Scientific Program

Organized by School of Mechanical Engineering, 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, 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

Award Committee Shudong Yu, Ryerson University, Canada Yan Chen, Tianjin University, China Victor Petuya, University of the Basque Country, Spain

Local Organizing Committee Dalian University of Technology: Guanglei Wu, Zhi Wang, Huimin Dong, Yali Ma, Yuan Gao, Xuanping Wang

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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, 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

Opening Ceremony @ Room-Zhongguancun (中关村) Sessions @ Zhongguancun (中关村) & Songheting (松鹤厅) & 奥斯汀（Austin）&卡尔顿（Carlton） Buffet lunch @ Western restaurant on ground floor (1 楼西餐厅) Coffee break @ Lobby of Room Zhongguancun (中关村) & Songheting (松鹤厅)

Transportation Dalian has the international airport to connect the international flights from Europe, North America with a break at , 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

Lab. Visiting: Bus to Dalian University of Technology Sightseeing tour: Bus to Xinghai Square

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

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Program at a Glance

8 October 2019 Registration from 16:00, Buffet @ Western restaurant 9 October 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 10 October 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 11 October 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

11.50-12:10 Farewell

12:10-13.30 Lunch

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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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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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Wednesday 09/10/2019 8:00-8:30 Registration

8:30-8:50 Opening Ceremony (Room-Zhongguancun, 5th floor) Chairman: Yan Chen Welcome by Prof. Yongqing Wang, Dean of School of Mech. Eng. (DUT) Welcome for MeTrApp 2019 by Prof. Delun Wang, Conference Chair Welcome for MeTrApp 2019 by Prof. Victor Petuya, Chair of TC LMC Welcome for MeTrApp 2019 by Prof. Erwin-Ch. Lovasz, IFToMM Secratary

8.50-9:35 Keynote speech (Room-Zhongguancun, 5th floor) 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-Zhongguancun, 5th floor) Chairman: Hidetsugu Terada Origami-inspired Compliant Mechanisms, Prof. Xianmin Zhang

10:20-10:50 Group photo (ground floor, in front of Conference venue), Coffee break

10:50-12:10 Engineering Applications I (Room-Zhongguancun, 5th floor) 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, 3rd floor) 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

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Climbing Robot Denghui Guo and Yuan Chen

12:10-13:30 Lunch

13:30-15:10 Linkage Synthesis (Room-Zhongguancun, 5th floor) 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, 3rd floor) 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

15:10-17:30 Lab. Visiting, Bus to Dalian University of Technology

18:30-21:30 Reception

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Thursday 10/10/2019 8:30-9:50 Compliant Mechanism (Room-Zhongguancun, 5th floor) Co-chairs: Haiyang Li, Mingxiang Ling 8:30-8:50 Compliant Mechanism based Backbones for Continuous Manipulators and Robots Haiyang Li, Qiaoling Meng, Guangbo Hao, Shujun Li, Yunpeng Gong, and Yong Zhao 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 Design of a Controlled-stiffness Flexure Mechanism Based on the Fact Method Kaiyu Wu, Fan Zhang, Minhua Zheng, Hecheng Li, and Jing Sun 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, 3rd floor) 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, 3rd floor) 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, 5th floor) 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 (Lobby of Room-Zhongguancun, 5th floor ) Project-Oriented Learning/Teaching Applied to Theory of Mechanisms and Machines APP Based Teaching/Learning Mode and Quality Evaluation of MMT Course Experimental Study on Mechanical System Dynamics Performance U-Joint Induced Torsional Instabilities of a Family of 3-DOF Partially-Decoupled Spherical Parallel Manipulators Exploration and Practice of Project-based Teaching in the Course Theory of Machine Design and Mechanism An Approach to Foster Student Creative Thinking Ability in the Lectures of Mechanical Principles

13.30-14:30 TC meeting, Chaired by Prof. Delun Wang (Room-Munich, 3rd floor)

14.30-18.00 Sightseeing tour to Lianhua Mountain, Xinghai Square

18:30-21:30 Best Paper Awards, Chaired by Weizhong Guo Banquet @ Hi Chance (Dalian) Science and Technology Center (Room- Zhongguancun, 5th floor)

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Friday 11/10/2019 8:30-10:10 Engineering Applications II (Room-Austin, 5th floor) 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 The design and analysis of Autonomous Underwater Pipeline Inspection Robots Fujie Yu and Yuan Chen 9:10-9:30 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 9:30-9:50 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 9:50-10:10 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

8:30-10:10 Mechanical Transmission (Room-Carlton, 5th floor) 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-Austin, 5th floor) 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 Dynamic Model and Simulation Analysis of a 3-DOF Parallel Mechanism Jiaxun Li, Jian Liu, Hongjuan Hou, and Liyong Huang 11:10-11:30 Conceptual Design of a 2-DoF Planar High-Speed Industrial Parallel Manipulator

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Emre Uzunoğ lu, Merve Özkahya, Erkan Paksoy, Barış Taner, M. İ . Can Dede, and Gökhan Kiper 11:30-11:50 Project-based Teaching Skills for University Course of Mechanism and Machine Science Weizhong Guo

10:30-11:50 Robots and Mechatronics III (Room-Carlton, 5th floor) 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

11.50-12.10 Farewell (Room-Carlton, 5th floor)

12.10-13.30 Lunch (Chinese restaurant, 2nd floor)

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Dalian University of Technology is the first formal university of a new type founded by the Communist Party of China on the eve of the founding of the People’s Republic of China, for the construction of China's industrial system. Dalian University of Technology (DUT) is a national key university administrated directly under the Ministry of Education of China, which is also sponsored by Project 211 and Project 985. DUT keeps fostering elites, promoting science and technology, inheriting excellent cultures and guiding the social climate as its mission, adheres to DUT spirit of “Unity and Progress, Truth and Innovation”, dedicates itself to the creation, discovery, impart, conservation and application of knowledge, and endeavors to undertake social responsibilities to serve the country and the world. Web.: http://en.dlut.edu.cn/

School of Mechanical Engineering of Dalian University of Technology was integrated with the previous Department of Mechanical Engineering, the Institute of Molding Tool, and Engineering Training Center founded in 1999. Founded in 1949, the Department of Mechanical Engineering was one of the first established 8 departments in the university. The school now includes 7 Research Institutes  Institute of Advanced Manufacturing Technology and Equipment  Institute of MEMS and Precision Engineering  Institute of Automation Technology and Construction Machinery  Institute of Digital Design  Institute of Molding Tool  Institute of Vibration Engineering & Sensor Testing  Institute of Sustainable Design and Manufacturing Web.: http://sme.dlut.edu.cn/English.htm

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