Current Stage in the Field of Mechanisms with Gears and Rods

Transcription

1 Journal of Mehatronis and Robotis Original Researh Paper Current Stage in the Field of Mehanisms with Gears and Rods 1 Relly Vitoria Virgil Petresu, 2 Raffaella Aversa, 2 Antonio Apiella, 3 MirMilad Mirsayar, 4 Samuel Kozaitis, 5 Taher Abu-Lebdeh and 1 Florian Ion Tiberiu Petresu 1 ARoTMM-IFToMM, Buharest Polytehni University, Buharest, (CE) Romania 2 Advaned Material Lab, Department of Arhiteture and Industrial Design, Seond University of Naples, Aversa (CE) Italy 3 Department of Civil Engineering, Texas A&M University, College Station, TX (Texas), USA 4 Florida Institute of Tehnology, USA 5 North Carolina A and T State University, USA Artile history Reeived: Revised: Aepted: Corresponding Author: Florian Ion Tiberiu Petresu ARoTMM-IFToMM, Buharest Polytehni University, Buharest, (CE) Romania sipub02@gmail.om Abstrat: The development and diversifiation of mahines and mehanisms with appliations in all fields require new sientifi researhes for the systematization and improvement of existing mehanial systems by reating new mehanisms adapted to modern requirements, whih involve inreasingly omplex topologial strutures. The modern industry, the pratie of designing and building mahinery is inreasingly based on the results of sientifi and applied researh. Eah industrial ahievement has baked theoretial and experimental omputer-assisted researh, whih solves inreasingly omplex problems with advaned omputing programs using an inreasingly speialized software. The robotization of tehnologial proesses determines and influenes the emergene of new industries, appliations under speial environmental onditions, the approah of new types of tehnologial operations, manipulation of objets in the alien spae, teleoperators in the top disiplines like mediine, robots overing a whole field Greater servie provision in our modern, omputerized soiety. In this ontext, the present paper attempts to make a sientifi and tehnial ontribution to the kinemati analysis and geometri - kinemati synthesis of gears and gears, both as plane and spatial strutures. By definition, these omplex mehanisms are omposed of bars and lever mehanisms (gears and raks). A remarkable problem with the use of onial gears is the spherial oupling design through three-axis spherial gear mehanisms. This modeling is extremely useful in the onstrution and kinematis of robots, espeially the orientation mehanisms, whih explains the partiular interest in the use of gears and gears. The inemati study methods of omplex gears with bars and gears are partiularly diverse, but a unitary method allows the adaptation and use of more effiient analytial and numerial resolution algorithms. The beginning of the use of gears and gears should be sought in anient Egypt at least a thousand years before Christ. Here, for the first time, spur gears were used for rop irrigation and worm gears for otton proessing. Keywords: Mehanism, Applied Computing, Algorithm, Mahines and Mehanisms, Gears and Rods Introdution The development and diversifiation of mahines and mehanisms with appliations in all fields requires new sientifi researhes for the systematization and improvement of existing mehanial systems by reating new mehanisms adapted to modern requirements, whih involve inreasingly omplex topologial strutures Relly Vitoria Virgil Petresu, Raffaella Aversa, Antonio Apiella, MirMilad Mirsayar, Samuel Kozaitis, Taher Abu- Lebdeh and Florian Ion Tiberiu Petresu. This open aess artile is distributed under a Creative Commons Attribution (CC- BY) 3.0 liense.

