Proceedings of the Fifth World Congress on the Theory of Machines and Mechanisms

PROCEEDINGS OF THE FIFTH WORLD GONGRESS ON

THE THEORY OF MACHINES AND MECHANISMS JULY 8-13,1979, MONTREAL, GANADA

VOLUME 1 SPONSOR ED BY: The International Federation for the Theory of Machines and Mechanisms (IFToMM) The United States Council for the Theory of Machines and Mechanisms (USCToMM) The Canadian Council for the Theory of Machines and Mechanisms (CCToMM) The American Society of Mechanical Engineers (ASME) The Canadian Society for Mechanical Engineering (CSME) National Research Council of Canada (NRC) Concordia University

THE

AMERICAN

SOCIETY

United Engineering Center

OF

MECHANICAL

3 4 5 East 47th Street

ENGINEERS

New York, N. Y. 1 001 7

Y. L. Sarkisyan, USSR, B. Roth and K. C. Gupta, USA Synthesis of a Four-Bar Linkage for a Limited Variation in the Velocity Ratio M. A. Moustafa, Egypt Synthesis of Plane Linkages for a Spatially Variable Temperature Environment B. Prasad and R. C. Dix, USA Synthesis of Four-Bar Linkages to Match Up to Four Prescribed Velocity Ratios C. H. Chiang, Taiwan Mixed Exact-Appropriate Multiply-Separated Pianar Mechanism Position Synthesis G. H. Sutherland, USA Isometric Transformation Method Used in the Synthesis of Homokinetic Mechanisms F. Duditza and D. Dianconescu, Romania Control of Angular Displacement in Burmester Synthesis Problems K. J. Waldron and J. W. H. Sun, USA The Kinematics of Co-Rotati,ig Fully Intermeshed Rotors and Screws D. G. Tynan, USA TECHNOLOGY TRANSFER I Dynamic Acceptance Test for Machine Tools Using a Stochastic Model M. Samaha, T. S. Sankar, and M. 0. M. Osman, Canada. Why Can the Characteristic Function, s = 1-(1-t)n Yield the Optimum Gear Surfaces of Helicai Gears for Pumping Act'on? H. lyoi and S. Ishimura, Japan Design and Analysis of a Composite Spring R. Dore and G. Drouin, Canada Forces of Dynamically Loaded Fitted Bolts /. Janezic, Yugoslavia Design Analysis of Feedbowls D. E. Ferguson, A. G. Erdman and D. A. Frohrib, USA PLANT ENGINEERING PEWD — A Portable Electronic Vehicle Weighing Device G. S. Deep and C. S. Chandrasekhar, Brazil. Conical Belt Transmission Between Shafts With Intersecting Axes R. Chicurel, Mexico Calculation of Vibrating Conveyor A. Czubak, Nigeria Future Manned Machines and Operations in Space J. R. Tewell, R. A. Spencer, J. A. Lenda and J. W. Mooney, USA Real Time Control for Numerical Control Milling of Sculptured Surfaces J. Whitesell, Jr. andJ. Bernard, USA Investigation of Toothed Belt Drivers A. P. Pogrebnjak, USSR

vii

13 17 21 25 29 34 38 42

45

49 53 57 61

65 69 74 78 82 86

ANALYTICAL VIBRATION I Finite Element Method for the Vibration Frequency of a Curved Beam With Tip Mass S. V. Hoa, Canada Transient Processes in the Vibratory Systems With Elastico-Hereditary Bonds A. G. Chervonenko, I. I. Krush and D. E. Borohovich, USSR Vibrations of Planar Linkages With Elastic Links H. Dresig, GDR Investigations on the Dynamic Behaviour of Plate Vibrators S. H. Mohsin, India Continuum Mechanics of Asymmetrie Stress Fields M. Shimbo, Japan and D. Mangeron, Romania Optimal Synthesis of Linkages Using Householder Reflections J. Angeles, Mexico The Holographie Method of Receptance Measurement T. Chalko, Poland Identification of Oscillatory Systems With Harmonie Packet of Entry A. A. Martynyuk and N. P. Plahtienko, USSR COMPUTER AIDED DESIGN AND OPTIMIZATION I Integration of Computer Aided Design and Computer Aided Manufacturing for CAMS Driving Mechanisms J. De Fraine, Belgium Optimal Kinematic Synthesis of a Four Bar Linkage for Functions and Paths Generation M. Di Giacinto, G. Guj and R. Piva, Italy Experimental Determination of Mechanism Time Response J, Tacheny, A. G. Erdman and D. L. Hagen, USA Optimization of Design of Hand-held Tools With Vibration-Shock-Action by Means of Mathematical Models S. Kirchberg and G. Meltzer, GDR A Hierarchical Technique for the Optimum Design of Curve-Generating Linkages D. Sastry, India An Experimental Approach to Dynamic Identification of Mechanical Systems B. Z. Sandler, Israel. Computer Aided Kinematic Design of Planetary Gear Trains S. S. Kim and W. R. Newcombe, Canada DYNAMICS OF GEARS I A Supplement to the Study of Bearing Ability Analysis of the Induction Hardened Gears Using the Finite Element Method D. Vukelja and M. Nedeljkovic, Yugoslavia On the Mechanical Exertion Between Two Toothed Cylindrical Surfaces With a Great Number of Simultaneously Working Teeth P. I. Tzenov and D. K. Karadimitrov, Bulgaria Measurement of Dynamic Transmission Errors in Non-Circular Gearing P. Bussieres, L. F. Daws and R. J. Ferguson, Canada Running Temperature of Thermoplastic Gears R. Gauvin and M. P. Girard, Canada Determination of Magnitudes of Stresses Acting at Meshing on Tooth Sides of Helical Worm Gearings V. Klimo and A. Pazak, Czechoslovakia Photoelastic Study of the Stresses in Epicyclic Gearing /. M. Allison and E. J. Hearn, England Operational Axial Forces of Tooth Couplings G. Pahl, GDR

VIII

.

