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Analysis of suitable geometrical parameters for designing a tendon-driven under-actuated mechanical finger

Frontiers of Mechanical Engineering 2016年第2期11卷 184-194页

作者： Francesco PENTA Cesare ROSSI sergio savino Department of Industrial Engineering University of Naples 'FedericoII' Naples 80125 Italy

This study aims to optimize the geometrical parameters of an under-actuated mechanical finger by conducting a theoretical analysis of these parameters. The finger is actuated by a flexion tendon and an extension tendon. The considered parameters are the tendon guide positions with respect to the hinges. By applying such an optimization, the correct kinematical and dynamical behavior of the closing cycle of the finger can be obtained. The results of this study are useful for avoiding the snap- through and the single joint hyperflexion, which are the two breakdowns most frequently observed during experi- mentation on prototypes. Diagrams are established to identify the optimum values for the tendon guides position of a finger with specified dimensions. The findings of this study can serve as guide for future finger design.

关键词： tendon-driven fingers mechanical fingerdesign under-actuated mechanical systems

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Windmills： Ancestors of the wind power generation

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Frontiers of Mechanical Engineering 2017年第3期12卷 389-396页

作者： Cesare ROSSI Flavio RUSSO sergio savino Department of Industrial Engineering University of Naples "Federico Ⅱ" via Claudio Naples 80125 Italy Consultant of Ufficio Storico Stato Maggiore Esercito Torre Del Greco 80059 Italy

A brief description of the windmills from the second millennium BC to the Renaissance is presented. This survey is a part of several studies conducted by the authors on technology in the ancient world. The windmills are the first motor, other than human muscles, and are the ancestors of the modem wind turbines. Some authors＇ virtual reconstructions of old windmills are also presented. The paper shows that the operating principle of many modem machines had already been conceived in the ancient times by using a technology that was more advanced than expected, but with two main differences, as follows： Similar tasks were accomplished by using much less energy; and the environmental impact was nil or very low. Modem designers should sometimes consider simplicity rather than the use of a large amount of energy.

关键词： windmills ancient machines history of windmill

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Ancient road transport devices： Developments from the Bronze Age to the Roman Empire

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Frontiers of Mechanical Engineering 2016年第1期11卷 12-25页

作者： Cesare ROSSI Thomas G. CHONDROS Kypros F. MILIDONIS sergio savino Flavio RUSSO Department of Industrial Engineering University of Naples 'Federico II' Naples 80125 Italy Mechanical Engineering & Aeronautics Department University of Patras Patras 26500 Greece USSME Consultant via Lamaria 137 Torte del Greco Napoli Italy

The development of transportation systems has significantly enhanced the welfare and modernization of society. Wooden vehicles pulled by animals have been used for land transportation since the early Bronze Age. Whole-body gharries with rigid wheels pulled by oxen appeared in Crete by 2000 BC or earlier. Horses originating from the East were depicted in early Cretan seal-rings of the same period. The two-wheeled horse- drawn chariot was one of the most important inventions in history. This vehicle provided humanity its first concept of personal transport and was the key technology of war for 2000 years. Chariots of Mycenaean and Archaic Greece with light and flexible four-spoked wheels acting as spring suspensions were depicted in vase paintings. The development of this vehicle incorporated the seeds of a primitive design activity and was important for engineering. The Trojan horse since 1194 BC and the helepolis since 700 BC were the first known machines on a wheeled base transported by horses or self-powered. Ancient engineers invented bearings lubricated with fat, and Romans introduced the ancestors of ball bearings for their wagons and carts. The historic evolution of wheeled transportation systems, along with early traction, suspension, and braking systems, is presented in this paper. Analytical and numerical methods are incorporated to analyze the most conceivable loading situations of typically reconstructed wheeled transportation systems in ancient times. Traction requirements both for horse-driven machines and the power for internal motors are also analyzed. This study can serve as a basis for further development of detailed reconstruction of transportation systems in antiquity.

关键词： transportation wheel spoke cart axle bearing

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