2 The modern industry, the pratie of designing and building mahinery is inreasingly based on the results of sientifi and applied researh. Eah industrial ahievement has baked theoretial and experimental omputer-assisted researh, whih solves inreasingly omplex problems with advaned omputing programs using inreasingly speialized software. The robotization of tehnologial proesses determines and influenes the emergene of new industries, appliations under speial environmental onditions, the approah of new types of tehnologial operations, manipulation of objets in the alien spae, teleoperators in the top disiplines like mediine, robots overing a whole field Greater servie provision in our modern, omputerized soiety. In this ontext, the present paper attempts to make a sientifi and tehnial ontribution to the kinemati analysis and geometri - kinemati synthesis of gears and gears, both as plane and spatial strutures. By definition, these omplex mehanisms are omposed of bars and lever mehanisms (gears and raks). Only mehanisms with rigid kinemati elements were onsidered, both the bars and the toothed wheels being onsidered undeformable. During the elaboration of this paper, the following requirements were onsidered: Performing a unitary work on doumenting and personal sientifi ontributions The syntheti way of presenting the different aspets analyzed Highlighting the outstanding ahievements of researhers and mehanis speialists The reation of a high-level sientifi work, but with the possibility of being traed easily by speialists To formulate onlusions to fix what is essential and to generate new ideas A remarkable problem with the use of onial gears is the spherial oupling design through three-axis spherial gear mehanisms. This modeling is extremely useful in the onstrution and kinematis of robots, espeially the orientation mehanisms, whih explains the partiular interest in the use of gears and gears. The inemati study methods of omplex gears with bars and gears are partiularly diverse, but a unitary method allows the adaptation and use of more effiient analytial and numerial resolution algorithms. The beginning of the use of gears and gears should be sought in anient Egypt at least a thousand years before Christ. Here, for the first time, spur gears were used for rop irrigation and worm gears for otton proessing. 230 years BC, in the ity of Alexandria in Egypt, a multi-lever wheel was used and a rak gear. Also, planetary gears with satellite gears have been used sine the time of the BC, to an anient Greek astrolab. This ingenious mehanism displays the movement of the sun and the moon with the help of dozens of gears of different sizes, the movement of whih ame from a single inemati input element. The transmission of gear with gears has seen substantial progress sine 1300 AD, when the Italian master Giovani da Dondi made an astronomial horology, omposed of internal gears and elliptial gears. In the fifteenth entury, Leonardo da Vini laid the foundations for modern inematis and dynamis, stating, among other things, the priniple of superposition of independent movements. This priniple of the summation of independent movements will be applied suessfully, in the present paper, to the analysis and kinemati synthesis of the omplex mehanisms with multi mobile gears and bars. The first gear adjustable gears were used in 1769 by Cugnot to equip the first vehile propelled by a steam engine. Between 1778 and 1784, J. Watt designed and built a new steam mahine (Dudita, 1989; Watt steam engine, From Wikipedia) with a double-ating piston, in whih the alternative translational movement of the piston is transformed into a ontinuous and uniform rotation of a steering wheel. In order to transform the osillating rotation motion of the roker in a ontinuous rotary motion of the rank, the Watt has reated several distint mehanisms, inluding the planetary gear with ylindrial gears. The Englishman E. Cartwright reated and patented in 1800 a retilinear guiding mehanism with symmetrially plaed bars and gears for the purpose of transforming the movement of the piston (steam driven) into rotation of the steering wheel. During the same period, at the beginning of the 19th entury, another Englishman, J. White, disovered that the