90 94 98 102 107 111 115 118

122 126 130

134 139 144 148

153

156 161 166 170 173 177

ROTOR DYNAMICS I A Rotor Supported Without Contact — Theory and Application H. Ulbrich, G. Schweitzer and E. Bauser, GFR Performance of Externally Pressurised Air Bearing V. Kamala, India Dynamic Characteristics of the Pericycloid Bearing With Unsymmetrical Supply Pressure W. Kaniewski and S. Strzelecki, Poland On the "Twice Per Revolution" Vibrations in Axially Unsymmetrical Shafts N. Bachschmid, C. Diana, B. Pizzigoni and D. Borgese, Italy Spring and Damping Coefficients of the Nonisothermal Oil Film W. Kaniewski, S. Strzelecki and W. Swiderski, Poland Study on Nonstationary Vibrations of Rotor Systems with Semirigid Spindles /. Koretysski, USSR On The Behaviour of an Ununiformly Heated Rotor R. Cukic and D. Ruzic, Yugoslavia Oil Pressure Distribution in the Dynamically Loaded Slide Bearing J. M. Stasiak, Poland Effect of Non-Newtonian Lubricant on the Unbalance Response and Stability of a Flexible Rotor-Bearing System C. Rajalingam, B. S. Prabhu and B. V. A. Rao, India Critical Speeds of Multi-Bearing Rotors M. Hincz, Poland DYNAMICS OF MACHINES - I The Determination of the Flexibility of Dynamic Systems by Means of Lagrange's Multi-Tree J. Wojnarowski and J. Swider, Poland A Method of Dynamic Synthesis in the Elastodynamics of Machinery Units E. S. Stanchev and N. Minchev, Bulgaria Dynaminical Analysis of a Machine With a View to Its Characteristic J. Zahradka, Czechoslovakia Dynamic Behaviour of a Stone Roughing Machine M. A. Satter, Iran Investigation of the Transient Process Arising in a Drive During Friction Clutch Engagement A. Bodnar and S. Berczynski, Poland. On Elastodynamic Behavior of Mechanisms: Parts I & II J. G. Jahn, J. Nieto and E. Onate, UK. Describing Function Simulation of Dynamic Forces in Single Degree-of-Freedom Mechanisms R. R. Allen and D. M. Rozelle, USA Dynamic Invariants in the Statistical Elastodynamics of Machinery Units N. D. Minchev, Bulgaria A Method of Site Balancing of Machine Systems J. Wawrzecki, Poland

DYNAMICS I Modern Biomechanics, Its Foundations and Objectives in Engineering Medicine and Sport — Keynote Lecture A. Morecki, Poland Dynamics of Systems With Alternating Parameters W. I. Sokolowski and W. S. Parschin, USSR The Effect of Rotation on Structural Stiffness D. A. Peters, USA

IX

181 185 191 195 199 203 207 211

215 219

223 227 231 234 238 242 246 250 256

260 276 280

Longitudinal Dynamics of the Train Consisting of Cars of Continuous Draw Bar Modelled as a System of Elastic Discrete Masses K. Horvath, Hungary Dynamic Characteristic of Passive and Active Flexible Objects W. Wodzicki, Poland Dynamics of Non-Linear System: Railway Vehicle-Railway Track in Curve N. Cucuz, Yugoslavia On Rigid Body Displacement F. Essenburg, USA On The Matrices Which Represent Two Spatial-Positions of a Moving Rigid Body B. Roth, USA Dynamic Analysis of Two-Mass Drive System W. Nadolski and A. Pielorz, Poland ISOLATORS AND DAMPERS Experimental Investigation of the Dynamic Properties of Damped Systems L. Pust, Czechoslovakia Determination of Optimal Dampers in Driving Systems F. Holzweibig and S. Liebig, GDR Rapid-Action Wheel Suspension Mechanism F. Sztanyik and G. Varga, Hungary The Vibrations of Multi-Rotor Machines on the Non-Linear Shock Absorbers Z. Parszewski and Z. Miklaszewicz, Poland Study on a Variable Stiffness-Type Dynamic Damper With Eddy Current Damping K. Seto, Japan Effect of Primary Damping on the Tuning Conditions of a Dynamic Vibration Absorber V. A. Bapatand H. V. Kumaraswamy, India A Dynamic Vibration Damper With an Active Frequency Tuning H. Holka, Poland Analysis of Airspring Isolators J. R. Baumgarten, G. E. Anderson, USA

284 289 293 297 301 306

310 314 318 321 325 329 333 337

DYNAMICS OF G E A R S - II A New Gear Accuracy Measuring System by Measuring the Coordinates of Gear Profile J. Ishikawa, M. Kajitani, Y. Ishiwaka, H. Osada and M. Shimojyo, Japan Effect of the Tolerance on the Tooth Load by Spur Gear Drives With Positive-Drive and Branching Power K.-H. Vatterott, GFR Multiple Impacts of a Cylinder Between Two Planes and of the Meshing Teeth of a Pair of Gears T. Hayashi, N. Nishi and T. Ohno, Japan and F. R. E. Crossley, USA Investigations on the Thermal Balance of Gear Drives H. Winter and K. Michaelis, GFR New Measuring Method of a Single Flank Transmission Error of a Pair of Gears /. Hayashi and T. Hayashi, Japan The Tooth-Gear Dynamic Model L Muller, Poland. On The Surface Durability of Power Transmission Gears R. Krishnamurthy and B. Shankar, India

366

COMPUTER AIDED DESIGN AND OPTIMIZATION - II Interactive Graphical Generation of Models of Large Dynamic Systems With Essentially Similar Parts R. Williams and A. Seireg, USA

370

341

345 350 354 359 363

Computer Study of a Spatial Mechanism C. Florea, Romania Algorithms of Simulation of Dynamics of Complicated Controlled Mechanisms on Digital and Analog Computers P. B. Sliede, USSR

375

378

On the Use of Complex Method of Constrained Optimization in Linkage Synthesis R. V. Dukkipati, S. Sankar and M. O. M. Osman, Canada

382

A Generalized Computer Algorithm t o Synthesize for Rigid Body Guidance All Planar Mechanisms With One Degree of Freedom A. H. Soni and S. A. Azeez, USA

388

A n Extra Accelerated Method for the Optimization of Hobbing Process R. Mitrovic, Yugoslavia Optimization of the Synthesis of the Steering Linkage in Vehicles Fl. Dudita and I. Visa, Romania Computerizing Logistic Support Analysis (LSA) Assists Designers B. Levine, USA A N A L Y T I C A L V I B R A T I O N II Stabilization of Seif Excited Oscillations D. L. Taylor, USA Random Processes and Transfer of Dynamic Systems L. Rus, Czechoslovakia On The Stability of Small-frame Vibration for Non-Uniform Reduction Linkages R. Schraut, GFR Somerfeld Resonance Effect in Vibrating System With Variable Mechanical Parameters M. Kobrin, Israel On The Self-Synchronization of Mechanical Vibrator Due to the Impact J. Inoue, Y. Araki and S. Miyaura, Japan Some Remarks on the Problem of the Use of Correlation Methods for the Analysis of Acoustic Parameters of Enclosures G. Brzozka, Poland Lateral Response Spectra of Longitudinally Rapped Thin Elements D. Juricic and G. Herrmann, USA Self-Excited Oscillations in Rectilinear Mechanical Systems D. Filipov, Bulgaria

