeline Inspection Robots

Fujie Yu and Yuan Chen

9:30-9:50 Novel Solution for the Mechanism Used in the Actuation of Intelligent Roof

Windows

Carmen Sticlaru, Petrisor Laurentiu Tuca, Erwin-Christian Lovasz, Corina-Mihaela Gruescu,

Inocenţiu Maniu, and Cristian Emil Moldovan

9:50-10:10 Design and kinematic analysis of a novel wire-driven spherical scissors mechanism

for shoulder rehabilitation

Ruiqin Li, Ziwei Liu, Wenbo Mi, Shaoping Bai, and Jianwei Zhang

8:30-10:10 Mechanical Transmission (Room-Zhongguancun)

Co-chairs: Ligang Yao, Yongqiang Zhao

8:30-8:50 Contact analysis for spiral bevel gear based on machine parameters

Yongqiang Zhao, Xiangyang Liu, and Ming Liu

8:50-9:10 Transmission design and experimental research of a non-contact nutation reducer

Jiaxin Ding, Ligang Yao, Yongwu Cai, Xiaqi Shan, and Jun Zhang

9:10-9:30 Modal Analysis of Nutation Drive with Double Circular Arc Spiral Bevel Gear

Simin Ouyang, Ligang Yao, Yongwu Cai, Jun Zhang, and Zhiyu Xie

9:30-9:50 Releasable Locking Mechanism using Friction and a Cuneus for Holding Posture

Koji Makino, Tatsuya Kaneko, Kenji Matsumura, and Hidetsugu Terada

9:50-10:10 Optimization Design of Flange Bolt Set Connection under Complicated Working

Conditions

Huimin Dong, Jing Wang, and Delun Wang

10:10-10:30 Coffee break

10:30-11:50 Parallel Manipulators II (Room-Songheting)

Co-chairs: Xiaoyong Wu, Huiping Shen

10:30-10:50 Design and analysis of a new 5-DOF hybrid serial-parallel manipulator

Yundou Xu, Zhenghe Xu, Fan Yang, Youen Mei, Yi Yue, Yulin Zhou, Jiantao Yao, and

Yongsheng Zhao

10:50-11:10 Kinematics research of chewing robot based on six-axis parallel mechanism

Xingyu Zhou and Jinghu Yu

11:10-11:30 Dynamic Model and Simulation Analysis of a 3-DOF Parallel Mechanism

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Jiaxun Li, Jian Liu, Hongjuan Hou, and Liyong Huang

11:30-11:50 Conceptual Design of a 2-DoF Planar High-Speed Industrial Parallel Manipulator Emre Uzunoğ lu, Merve Özkahya, Erkan Paksoy, Barış Taner, M. İ . Can Dede, and Gökhan

Kiper

10:30-11:50 Robots and Mechatronics III (Room-Zhongguancun)

Co-chairs: Inocenţiu Maniu, Ruiqin Li

10:30-10:50 Kinematics Analysis and Reconfiguration Planning of The Reconfigurable Robot

Bin Ye, Feng Gao, and Weixing Chen

10:50-11:10 Kangaroo-inspired jumping robot with controllable takeoff

Yonghong Zhang, Sizhe Liu, Lei Zheng, Xiaojuan Mo, and Wenjie Ge

11:10-11:30 Hydrodynamic coefficients calculation of complex-shaped AUV based on lattice

Boltzmann method

Yinpo Yan and Yuan Chen

11:30-11:50 The design of a kind of two-joint mechanical fish

Hui-hui You, Chang-tang You, Xiao-yan Yu, Chang-ling Zhang, and Kai-long Wang

11.50-13.30 Lunch

13.30-15.30 Education on Theory of Mechanisms and Machines (Room-Songheting)

Co-chairs: Weizhong Guo, Yuan Gao

13.30-13.50 Construction of Golden Course Group for the Innovative Talent Cultivation in New

Engineering of Machinery

Kedong Bi, Yajing Kan, Ruiming Qian, Guodong Yin, and Zhonghua Ni

13.50-14.10 Exploration and Practice of Project-based Teaching in the Course Theory of

Machine Design and Mechanism

Yuanxiong Cheng, Jiajun Yang, Jianfeng Xu, and Kuanmin Mao

14.10-14.30 Project-based Teaching Skills for University Course of Mechanism and Machine

Science

Weizhong Guo

14.30-14.50 An Approach to Foster Student Creative Thinking Ability in the Lectures of

Mechanical Principles

Yunpeng Gong, Shujun Li, Zhang Yu, Haiyang Li, Cuiling Li, and Yu Guo

14.50-15.10 Farewell