retilinear guidane of a point an be done with a planetary ylindrial mehanism with an internal gear, whih generates a partiular degenerated right hippoillus. At the end of the 19th entury, in 1886, German Carl Benz made the first three-wheeled motor propelled by a thermal engine with a horizontally plaed ylinder. Sine the flywheel has a vertial spindle, a onial gear has been used to onvey the engine torque from the flywheel to the propulsion wheels. In the twentieth entury, with the modern industrial development, textile and metallurgial mahines, pakaging mahines and, more reently, industrial manipulators and robots, the transmission of the rotation between shafts with varying axle spaing appears neessary. 48

3 Often, it is required that the uninterrupted and uniform rotation of the drive shaft will result in reversible rotation of the driven shaft, movement with stops during the given limit, motion in the pilgrim step, et. In a series of mahines and robot manipulators, it is neessary to obtain omplex trajetories of some points of the elements, whih an t be obtained with the help of ordinary bars. Suh tehnial requirements an be satisfied if gears with gears and gears are used. For this purpose, mehanisms an be onstruted in whih bar systems and toothed wheel systems are (in parallel, overlapped) and the elements of the bar mehanism bear on their sproket wheels axes. There are also omplex gears with bars and gears, in whih the gears are parts of the general strutural sheme. As examples of suh ombined mehanisms, several kinemati shemes of gears and gears an be observed, presented by Kojevnikov (1969), (AUTORENKOLLEKTIV, 1968), Şaskin (1963; 1971), Maros (1958), Rehwald and Luk, 2000; 2001), Antonesu (1993; Antonesu and Mitrahe, 1989). The main problems with plane and spatial gears and gears refer to kinemati analysis and geometrikinemati synthesis under ertain onditions imposed by tehnologial proesses, Bruja and Dima (2011), Buda and Mateuă, (1989), Luk and Modler (1995), Niemeyer (2000), Tutunaru (1969), Popesu (1977), Braune (2000), Dudita (1989), Lihtenheldt (1995), Lederer (1993), Lin (1999), Modler and Wadewitz (1998; 2001; Modler, 1979), Neumann (1979; 2001), Stoia (1977), Petresu and Petresu (2011; 2011d; Petresu, 2012d; 2012e); (Petresu, 2016; Petresu et al., 2017a; 2017b; 2017; 2017d; 2017e; 2017f; 2017g; 2017h; 2017i; 2017j; 2017k; 2017l; 2017m; 2017n; 2017o; 2017p; 2017q; Aversa et al., 2017a; 2017b; 2017; 2017d; 2017e; 2016a; 2016b; 2016; 2016d; 2016e; 2016f; 2016g; 2016h; 2016i; 2016j; 2016k; 2016l; 2016m; 2016n; 2016o; Mirsayar et al., 2017; Petresu and Petresu, 2016a; 2016b; 2016; 2013a; 2013b; 2013; 2013d, 2012a; 2012b; 2012; 2012d, 2011a; 2011b; Petresu, 2012a; 2012b; 2012, 2009; Petresu and Calautit, 2016a; 2016b; Petresu et al., 2016a; 2016b). Materials and Methods Researh on Cinemati Analysis of Rods and Gears Mehanisms The most representative shools of mehanis that have developed and initiated theoretial and pratial sientifi researh in the field of rods and gears were the German shool (K. Hoeken, W. Jahr, P. Knehtel, K. Hain, W. Mayer zur Cappellen, W. Rath, O. Tolle, J. Volmer, R. Neumann, W. Rehwald, K. Luk, KH Modler) and Russian (SO Dobrogurski, II Artobolevski, SN Kojevnikov, LB Maisiuk, SA Cerkudinov, AS Saskin). In Fig. 1a is shown (Dudita, 1989; Petresu and Petresu, 2011; 2011d; Petresu, 2012d; 2012e) the mehanism with geared wheel driven z 3 whose motion is transmitted from geared wheel z 2 on the radle of the quadrilateral mehanism. Wheel z 2 engages with wheel z 1 whih rotates with respet to an eentri axis. Depending on the orrelated dimensions of the bar elements and the number of teeth of the z 3 geared wheel to the output shaft, the rotation obtained may be ontinuous (uninterrupted) with a degree of unevenness, stop motion, partial forward movement (pilgrimage step) Fig. 1b. In Fig. 2, there are shown a few shemati of rods and gears onstruted on the basis of the four-tiered bar mehanism, whose driven toothed wheels rotate around the fixed axis of the roker and the drive is made from the rank a. Various ombinations of bar mehanisms and gears with irular and non-irular wheels an be built in a very large number, but a small number of all pratial variants are