T E C H N O L O G Y TRANSFER II Original Contributions t o an Established Principle Used in the Turning of Polygons on a Lathe F. Sticher and A. A. Sherwood, Australia An Alternate Specification for Metrie Screw Threads

392 396 400

404 408 412 416 420

424 428 432

436

D. N. Jensen, Canada Adelisor and Eladisor of New Spring Elements

440

J. Jerabek, Czechoslovakia A Logical Approach t o Design of Statically Loaded Helical Springs Made From Round Wire

445

C. Samonov, Mexico A Contribution t o the Analyses o f the Flywheel Energy Transfer of Friction Screw Presses W i t h o u t Side Discs P. Popovic and D. Domazet, Yugoslavia

449

453

D Y N A M I C S OF MECHANISMS I Dynamic Analysis of a Constant-Velocity Mechanism J. H. Escobar, Ecuador and M. J. Gilmartin, England

XI

457

The Concept of Structural Group in the Analysis and Synthesis of Barred and Geared Mechanisms /. N. Constantinescu and V. Zamfir, Romania Experimental Investigations of Multi-Impact Wrenches J. Baumgarten, USA and B. Bialkowicz and A. Oledzki, Po/and Dynamically Tuned Gyroscopes L. Maunder, England Kinetolelastodynamic Deviations of Dyades C. Pelecudi and S. Mitsis, Romania Vibration of a Non-Linear Polyharmonic Type Oscillator V. Jivkovand I. Viltchev, Bulgaria Determination of Coulomb Friction Forces in Complex Mechanical Systems K. Nazarczuk, Poland Static Analysis of a Constant-Velocity Coupling M. J. Gilmartin, England KINEMATIC ANALYSIS AND SYNTHESIS II Line System Geometry Applied to Closures of Spatial Mechanisms F. Sticher, Australia The Fundamental Dimensions of a Centroidal Mechanism With Slider M. D, Mochkov, Bulgaria. A Novel Method for the 4-Bar Function Generation Problem: Subdomain Method /. AkcaliandJ. C. Lindholm, USA Coupler-Curve Linkages With Hydrodynamic Lubrication J. Volmer, H. Glaser and C. Gruger, GDR Statics of Immovable and Movable Spatial Systems by Dual Deformation Vectors (Deformation Screws) M. Keler and M. A. Beran, GFR On a Theorem of De La Hire G. R. Veldkamp, The Netherlands The Unitary Method of Structural Synthesis of All Planar Jointed Kinematic Chains (KCmjsD N. I. Manolescu, Romania Kinematic Analysis of a Modern High-Speed Impact Printer S. R. Dandage and A. L. Dil Pare, USA Envelopes and Line-Loci From the Planar Four-Bar Linkage; Introductory Theory and Applications K. H. Hunt, Australia

KINEMATIC ANALYSIS AND SYNTHESIS - III Controlling Mechanical Motion — Keynote Lecture A. U. Ishlinskii, USSR A Rapid Method for Optimum Kinematic and Dynamic Synthesis of Planar Four-Bar Linkages A. G. R. Thomson and C. J. Clifton, England Symmetrical Coupler Curves Produced by a Six-Bar Linkage of Type Stephenson-I £. A. Dijksman, Netherlands On The Kinematic Synthesis of Five-Axis 3R-2C Spatial Screw Generating Mechanism P. N. Nitescu, Romania Kinematic Analysis and Technique of Synthesis of an Elastic Four Bar Chain J. P. Modak and B. D. Shiwalkar, India A New Algorithm for Kinematic Synthesis of Plate Cam Profiles for Prescribed Follower Acceleration A. Di Benedetto and A. Vinciguerra, Italy Synthesis of a Four-Bar Mechanism to Generate Desired Radii of Polode Curvature at More Than One Design Point S. V. Kulkarni, India

XII

462 466 470 474 478 481 485

489 494 498 502

506 510 514 518 522

526 532 537 541 545 549

553

Problems of Kinematics and Accuracy of Five-Link Hinged Mechanisms N. S. Davitashivili, USSR Synthesis of High Class Mechanisms on Condition of Coordinating Movements of Two Working Members > U. A. Djoldasbekov and K. S. Ivanov, USSR Curvature Theories in Spatial Kinematics G. R. Veldkamp, Netherlands DYNAMICS OF MECHANISMS II Dynamic Analysis of Mechanisms with Nonintegrable Constraints D. N. Levitsky, USSR Dynamics of Mechanisms of a Variable Structure S. N. Kogevnikov and E. I. Antoniouk, USSR Dynamics and Stability of an Orientation Mechanism for Submersibles W. M. Mansour, Brazil Application of the Vector Transposition Method to the Caiculation of the Inner Load Distribution of the Multi-Arm Spatial Mechanism Uni-Thru A. P. Stupin, Po/and. A Finite Element Approach to Kinematics and Dynamics of Mechanisms K. Van Der Werff, The Netherlands Improving Dynamic Characteristics of a Cam-Follower Mechanism Through Finite Difference R. N. Kanango and N. Patnaik, India On the Geometry of Cylindrical Cams U. Meneghetti and A. Andrisano, Italy Dynamical Analysis of Mechanisms Using Symbolical Equation Manipulation E. J. Kreuzer, GFR FLUID POWER TECHNOLOGY Vibrational Modes of an Aircraft Simulator Motion System R. Hoffman and M. McKinnon, Canada The Optimization of the Performance of Vane-Type Air Motors G. Jacazio, B. Piombo, A. Romiti and A. Sola, Italy The Analysis of Six-Degree-of-Freedom Work Station for Mechanised Assembly H. McCallion and P. D. Truong, New Zealand Simulation-Aided Design of a Quiet Pneumatic Rock Drill R. J. Hooker, Australia Methods for Solution of the Problem of Producting Precision Large Forgings on Heavy Hydraulic Presses B. V. Rosanov, V. P. Lints and E. V. Kasimov, USSR A Hydraulic Motor for Low-Cost Applications A. E. F. Fahim, L. Suchy and C. C. K. Kwok, Canada PROBLEMS IN TURBOMACHINERY A Combined Finite Element - Transfer Matrix Method for the Theoretical Evaluation of Free Vibration of Pretwisted Turbomachinery Blades G. Chiatti and A. Sestieri, Italy The Use of Various Experimental Techniques in Describing the Plastic Collapse of Turbine Discs F. Ginesu, B. Picasso and P. Priolo, Italy Turbomachine Blade Vibration J. S. Rao, India Prediction of Subsonic Flow Angle in Turbine Blades F. Martelli, Italy

XIII

557

561 565

o 571 574 579

583 587 591 595 599

603 607 611 617

621 625

629 633 637 641

0

On Discrete Modelisation of Response of Blades With Slip and Hysteretic Damping A. Muszynska, Poland and D. I. G. Jones, USA Some Experience With Dynamic Absorbers for Impeller Pumps S. S. Stecco and A. Janigro, Italy COMPUTER AIDED DESIGN AND OPTIMIZATION - IM Ships Machine Aggregates Dynamic Analysis by Means of Electronic Digital Computer V. I. Nebesnov, USSR Multi-Criterial Optimization of Parameters of a Mechanical System O. Knaifl, Czechoslovakia Optimum Synthesis of Geared Four-Bar Linkages to Generate Functions of Two Variables Using Geometrie Programming A. C. Rao, India Computer Aided Design of Mechanisms, The CADOM-Project of the Delft University of Technology H. Rankers, B. van den Berg, A. van Dijk, A. J. K. Breteler and K. van der Werff, The Netherlands On Good Starting Points for Optimization of Machines J. Oderfeld, Poland Simulation of Engineering Systems Containing Lumped Components and Transmission Elements R. C. Rosenberg and J. Devlin, USA Automated Simulation and Display of Mechanism and Vehicle Behaviour J. C. Wiley, B. E. Romig, N. Orlandea, T. A. Berenyi and D. W. Smith, USA Dynamic Design Study of a Hydrostatic Transmission System for Urban Buses J. Svoboda, Canada MECHANICAL DEVICES AND SYSTEMS - I Optimization of an Electro-Mechanical Hammer Firing System for Impact Printers S. R. Dandage, R. Funkhouser, A. Prior and J. Cattorini, USA Dynamics of Railroad Cars Fitted With Automatic Coupling Units T. Tomaszczyk and A. Oledzki, Poland Bevel Gear Differentials for Industrial Applications F. W. Geurts, USA Dynamics of Molten Metal Weighing Devices E. S. Sidash, USSR Dynamic of Breaking Vehicle Having Anti-Blocking Device J. Lanzendoerfer and C. Szczepaniak, Poland A Non-Stall Point Automotive Transmission Makes a Major Fuel Saving Possible W. H. DeLancey, USA Some Ingenious Mechanisms Used Across the Time in the Romanian Populär Technique /. Popescu, Romania A Six-Link Mechanism That Simulates a Positive Displacement Machine J. L. Schlafer, USA EXPERIMENTAL AND TEACHING METHODS Projected Changes in the Engineer's Life-Style Within the Coming Decade D. C. Sayles, USA Engineering Design Process in the Conceptual Phase G. Pahl, GFR Diagram Method for Teaching Mechanisms and Machines Z. Levai, Hungary Biomechanics and Its Role in Workplace Design: A Multimedia Teaching Approach M. V. Ananthakrishnan and S. P. Dutta, India

XIV

646 650

654 659

663

667 673 676 680 684

688 692 696 700 702 706 710 712

715 720 724 728

Description and Classification for Mechanisms-Oriented Design Problems G. Merhar, Switzerland Historical Notes on Coupler Curves E. F. Fichter, USA About the General Features of Mechanisms of Different Families (Clasification After I. I. Artobolevskiy) S. I. Pantleev, USSR POWER TRANSMISSIONS Power Transmission by Kinematically Unconstrained Mechanisms T. F. Berreen andJ. S. Stecki, Australia On the Synthesis of "Turbula" Gear Train K. Wohlhart, Austria Performance Characteristics of a Ker-Train Transmission L. F. Daws and R. J. Ferguson, Canada Small Gear Sizes by Using Bicoupled PlanetaryTransmissions H. W. Muller, GFR Special Questions of Planetary Gear Drives With Compound Planet Pinion A. Terplan, Hungary Power Control in Planetary Gear M. Wozniak, Po/and Experimental Dynamics of Cardan Shaft Locomotives Transmissions N. I. Manolescu and T. lonescu, Romania '. Randomless Operation of the Coupling Logical Mechanism of the Geared Discrete Speed Variator /. Szekely, Romania PNEUMATICS, HYDRAULICS AND ELECTRODYNAMICS I Improving Productivity by Adaptive Control — Keynote Lecture M. C. Shaw and J. P. Avery, USA Synthesis of Hydraulic Mechanisms With Reciprocating Motion Having Extreme Characteristics A. A. Grunawer, N. D. Gritsenko and V. M. Nikitin, USSR Effect of Radial Clearances in Hydraulic Spool Vaives on the Static and Dynamic Characteristics of Servomechanisms A. Baz, USA , A. Barakat and G, Rabie, Egypt A General Statistical Method for the Analysis of Stationary Liquid Flows C. Arrighetti, Italy Speed Distribution in the Pipes Under Pressure With Equilaterai Triangle and Rectangle Cross Section in the Laminar Flow A. Vasilescu and V. I. Andrei, Romania Dynamics of Hydromechanic Systems With an Open-Circle Volumetrie Hydraulic Drive A. V. Prazdnikov, A. U. Vulych and V. I. Bolshakov, USSR Dynamics of Inertial Stepless Automatic Transformer of Driving Moment With Elastic Elements A. I. LeonovandA. F. Dubrovsky, USSR Simulation of a Fluidic-Hydraulic Control System E. J. Espinosa, H. R. Martin and S. A. Alpay, Canada A Hydraulic Stepper Motor J. S. Ansari, India ROBOTS AND MANIPULATORS - I Towards Real-Time Dynamic Control of Manipulators V. Cvetkovic andM. Vukobratovic, Yugoslavia Results of the Examination of Industrial Robots on a Test Stand H. J. Warnecke, B. Brodbeck and G. Schiele, GFR

xv

732 736

739

743 747 751 755 759 763 767 771

777 781

785 789

793 796 800 804 808

811 816

Development of a Theory of Errors for Manipulators K. J. Waldron and A. Kumar, USA Piezoelectric Drives With Several Degrees of Freedom for Micromanipulators R. Bansevitchus and K. Ragulskis, USSR Dynamics and Control Methods for Moving Flexible Structures and Their Application to Industrial Robots A. Truckenbrodt, GFR Qualimetry of Robot and Manipulator Mechanisms E. G. Nachapetjan, USSR System Design Features of the Space Shuttle Remote Manipulator P. Kumar, P. Truss and C. G. Wagner-Bartak, Canada