used. In onnetion with the above we onsider only 2 types of gears and gears, namely: The mehanisms for transmitting the rotation between shafts with the variable distane between the axes and the mehanisms used to obtain the omplex-looking trajetories and the transformation of the movement. From the point of view of the strutural elements, all wheel and ring gears with irular wheels an be regarded as series hains with the variable onfiguration of the enter line, variation whih determines the position of the elements, of the axes of the non-essential gears. It may be that the transmission of the movement from the toothed wheel of the hain to another toothed wheel element of the neighboring member is aomplished only if the toothed wheel or toothed wheel of the group has an axis superimposed with the axis of the joint formed by these bars. In the general ase, the beam and gear mehanism an be onsidered to have 2 or more mobility. As an example of multi mobile mehanism with bars and gears, the kinemati sheme of Fig. 3a is onsidered; this mehanism has 3 mobilities. Thus, the angular veloity of any of the wheels an be determined if the angular speeds of bars a and b and one of the gears are required. The number of mobilities and therefore the number of leading elements an be redued if the elements are joined together. For example, if the wheel 1 is onneted to the base and the wheel 2 with the element b, the mono mobile mehanism (Fig. 3b) is obtained, in whih the wheels 2 and 3 do not rotate with respet to bar b, but the point C desribes what Called epiyloid elongated. Suh a mehanism is also alled the "dyad train" (Maros, 1958; Modler and Wadewitz, 2001; Manolesu, 1968; Margine, 1999). 49

4 (a) (b) Fig. 1: The mehanism with geared wheel Fig. 2: Shemati of rods and gears onstruted on the basis of the four-tiered bar mehanism (a) (b) Fig. 3: An example of multi mobile mehanism with bars and gears 50

5 Results The movement of the point B (Fig. 3a) an be ontrolled by onditioning the displaement of point B, for example (Fig. 4) on the irular ar with the BD radius and the fixed D enter. The resulting mehanism has two mobilities; in its movement the driven wheel 4 depends on the angular veloity of one of the toothed wheels of the series hain wheel and the angular veloity of one of the bars of the artiulated quadrilateral mehanism. This quadrilateral mehanism an be aepted as a basi mehanism. This ase, starting from its kinemati relationship, an be extended to different partiular ases. It is a question of determining the angular veloity of one of the sproket wheels, for example, z 3, depending on ω 1 and ω a date. The mehanism with bars and gears represented in Fig. 4 an be onsidered as two differential mehanisms with known movements of the known bars a and at whih the angular speeds of the wheels 2 and 3 are in a determined ratio. If the link between the wheels 2 and 3 is assumed to be interrupted, then the following an be written: i ω ω ω ω = ; i = ω ω a 1 a ω2 ωa 4 (1) a where the transmission ratios i 12 and i 34 are alulated in the ase of the fixed axle outer gear: i z z = ; i = (2) a z1 z 3 From formulas (1), the angular speeds of wheels 2 and 4 are explained: a ( 1 i ) ω = ω i + ω (3) a a 21 ( 1 i ) ω = ω i + ω (4) The transmission ratio of gear units 2, 3 is written in relation to b: Fig. 4: Two differential mehanisms with known movements By observing formulas (3) and (6) of formula (4), the angular veloity of the wheel 4 is obtained aording to the angular speed of the wheel 1 and the three bars a, b and : ωa ( 1 ) b ( 1 i32) i43 ω( 1 i43) ω = ω i i i + i i i a b a b ω + b (7) In this Equation 7 ω b and ω are funtions of ω a and an be determined as transmission funtions between the bars of the quadrilateral mehanism: ω = ω i ; ω = ω i (8) b a ba a a This is why ω 4 it is a funtion of two independent variables ω 4 and ω a. For all the gear and gear mehanism shemes of Fig. 2, in whih the wheel 2 is loked with the arm a, the required ondition is ω 2 = ω a. In these ases it results ω 1 = ω a from Equation 3, whih means that the z 1 wheel is loked with the rank a and formula (7) beomes: ( 1 i43) ( 1 ) ω = ω i i + ω i i b b 4 a b ω (9) If the wheels 2 and 3 are bloked on b, then ω 2 = ω 3 = ω a, so that from Equation 3 and 4 the relations are dedued: a ( 1 i ) ω = ω i + ω (10) a 1 b 12 a 12 i b 23 ω ω z = = ω ω z 2 b 3 3 b 2 (5) ( 1 i ) ω = ω i + ω (11) 4 b From formula (5) it is dedued: b ( 1 i ) ω = ω i + ω (6) b b 32 Formula (10) an be used to alulate the angular veloity of the driven element (Dudita, 1989) of the Watt engine mehanism (Fig. 5), in whih the wheels are missing z 3 and z 4 and ω = 0. 51