821 827

831 835 839

VOLUME TWO BIOMECHANISMS I The Dynamics of the Human Body J. Wittenburg, GFR Man-Machine System: Research on the Bio-Mechanical Le«p of High Speed Guidance M. Pirtoli, Italy Simulation of Human Walking Characteristics by Simple Model T. Yamashita and T. Taniguchi, Japan Development of the Theory and Practice of Biomechanisms in Poland A. Morecki, Poland Determination of Joint Positions From Limb Segment Constraints in Robotic Systems D. E. Orin and S. Y. Oh, USA Some Biomechanical Aspects of the Hand Movement O. Muftic, Yugoslavia

COMPUTER AIDED DESIGN AND OPTIMIZATION IV Optimization of Discrete Linear System Parameters From the Point of View of Dynamics V. Zeman, Czechoslovakia Computer Aided Statement of Engineering Optimum Design Problems V. I. Sergeyev, I. M. Sobol and R. B. Statnikov, USSR Basic Analysis and Optimal Design of In-Iine Transfer Indexing Cam H. Makino, Japan Global Optimum Search in Design E. Chicurel, Mexico Partial Derivatives in Kinematic Optimization A. J. Klein Breteler, The Netherlands Optimal Synthesis Method of Mechanical Transmissions J. Kowalski, Poland A Graphical Design Procedure for a Fluid Operated Stepping Motor A. E. F. Fahim and R. M. H. Cheng, Canada NOISE PROBLEMS IN MACHINERY On The Noise of Roller Chain Drives K. Uehara and T. Nakajima, Japan An Analytical Approach to the Source Reduction of Noise and Vibration in Highly Loaded Mechanical Power-Transmission Systems R. J. Drago, J. W. Lenski, Jr. and A. Royal, USA

XVI

843 847 851 855 860

864

867 871 875 879 883 889 901

906

910

Q

Influences of Printing Paper on Noise of Impact Printer N. Nishiwaki, S. Hori and M. Tsutsumi, Japan Noise and Vibration Control of Motor Vehicle Units and Mechanisms A. G. Zubakin and V. E. Koshkin, USSR Identification of Vibroacoustic Effects in Mechanisms K. Tomaszewski, Poland Noise and Vibrations of the Rotor System of a Compressor W. J. Stojanowski, Poland Dynamics of a Three-Wheeled Vehicle H. Hatwal and A. Ghosh, India On the Predictability of Dynamic Wheel Loads in Automobile Proving Ground Tests H. K. Sachs and J. J. Johnson, USA The Mechanism of Processing With Unbalanced Grinding Wheel G. Varga and F. Sztanyik, Hungary Effect of Test Clamp Weight on the Evaluation of Stockbridge Damper Performance M. S. Dhotarad, N. Ganesan and B. V. A. Rao, India On the Analysis of Dynamics of Sealing Elements A. Rovetta, Italy Performance Characteristics and Working Comfortableness of Forest Workers of a New Vibrationless Chain Saw Utilizing Perfectly Balanced Rotation-Reciprocation Device K. Ishida and T. Matsuda, Japan Theoretical Behaviour of a Vibratory Moldboard Plow M. Aguirre-Gandara, A. Ramirez-Tapia and J. L. Hernandez-Cano, Mexico Application of Finite Element Method to Design of Torispherical Bottom of Autociave Made by Minel V. M. Trbojevic, Yugoslavia DYNAMICS OF MECHANISMS - III The Sliding Dynamics of CV-Joints: Mathematical Modeling and Non-Linear Dynamical Equations N. Bellomo and A. Palamara Orsi On the Development of Criteria for the Prediction of Impact in the Design of High Speed Systems With Clearances S. Dubowsky, USA, J. M. Prentis, England, and R. A. Valero, USA On Influences of Clearance and Friction Effects to the Behaviour of Transfer Mechanisms G. Bogelsack, V. Ifrim and H. quoc Viet, GDR Dynamic Analysis of Specific Devices With Flexible Links by Finite Element Method A. Gulbinas, A. P. Kavolelis and A. Jakstas, USSR The Application of Hydraulic Impact for Accelerating Rigid Bodies Z. Koloc and M. Vaclavik, Czechoslovakia Changes of the Dynamic Properties of the Real Cam Profile During Its Wear B. Bialkowicz, T. Klimowicz and M. Swietlik Analysis of the Dynamical Motion of a Detached Level Escapement J. F. Shelley and F. R. Tepper, USA Optimisation of Picking Cam Design Through Dynamic Studies P. B. Jhala and C. G. Venkataramanan, India KINEMATIC ANALYSIS AND SYNTHESIS - IV Kinematic Approach Based on the Two Special Points P and U on the Inflexion Circle H. J. Antuma, The Netherlands Constantly Transmitting Four Bars E. h. K. Hain, GFR Optimum Design of Linkages Using Fourier Series and Taylor Series J. S. Lal, India

XVII

914 918 922 926 930 935 939 943 947

951 955 960

964

968 972 976 980 984 988 992

996 1000 1004

Numerical Solution to the Input-Output Displacement Equation of the General 7 R Spatial Mechanism H. Albala, Israel and J. Angeles, GFR Geared Five Link Mechanisms With a Rack on the Coupler Systematic, Kinematic and Applications H. Rankers, The Netherlands Special Four-Bar Spatial Mechanisms as Function-Generators K. Luck and K.-H. Modler, GDR A Least-Squares Finite-Difference Method for Kinetic Analysis F. Y. Chen, USA The Variety, Cognate Relationships, Class and Degeneration of the Coupler Curves of the Planar 4R Linkage E. F. Fichter, USA and K. H. Hunt, Australia Stepmechanisms and Their Behavior IM. Pavlovic, T. Petrovic, Z. Zivkovic, Yugoslavia and G. Bogelsack, GDR Analytical Determination of the Space Burmester Lines for Cylindric-Cylindric Cranks A. F. Vadasz, Venezuela and A. H. Soni, USA

KINEMATIC ANALYSIS AND SYNTHESIS - V Without Vision . . . — Keynote Lecture D. Firth, UK. Optimum Synthesis of the Spherical Four-Bar Mechanism for Function Generation With Optimum Transmission Characterstics via the Linear Partition of Design Equations C. Bagci and D. R. Falconer, USA Analytic Methods of Synthesis of the Plane Mechanisms Which Outline Imposed Trajectories /. Popescu, Romania Remarks Upon the Importance of the Functional Relationship in Analysis and Synthesis of Mechanisms G. Geise and K.-H. Modler, GDR Analysis and Synthesis of Some Five-Link Bar Mechanisms N. S. Davitashvili and D. S. Tavkhelidze, USSR The Synthesis of Plane Mechanisms Which Fulfil the Imposed Rules of Motion /. Popescu, Romania DYNAMICS OF MECHANISMS - IV Contributions to the Matrix Elastodynamic Analysis of Plane Mechanisms Placed in a Field of Hydrodynamic Forces M. Bucelei, Romania Predicting Impact Conditions Due to Bearing Clearances in Linkage Mechanisms S. W. E. Earles and 0. Kilikay, England Force Balancing of a Six-Bar Linkage /?. S. Berkof, USA Classification and Design of Three-Dimensional Cam Mechanisms G. Dittrich and H. Zakel, GFR On the Modelling of Impacts of Two Elastic Bodies Having Fiat and Cylindrical Surfaces With Application to Cam Mechanisms F. R. E. Crossley, USA, A. Oledzki and W. Szydlowski, Poland The Effect of Clearance and Tolerances in Linkages Motion C. Hammerschmidt and H. Strumpfe/, GDR Computer Aided Type Synthesis and Compilation of Specific Mechanisms of Lowest Complexity G. Kiper, GFR Analysis of Six-Bar Mechanism for Textile Machines K. S. H. Sadek and M. El-Messiry, Iraq

XVIII

1008 1012 1020 1024

1028 1032 1036

1040

1056 1062

1065 1069 1073

1075 1078 1082 1086

1090 1093 1097 1101

DYNAMICS OF GEARS - IM True Stress and Stiffness of Spur Gear Tooth T. Tobe, M. Kato and K. Inoue, Japan Whirl of Geared Systems Supported on Hydrodynamic Bearings B. M. Hamad, Sudan and A. Seireg, USA Worm Gears of Increased Seizure and Pitting Resistance K. J. Wozniak, Po/and In Connection With the Theory of Rolling Contact Gears Basis /. Bocian and G. Miloiu, Romania Effect of Gear Errors on Non-Linear Vibrations of a Gear-Train System B. Kishor, India On a Planetary Gear Servo-Damping Unit Y. Okada and T. Nakada, Japan Dynamic Behaviour of a Mechanical System With Gear Transmission Error A. Toda and G. V. Tordion, Canada COMPUTER AIDED DESIGN AND OPTIMIZATION - V Optimization of Machine Parts Dynamic Calculation E. K. Korovin, USSR Optimization of Testing for Experimental Run Labour-Saving Machinery B. N. Volkov, V. G. Pereponov, I. V. Vinokourov and Sh. S. Noukhanov, USSR Optimum Design of Mechanisms with Spur and Helical Gears and Involute Profile V. Merticaru and V. Atansiu, Romania Mathematical Model and Computer Program in Fortran for Helical Gearing Noise V. Merticaru and V. Atanasiu, Romania Optimization of the Geometry and the Kinematics of the Hypoid Gears V. Simon, Yugoslavia Automated Optimum Design of Stepped Thrust Bearings V. K. Chopra, B. D. Gupta and V. K. Kapur, India BIOMECHANISMS-II On Some Biomechanical Aspects of Vertebral Scoloisis Using the Harrington Rod A. Di Benedetto, A. Vinciguerra, L. Aulisa and G. Lorini, Italy Heuristic Approaches to the Inversed Dynamic Linkage Problems: With Special Application to Biomechanics T. W. Lee and N. Langrana, USA A Model of Repetitive Hopping Movements in Man K. Matsuoka, Japan Crash Victim Simulations — Their Use and Validation D. H. Robbins, USA The Kinematics and Control of Soft Gripper for the Handling of Living or Fragile Objects S. Hirose and Y. Umetani, Japan RELIABILITY CONTROL An Economic Approach to Total Reliability Optimization S. S. Issa, GFR Optimal Choice of a Redundancy Technique to Assure the Required Design Objectives and Performance Reliability A. F. Rashed and M. A. Mitwally, Egypt The "Damage Mechanism" of Elements of Mechanisms J. Muller, GDR Simulation of Gear Life A. Kubo, Japan

XIX

1105 1109 1113 1116 1122 1126 1130

1134 1137 1140 1144 1148 1154

1158

1163 1168 1172 1175

1179

1182 1188 1192

Current Control of the Optimum Reliability of the Diesel Locomotive Z Lisowski, Poland Statistical Analysis of Accuracy and Parametrical Reliability of Machines and Mechanisms H. Kordonsky, N. Salenieks and A. Zviedris, USSR PREVENTIVE MAINTENANCE General Theory of Machine Systems V. Hubka, Switzerland Extreme Values of Stochastic Stress Vibrations in Machine Parts M. Matolcsy, Hungary Maintenance Aspects of Machines are Also the Designer's Responsibility B. Levine, USA Identification and Diagnostics of Rotary Machines S. S. KorabljevandE. I. Fedotkin, USSR On a Digital Approach to the Analysis of Mechanical System Response Systems G. D. Xistris and G. K. Boast, Canada