6 Fig. 5: Watt engine mehanism Fig. 6: Watt imagined a new mehanism, ombining the rankshaft mehanism with a planetary gear with two gears It is worth mentioning that J. Watt used suh a steam mahine sheme that he patented in 1784 (Dudita, 1989). Following the transformation of the osillating rotation movement in ontinuous rotation, J. Watt imagined a new mehanism, ombining the rankshaft mehanism with a planetary gear with two gears (Fig. 6). Note that the translational movement of the piston is approximately maintained by the point M on the bar of a roker-roker artiulated, whih had already been invented by J. Watt. The translational movement of the piston in the vertial ylinder (Fig. 6) first turns into osillating rotation of the BB 0 C, after whih the balaning motion is transformed into a ontinuous rotation motion by means of a planetary gear with a entral wheel and a satellite wheel Solidarity with white AB. The Englishman E. Cartwright invented in 1800 (Dudita, 1989; Kojevnikov, 1969) a guiding mehanism with artiulated bars and two symmetrially arranged toothed wheels (Fig. 7a) for the purpose of transforming the reiproating movement of the piston (driven by steam) in motion Rotation of the steering wheel. The piston rod 1 is artiulated with the bar 2 at the point E, whih is loated on the mediator of the CD segment. The trajetories of the points C and D are retilinear parallel to the piston rod 1. The A 0 A and B 0 B manikins are mounted integrally on eah respetive wheel gear 5 and 6 in a symmetrial position relative to the vertial point E, whih provides for equal rotation angles. From the analysis of the equivalent kinemati sheme (Fig. 7b), whih speifies the leading element 1, the symmetry is even more emphasized. The topologial struture of this mehanism identifies a passive (zero mobility) inemati hain whose hexagonal onfiguration is (Antonesu, 2003). 52

7 (a) (b) Fig. 7: A guiding mehanism with artiulated bars and two symmetrially arranged toothed wheels Disussion The development and diversifiation of mahines and mehanisms with appliations in all fields require new sientifi researhes for the systematization and improvement of existing mehanial systems by reating new mehanisms adapted to modern requirements, whih involve inreasingly omplex topologial strutures. The modern industry, the pratie of designing and building mahinery is inreasingly based on the results of sientifi and applied researh. Eah industrial ahievement has baked theoretial and experimental omputer-assisted researh, whih solves inreasingly omplex problems with advaned omputing programs using an inreasingly speialized software. The robotization of tehnologial proesses determines and influenes the emergene of new industries, appliations under speial environmental onditions, the approah of new types of tehnologial operations, manipulation of objets in the alien spae, teleoperators in the top disiplines like mediine, robots overing a whole field Greater servie provision in our modern, omputerized soiety. In this ontext, the present paper attempts to make a sientifi and tehnial ontribution to the kinemati analysis and geometri - kinemati synthesis of gears and gears, both as plane and spatial strutures. By definition, these omplex mehanisms are omposed of bars and lever mehanisms (gears and raks). A remarkable problem with the use of onial gears is the spherial oupling design through three-axis spherial gear mehanisms. This modeling is extremely useful in the onstrution and kinematis of robots, espeially the orientation mehanisms, whih explains the partiular interest in the use of gears and gears. The inemati study methods of omplex gears with bars and gears are partiularly diverse, but a unitary method allows the adaptation and use of more effiient analytial and numerial resolution algorithms. The beginning of the use of gears and gears should be sought in anient Egypt at least a thousand years before Christ. Here, for the first time, spur gears were used for rop irrigation and worm gears for otton proessing. Conlusion Various ombinations of bar mehanisms and gears with irular and non-irular wheels an be built in a very large number, but a small number of all pratial variants are used. In onnetion with the above, we onsider only 2 types of gears and gears, namely: The mehanisms for 53