1196 1200

1204 1208 1214 1218 1222

DYNAMICS OF MACHINES II Modern Problems of the Vibration Research in Machines Systems "Man-Machine" — Keynote Lecture K. V. Frolov, USSR 1640 Problems of Vibrations in the Systems "Man-Machine-Environment" K. V. Frolov, USSR 1226 Numerical Method of Integration at the Equation of Machine Motion W. Ostachowicz, Poland 1229 On the Dynamics of High Power Earth-Moving Machines G. Kunad, R. Kluge, H. Buge and A. Wetzet, GDR 1232 The Application of Graphs and Structural Numbers in the Modelling of Vibration Machines J. Wojnarowski, Poland. 1236 Dynamic Analysis of Rotary Engine Apex Seals A. R. Martin andJ. P. Sadler, USA 1240 Some Problems of Reversible Machines Dynamics V. Jaric, B. Milasincic and D. Pustiac, Yugos/avia 1244 On the Dynamics of the Mechanical System with Certain Random Excitation M. Dietrich and M. Terlikowska, Poland 1250 PNEUMATICS, HYDRAULICS AND ELECTRODYNAMICS - II Vibro-Impulsive Motion of the Ferro-Magnetic Bars in Magnetic Field P. A. Lebedev, V. I. Rodin and S. V. Urushev, USSR Modelling of Pneumatic Drives K. Nazarczuk, Poland Theory of the Power Impulse Systems With Hydraulic and Electromechanic Vibro-Percussive Energy Transformer O. D. Alimov, S. A. Basov and V. K. Manjosov, USSR Epicyclic Gear Pump C. K. Wojcik, Saudi Arabia Dynamics of Electromagnetic Machines N. P. Ryashentsev and A. T. Malov, USSR Speed and Position Control of a Pneumatic Cylinder Using a Cam and Air Sensors K. Yamafuji and T. Iwagaya, Japan The Determination of the Optimum Dimensions of Pneumatic Motors for a Certain Power /. N. Constantinescu, R. Czibula and A. Florea, Romania Energy Economy of a Hydrostatic Transmission for Skid Steered Terrain Vehicles J. Svoboda and H. Hong, Canada

xx

1254 1258

1262 1266 1272 1275 1279 1283

CAM MECHANISMS Contributions to the Analytical Optimal Synthesis of Cams Mechanism Disk With Cam Follower Oscilatory are Employed With Automatised Machine Tools Which Use the Electronic Computer Hewlett Packard D. Stanescu and G. Bonocoi, Romania Contributions to the Technological Synthesis of Cams Mechanisms Disk Used With Automatised Machine Tools Which Use the Electronic Computer Hewlett Packard D. Stanescu and G. Bonocoi, Roman ia The Optimization of the Cams Utilised in the Construction of the Machines-Tools N. I. Manolescu, D. Stanescu and G. Bonoci, Romania The Modified Polynomial Specification for Cams G. K. Matthew, USA Optimization Criteria in Polydyne CAM Design N. Berzak and F. Freudenstein, USA Generalized Design Technique for a Spatial Cam-Link Function Generator M. W. Dixon and K. L Ting, USA Periodic Response of High-Speed Cam Mechanism with Flexible Follower and Camshaft Using a Closed-Form Numerical Algorithm A. Midha, M. L. Badlani and A. G. Erdman, USA On The Classification and Enumeration of Six-Link and Eight-Link Cam-Modulated Linkages R. F. Pryor, S. G. Dhande, and G. N. Sandor,USA ROBOTS AND MANIPULATORS II Principles of Designing Actuating System for Industrial Robots A. E. Kobrinskii, A. I. Korendyasev, B. L. Salamandra and L. I. Tyves, USSR Synthesis of Electrohydraulic Servosystem for Industrial Manipulators P. Ciner, Yugoslavia Computer Synthesis of Continuous Path Robot Motion V. Milenkovic, USA Physical and Mathematical Model of Multifunctional Anthropomorphoral Mechanism K. V. Kveladse, USSR Features of Steering Mechanisms of Walking Vehicles A. P. Bessonov and N. V. Umnov, USSR A Recursive Solution to the Equations of Motion of an N-Link Manipulator W. W. Armstrong, Canada Pneumatic Control Device for Industrial Manipulators D. Rajic, Yugoslavia Dynamics and Control of Anthropomorphic Industrial Manipulators M. Vukobratovic, D. Hristic and D. Stokic, Yugoslavia

1287

1291 1295 1299 1303 1307

1311 1315

1322 1327 1332 1336 1339 1343 1

347

1351

BEARING DYNAMICS AND LUBRICATION Dynamic Analysis of Oil Film Bearing With Application of Finite Element Method J. Stemarczyk, Poland Wear-Resistant and Self-Lubricating Coatings for Mechanical Components H. Bovingand H. E. Hinterman, Switzerland. Stiffness and Damping Matrices of Multi-Sleeve Journal Bearings N. H. Hien and M. Roszkowski, Poland Simple Method of Clearance Detection in Kinematic Pairs C. Cempel, Poland

1368

MECHANICAL DEVICES AND SYSTEMS IM Dynamic Fundamentals of Designing Fatigue Testing Machines with Programmed Control M. E. Garf, USSR

1372

XXI

1356 1360 1364

The Use of Flexible Members in Technique G. G. Vassin and V. V. Levanidov, USSR On The Development of the Shuttle Mechanism of the Power-Loom J. S. Rao and D. Y. Bibikar, India Computer Modelling of Systems with Intermittent Motion F. R. E. Crossley, USA, A. Oledzki, K. Nasarcuzuk and W. Szydlowski, Poland The Perspectives of New Inertia-Impulse Mechanisms Application in the Drives of Working Machine Members G. G. Vassin and V. I. Pozhbelko, USSR The Optimal Synthesis of the Mechanism Which Generates Two Perpendicular Straight Lines A. Sekulic and T. Pantelic, Yugoslavia DYNAMICS OF MECHANISMS V The Roller Motion Mechanism and Some Effects Upon the Ramming Process A. G. Vrigazov and P. I. Tzenov, Bulgaria Dynamic Modelling of Stepping Motor Mechanisms G. Bogelsack and E. Schron, GDR

137g 133g 1384

1388

1 ^Q2

1395 1400

Asymmetrie Impact of Finite Bars Using Finite Difference Method P. V. Ramana Murti and V. Ramamurti, India Dynamics of Indexing Cam Mechanism and Speed-Up of Its Motion M. Takano and S. Toyama, Japan The Matrix Thermokinematic and Dynamic Analysis of Plane Kinematic Chains Characterized by Two Degrees of Mobility M. Buculei and S. Mitsis, Romania Dynamics of the Pin Pallet Runaway Escapement G. G. Löwen and F. R. Tepper, USA Pecularities of the Dynamic Balancing of Spatial Four-Bar Mechanisms T. T. Gappoev and D. B. Tabuev, USSR KINEMATIC ANALYSIS AND SYNTHESIS VI A Numerical Method of Optimal Tolerance Determination in Kinematic Chains S. Miller and W. Twarog, Poland Kinematic Analysis of Spatial Mechanisms Using Screw Coordinates G. Kunad, GDR Optimum Design of Linkages Using Closed Form (Non-Iterative) Techniques J. S. Lal, India Possibility of the Development of a Curved Translation for a Member of an Extended Kinematic Chain of a Curved Sliding Mechanism M. Stoimenov and T. Pantelic, Yugoslavia Intrinsic Invariants of Rigid Body Motion and Higher Path Curvature Theory in Spatial Kinematics M. N. Siddhanty and A. H. Soni, USA Influence of Center Distance Change at Noninvolute Spur Gears J. Hiebanja, Yugoslavia Determination of Some Kinematic-Geometrical Characteristics of Helical Worm Gearings A. Pazak and V. Klimo, Czechoslovakia Synthesis of Plane Mechanisms for Approximate Reproduction of Algebraic Curves V. S. Karelin, USSR KINEMATIC ANALYSIS AND SYNTHESIS VII Synthesis of Six-Link Involute Cam-Mechanisms P. V. Ramanamurti andT. V. Lakshmana Rao, India Kinematic Synthesis of Drive Mechanisms for Solar Concentrating Collector Using Auxiliary Mirrors A. L. Dilpare and A. J. Morales, USA

XXII

1404 1408

1412 1416 1420

1424 1428 1432

1436 1440 1444 1448 1452

1456 1460

Elementary Joystick Mechanisms M. W. J. Carmichael, England. Synthesis of Mechanisms With Continuously Adjustable Stroke V. Handra-Luca, Romania Kinematic Analysis and Synthesis of High Class Mechanisms With the Help of the Theory of Graphs K. R. Kazyknanov and S. Tilemisov, USSR Boundary Curves, Singular Solutions, Complementary Conjugate Surfaces and Conjugation Analysis in Theory of Conjugate Surfaces C. Chin-Hsin, China VIBRATION PROBLEMS IN MACHINERY A Theoretical Investigation of the Vibration of Roller Chain Drives J. N. FawcettandS. W. Nico/, Eng/and Vibration of a Pipe Line Conveying Fluid M. Paz, USA Elimination of Low Frequency Vibration in Marine Power Plants A. F. Gal, A. P. Gurov, G. D. Zhukov, and G. P. Nervbenko, USSR On the Spatial Vibration of Milling Machines B. C. George, Romania Dynamics Problems of Heavy Duty Vibratory Systems V. N. Poturaev, USSR Stability of Self-Induced Vibrations in Metal Cutting A. Lasota and P. Rusek, Po/and Gyroscopic Rollerons for Roli Stabilization of Submersibles S. G. Cavalcanti and W. M. Monsour, Brazil ROBOTSAND MANIPULATORS III Algebraic-Linguistic Approach to the Problem of Automatic Forming a Purposeful Behaviour for Integral Robots V. Kirov, Bulgaria Robotic Manipulator Control Systems With Invariant Dynamic Characteristics S. Dubowsky and D. T. DesForges, USA Optimization of Crawl Gait for Quadruped Levered Vehicles Z. U. Rahman, R. W. Gibson and W. H. Busseil, USA Robots and Manipulators Control With Phase Coordinates Being Non-Stationary in Nature A. N. Tkachenko, Y. P. Kondratenko and N. M. Brovinskaya, USSR A Hydraulic Modular Robot to Help Seriously Motor Handicapped People R. Stepoujine, France PRODUCTION TECHNOLOGY Calculation of Mechanical Presses K. Lange and H. Blum, GFR Dimensional Analysis of Technological Processes of Machine Parts Production V. V. Matveyev, USSR On The Feasibility of Using Machine Tool Sonic Signals as an Adaptive Control Parameter M. A. Manan, India Force Equilibrium Under Non-Isothermal Grinding Conditions J. K. Banerjee, Venezuela Dynamics, Control and Application of the Differential Piston for the Feed Control of the Polishing Plates During Blades Production Z. Parszewski and T. Adamiak, Po/and. Effect of Some Cutting Fluids in Turning J. K. Banerjee, Venezuela

XXIII

1464 1468 1472

1478

1482 1486 1490 1494 1498 1502 1506

1510 1515 1519 1523 1527

1534 1540 1544 1548

1552 1556

Optical Method of Measurement of Fabric Deformation and its Application Z Parszewski and A. Kondratas, Poland.

MECHANICAL DEVICES AND SYSTEMS IV Blade Vibration Frequency of Flexible Blade Auto Cooling Fans S. V. Hoa and S. Sankar, Canada Random Vibration of Mechanisms on Plates S. H. Crandall and A. P. Kulvets, USSR On The Dynamic Action and Vibrations of Large Systems With Periodic Motion J. I. Wulfson, USSR Effects of Blade Shape and Casing Geometry on Noise Generation From an Experimental Centrifugal Fan G. Krishnappa, Canada DYNAMICS II Combined Instability Regions of Discrete-Continuous System J. Krodkiewski, Poland Some Energetical Aspects of the Rigid Body With Fixed Point D. Perju ane M. Crudu, Romania Non-Linear Performance of Structures in Parallel or Centrifugal Force Fields B. J. Hartz and J. Brunso, USA Dynamic Analysis of Mechanic Non-Holonomic Systems Used in Industrial Processes Z M. Zlokolica, Yugoslavia Dynamic Properties of Elastomer Cartridge Specimens Under a Rotating Load M. S. Darlow, A. J. Smalley and R. E. Cunningham, USA On Contact Theory in Kinematical Pairs F. Kovacs, Romania Moving Surface Following Dynamics J. Gecevitchus, USSR Topology of the Devices for the Calculation of the Mechanisms S. I. Gamrakeli, USSR ROTOR D Y N A M I C S - I I Squeeze Film Lubrication Within the Impact Pair R. G. HerbertandD. C. McWhannell, England Torsionally Vibrating Shaft System in Generator Shafts A. S. Zadgaonkar and C. S. Zadgaonkar, India Comparison Between Some Methods for the Balancing of Flexible Rotors by Using Automatic Techniques N. Bachschmid, B. Pizzigoni, G. Vallarino and G. Zanolo, Italy The Stability of Flexibly Supported Hybrid Gas Journal Bearings Z Kazimierski and K. Jarzecki, Poland Free Vibrations of Rotors With Allowance for Linearized Characteristics of Bearings M. Roszkowski, Poland. On the Balancing of Flexible Rotors Using Reduced Gradient Method Y. P. Kakadand T. W. Lee, USA Approximative Balancing of Flexible Rotor With Wide Band Which Unrolls L. Cveticanin, Yugoslavia

XXIV

1560

1564 1568 1572

1576

1580 1584 1588 1593 1599 1603 1607 1611

1615 1619

1622 1626 1630 1633 1637

O