8 transmitting the rotation between shafts with the variable distane between the axes and the mehanisms used to obtain the omplex-looking trajetories and the transformation of the movement. From the point of view of the strutural elements, all wheel and ring gears with irular wheels an be regarded as series hains with the variable onfiguration of the enter line, variation whih determines the position of the elements, of the axes of the non-essential gears. It may be that the transmission of the movement from the toothed wheel of the hain to another toothed wheel element of the neighboring member is aomplished only if the toothed wheel or toothed wheel of the group has an axis superimposed with the axis of the joint formed by these bars. In the general ase, the beam and gear mehanism an be onsidered to have 2 or more mobility. As an example of multi mobile mehanism with bars and gears, the kinemati sheme of Fig. 3a is onsidered; this mehanism has 3 mobilities. Thus, the angular veloity of any of the wheels an be determined if the angular speeds of bars a and b and one of the gears are required. The number of mobilities and therefore the number of leading elements an be redued if the elements are joined together. Aknowledgment This text was aknowledged and appreiated by Dr. Veturia CHIROIU Honorifi member of Tehnial Sienes Aademy of Romania (ASTR) PhD supervisor in Mehanial Engineering and by Prof. BERTHOLD GRUNWALD, Past Diretor Meredes Benz Daimler AG, Germany and Past Head Department of Automotive Engineering from Buharest Polytehni University, whom we thank and in this way. Funding Information Researh ontrat: Contrat number /1987, benefiiary Central Institute of Mahine Constrution from Romania (and Romanian National Center for Siene and Tehnology). All these matters are opyrighted. Copyrights: 394-qodGnhhtej from :42:18; 396-qkzAdFoDB from :43:22; 951-nBGhgsHGr from :29:02; tnzjhfaqgf from :19:23. Author s Contributions All the authors ontributed equally to prepare, develop and arry out this manusript. Ethis This artile is original. Authors delare that are not ethial issues that may arise after the publiation of this manusript. Referenes Antonesu, P., Meanisms. Printeh, Buureşti. Antonesu, P., Synthesis of manipulators. Lito UPB, Buureşti. Antonesu, P. and M. Mitrahe, Contributions to the synthesis of the mehanisms used as windsreen wipers. SYROM'89, Buharest, 4: AUTORENKOLLEKTIV, Getriebetehnik-VEB. Verlag Tehnik, Berlin. Aversa, R., R.V.V. Petresu, A. Apiella and F.I.T. Petresu, 2017a. Nano-diamond hybrid materials for strutural biomedial appliation. Am. J. Biohem. Biotehnol., 13: DOI: /ajbbsp Aversa, R., R.V. Petresu, B. Akash, R.B. Buinell and J.M. Corhado et al., 2017b. Kinematis and fores to a new model forging manipulator. Am. J. Applied Si., 14: DOI: /ajassp Aversa, R., R.V. Petresu, A. Apiella, I.T.F. Petresu and J.K. Calautit et al., Something about the V engines design. Am. J. Applied Si., 14: DOI: /ajassp Aversa, R., D. Paresepe, R.V.V. Petresu, F. Berto and G. Chen et al., 2017d. Proess ability of bulk metalli glasses. Am. J. Applied Si., 14: DOI: /ajassp Aversa, R., R.V.V. Petresu, B. Akash, R.B. Buinell and J.M. Corhado et al., 2017e. Something about the balaning of thermal motors. Am. J. Eng. Applied Si., 10: DOI: /ajeassp Aversa, R., F.I.T. Petresu, R.V. Petresu and A. Apiella, 2016a. Biomimeti FEA bone modeling for ustomized hybrid biologial prostheses development. Am. J. Applied Si., 13: DOI: /ajassp Aversa, R., D. Paresepe, R.V. Petresu, G. Chen and F.I.T. Petresu et al., 2016b. Glassy amorphous metal injetion molded indued morphologial defets. Am. J. Applied Si., 13: DOI: /ajassp Aversa, R., R.V. Petresu, F.I.T. Petresu and A. Apiella, Smart-fatory: Optimization and proess ontrol of omposite entrifuged pipes. Am. J. Applied Si., 13: DOI: /ajassp

9 Aversa, R., F. Tamburrino, R.V. Petresu, F.I.T. Petresu and M. Artur et al., 2016d. Biomehanially inspired shape memory effet mahines driven by musle like ating NiTi alloys. Am. J. Applied Si., 13: DOI: /ajassp Aversa, R., E.M. Buzea, R.V. Petresu, A. Apiella and M. Neasa et al., 2016e. Present a mehatroni system having able to determine the onentration of arotenoids. Am. J. Eng. Applied Si., 9: DOI: /ajeassp Aversa, R., R.V. Petresu, R. Sorrentino, F.I.T. Petresu and A. Apiella, 2016f. Hybrid eramo-polymeri nanoomposite for biomimeti saffolds design and preparation. Am. J. Eng. Applied Si., 9: DOI: /ajeassp Aversa, R., V. Perrotta, R.V. Petresu, C. Misiano and F.I.T. Petresu et al., 2016g. From strutural olors to super-hydrophobiity and ahromati transparent protetive oatings: Ion plating plasma assisted TiO 2 and SiO 2 Nano-film deposition. Am. J. Eng. Applied Si., 9: DOI: /ajeassp Aversa, R., R.V. Petresu, F.I.T. Petresu and A. Apiella, 2016h. Biomimeti and evolutionary design driven innovation in sustainable produts development. Am. J. Eng. Applied Si., 9: DOI: /ajeassp Aversa, R., R.V. Petresu, A. Apiella and F.I.T. Petresu, 2016i. Mitohondria are naturally miro robots-a review. Am. J. Eng. Applied Si., 9: DOI: /ajeassp Aversa, R., R.V. Petresu, A. Apiella and F.I.T. Petresu, 2016j. We are addited to vitamins C and E-A review. Am. J. Eng. Applied Si., 9: DOI: /ajeassp Aversa, R., R.V. Petresu, A. Apiella and F.I.T. Petresu, 2016k. Physiologi human fluids and swelling behavior of hydrophili bioompatible hybrid eramo-polymeri materials. Am. J. Eng. Applied Si., 9: DOI: /ajeassp Aversa, R., R.V. Petresu, A. Apiella and F.I.T. Petresu, 2016l. One an slow down the aging through antioxidants. Am. J. Eng. Applied Si., 9: DOI: /ajeassp Aversa, R., R.V. Petresu, A. Apiella and F.I.T. Petresu, 2016m. About homeopathy or Similia similibus urentur. Am. J. Eng. Applied Si., 9: DOI: /ajeassp Aversa, R., R.V. Petresu, A. Apiella and F.I.T. Petresu, 2016n. The basi elements of life's. Am. J. Eng. Applied Si., 9: DOI: /ajeassp Aversa, R., F.I.T. Petresu, R.V. Petresu and A. Apiella, 2016o. Flexible stem trabeular prostheses. Am. J. Eng. Applied Si., 9: DOI: /ajeassp Braune, R., Bewegungsdesign: Eine kernkompetenz des getriebe tehnikers. VDI- Berihte Nr. 1567, VDI Verlag, Dusseldorf. Bruja, A. and M. Dima, Synthesis of kinematis of harmonis reduers with rigid front element. Proeedings of the 6th Simpson Nat. of Constrution Mahinery, (NCM 01), pp: Buda, L. and C. Mateuă, Funtional, inemati and inetostati analysis of the lifting mehanism of the passenger arriages. Buharest. Dudita, F.L., Artiulated, inventive, inemati mehanisms. Tehnial Publishing House, Buharest. Kojevnikov, S.N., Teoria mehanizmov i maşin. Izd. Maşinostroenie, Moskva. Lederer, P., Dynamishe synthese der ubertragungs-funktion eines Kurvengetriebes. Meh. Mah. Theory, 28: Lihtenheldt, W., Konstruktionslehre der Getriebe. 1st Edn., Akademie, Verlag Berlin. Lin, S., Getriebesynthese nah unsharfen Lagenvorgaben durh Positionierung eines vorbestimmten Getriebes. Fortshritt, Berihte VDI, Reihe 1. Nr. 313, VDI Verlage, Dusseldorf. Luk, K. and K.H. Modler, Getriebetehnik: Analyse, Synthese, Optimierung. 2nd Edn., Springer, New York, ISBN-10: , pp: 367. Manolesu, N.I., Problems of mahine theory and mahines. E.D.P., Buharest. Margine, A.L., Contributions to the geometrikinematial and dynami synthesis of planetary gears with ylindrial gears. PhD Thesis, U.P.B. Maros, D., Gear wheel kinemati. Tehnial Publishing House, Buharest. Mirsayar, M.M., V.A. Joneidi, R.V.V. Petresu, F.I.T. Petresu and F. Berto, Extended MTSN riterion for frature analysis of soda lime glass. Eng. Frature Mehan., 178: DOI: /j.engframeh Modler, K.H. and C. Wadewitz, Synthese von raderkoppelgetriebe als vorshaltgetriebe mit definierter ungleihformigkeit. Wissenshaftlihe Zeitshrift, 3: Modler, K.H. and C. Wadewitz, Trepte, U., Rehnergestutzte Synthese von Raderkoppelgetrieben als Vorshaltgetriebe zur Erzeugung nihtlinearer Antriebsbewegungen. Beriht zum DFG Vorhaben Mo 537/5 1. TU Dresden. Modler, K.H., Reakisierung von pilgershritten durh zweiraderkoppel-getriebe. Dynamik und Getribetehnik. 55

10 Neumann, R., Einstellbare Raderkoppelgetriebe. Dynamik und Getribe-tehnik. Neumann, R., Dreiraderkoppel: Shrittgetriebe mit zahnradern oder zahnriemen. Buureşti. Niemeyer, J., Das IGM Getriebelexikon Wissensverarbeitung in der Getriebetehnik mit Hilfe der Internet Tehnologie. In: IMG Kolloquium Getriebetehnik 2000, Dittrih, G. (Hrsg.), Forshung and Lehre , Mainz, Aahen, pp: Petresu, F.I.T., Valorisation of Romanian- Romanian Engineering Tradition. 1st Edn., Create Spae Publisher, USA, ISBN-13: Petresu, F.I. and R.V. Petresu, 2011a. Memories about Flight. 1st Edn., CreateSpae, pp: 652. Petresu, F.I. and R.V. Petresu, 2011b. Mehanial Systems, Serial and Parallel Course (in romanian). 1st Edn., LULU Publisher, London, UK, ISBN , pp: 124. Petresu, F.I.T. and R.V. Petresu, Planetary Trains (Romanian Edition). 1st Edn., CreateSpae, USA, ISBN-13: , pp: 204. Petresu, F.I. and R.V. Petresu, 2011d. Dynamis of Distribution Mehanisms. 1st Edn., Create Spae Publisher, USA, ISBN-13: , pp: 188. Petresu, R.V. and F.I.T. Petresu, 2012a. Northrop. 1st Edn., Books on Demand, ISBN-13: , pp: 142. Petresu, F.I. and R.V. Petresu, 2012b. New Airraft II. 1st Edn., Books on Demand, pp: 138. Petresu, F.I. and R.V. Petresu, Meatronia- Sisteme Seriale si Paralele. 1st Edn., Create Spae Publisher, USA, ISBN-13: , pp: 128. Petresu, F.I. and R.V. Petresu, 2012d. Kinematis of the planar quadrilateral mehanism. Engevista, 14: DOI: /engevista.v14i3.377 Petresu, R.V. and F.I. Petresu, 2013a. Lokheed Martin. 1st Edn., CreateSpae, pp: 114. Petresu, R.V. and F.I. Petresu, 2013b. Northrop. 1st Edn., CreateSpae, pp: 96. Petresu, R.V. and F.I. Petresu, The Aviation History or New Airraft I Color. 1st Edn., CreateSpae, pp: 292. Petresu, F.I. and R.V. Petresu, 2013d. Cinematis of the 3R Dyad. Engevista, 15: Petresu, F.I. and R.V. Petresu, 2016a. Parallel moving mehanial systems kinematis. ENGE-VISTA, 18: Petresu, F.I. and R.V. Petresu, 2016b. Diret and inverse kinematis to the anthropomorphi robots. ENGEVISTA, 18: Petresu, F.I. and R.V. Petresu, Dynami inemati to a struture 2R. Revista Geinte-Gestao Inovaao E Tenologias, 6: Petresu, F.I.T. and J.K. Calautit, 2016a. About Nano fusion and dynami fusion. Am. J. Applied Si., 13: DOI: /ajassp Petresu, F.I. and J.K. Calautit, 2016b. About the light dimensions. Am. J. Applied Si., 13: DOI: /ajassp Petresu, F.I.T., New airraft. Proeedings of the 3rd International Conferene on Computational Mehanis, Ot , Brasov, Romania. Petresu, F.I.T., 2012a. Cold Nulear Fusion. 1st Edn., Create Spae, USA, ISBN-13: / , pp: 80. Petresu, F.I.T., 2012b. Partile Annihilation-A soure of renewable energy? Petresu, F.I.T., Partile annihilation-a soure of renewable energy? Infinite Energy. Petresu, F.I., 2012d. Basis of Analysis and Optimization of Rigid Memory Systems - Course and Appliations. 1st Edn., Create Spae publisher, USA, ISBN-13: , pp: 164. Petresu, F.I., 2012e. Theory of Mehanisms - Course and Appliations. 2nd Edn., Create Spae Publisher, USA, ISBN-13: , pp: 284. Petresu, R.V.V., R. Aversa, A. Apiella, F. Berto and S. Li et al., 2016a. Eosphere protetion through green energy. Am. J. Applied Si., 13: DOI: /ajassp Petresu, F.I.T., A. Apiella, R.V.V. Petresu, S.P. Kozaitis and R.B. Buinell et al., 2016b. Environmental protetion through nulear energy. Am. J. Applied Si., 13: DOI: /ajassp Petresu, R.V., R. Aversa, B. Akash, R. Buinell and J. Corhado et al., 2017a. Modern propulsions for aerospae-a review. J. Airraft Spaeraft Tehnol., 1: 1-8. DOI: /jastsp Petresu, R.V., R. Aversa, B. Akash, R. Buinell and J. Corhado et al., 2017b. Modern propulsions for aerospae-part II. J. Airraft Spaeraft Tehnol., 1: DOI: /jastsp Petresu, R.V., R. Aversa, B. Akash, R. Buinell and J. Corhado et al., History of aviation-a short review. J. Airraft Spaeraft Tehnol., 1: DOI: /jastsp Petresu, R.V., R. Aversa, B. Akash, R. Buinell and J. Corhado et al., 2017d. Lokheed martin-a short review. J. Airraft Spaeraft Tehnol., 1: DOI: /jastsp Petresu, R.V., R. Aversa, B. Akash, J. Corhado and F. Berto et al., 2017e. Our universe. J. Airraft Spaeraft Tehnol., 1: DOI: /jastsp Petresu, R.V., R. Aversa, B. Akash, J. Corhado and F. Berto et al., 2017f. What is a UFO? J. Airraft Spaeraft Tehnol., 1: DOI: /jastsp

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