I

25th Working Meeting of IFToMM Permanent Commission

for Standardization of Terminology on MMS, Saint-Petersburg, Russia, June 23 – 29, 2014

TERMINOLOGY for the

MECHANISM and MACHINE SCIENCE

Proceedings of the Scientific Seminar

International Federation for the Promotion of Mechanism and Machine Science (IFToMM)

V.A. Belyi Metal-Polymer Research Institute

of National Academy of Sciences of Belarus, (MPRI NASB), Gomel, Belarus

Saint-Petersburg National Research University of Information Technologies, Mechanics and Optics (ITMO University), Saint-Petersburg, Russia

Second edition, corrected and extended

Edited by Victor Starzhinsky and Eugeni Shalobaev

Gomel – Saint-Petersburg

2016

II

It is in press in accordance with the decision of MPRI NASB Scientific Counsil

(Protocol No 3 of 2016.03.31).

Terminology for the Mechanism and Machine Science. Proceedings of the

Scientific Seminar (Saint-Petersburg, Russia, June 23-29, 2014). 25th Working

Meeting of IFToMM Permanent Commission on MMS. 2nd edition. Gomel – Saint-

Petersburg. – 2016. – 148 p.

ISBN 978-985-6477-45-7

This volume contains the papers presented at the Scientific Seminar in the

framework of the 25th Working Meeting of IFToMM Permanent Commission for

Standardization of Terminology on MMS. The authors present the scientists from

Belarus, Germany, Italy, the Netherlands, Russia, Serbia. The information on

IFToMM activity including the paper prepared by scientists from CIS and post-Soviet

countries in the field of MMS terminology is considered. A review on development

of the theory and practice of gearing is introduced. MMS section problems, such as

Gearing, Mechatronics, Biomechanics, Compliant Mechanisms and Machine Quality,

are discussed. Second edition has been supplemented with fresh information about

MMS news and IFToMM activities over the period of 2014-2016.

ISBN 978-985-6477-45-7

Reviewers:

Dr. Science (Eng), Prof.

P.N. Gromyko

Dr. Science (Eng), Prof.

G.P. Tarikov

Note: The Authors typescripts have been reproduced in their original form without any

editorial corrections

© Authors, article – by article, 2016

© MPRI NASB, 2016

© Spb ITMO, 2016

Visit the MPRI NASB site at

http://en.mpri.org.by/publications/iftomm-terninology.html

III

25th Working Meeting

of IFToMM Permanent Commission

for Standardization of Terminology on MMS,

Saint-Petersburg, Russia, June 23 – 29, 2014

PREFACE ON THE SECOND EDITION

The first edition of this proceedings was published in 2015 with limited number of copies

and hard version was distributed to a limited contingent IFToMM members and members of

IFToMM Permanent Commission “Standardization of Terminology for MMS” (IFToMM

PC A) (Prof. I. Biro, Prof. T. Brix, Prof. M. Ceccarelli, Prof. V.I. Goldfarb, Prof. A.J. Klein

Breteler, Dr.-Ing. N.T. Pavlovic).

Taking into account the above, as well as the emergence of a sufficiently large volume of

scientific and technical information that is directly relevant to the subject of this volume

during the past period, the publishers' offer new, second edition of the proceedings,

supplemented with fresh information about MMS news and IFToMM activities.

Let us consider the changes and additions made in the second edition.

Appendixes 1-3 have been moved from the first edition to the second one without

alterations.

The report [1], among other reports, was represented by authors from Belarus in May 2015

during Workshop on History of Mechanism and Machine Science (HMMS 2015, St-

Petersburg, Russia, May 26-28, 2015). It contained the results of participation of Belarusian

scientists (as experts, chairpersons of subcommittees and editors) in development of

Gearing Terminology in the framework of IFToMM PC A, as well as the creation of

Reference-Dictionary Book on Gearing [2] and Interstate Standard on Gear Failure Modes

[3].

According to the materials of the report, the paper [4] has been prepared for publication in a

scientific and methodological journal TMM (TMM, SpBSTU, RU).

The reports on the history of TMM presented at the Workshop HMMS 2015 have been

published in the Special Issue [5] (List of publications see in Appendix 4).

Work on MMS Terminology in 2016 was continued in the form of reports [6, 7] prepared

for presentation at the Joint International Conference "MTM-Robotics 2016" (Aachen,

Germany, October 26-27, 2016) which examines the current state of individual sections of

MMS terminology, makes proposals for their further development, as well as provides

information about the contribution of scientists of the former USSR and CIS countries in the

development of terminology in the framework of IFToMM PC A.

Within this context it is worth mentioning that some individual reports submitted in 2014 at

the International Symposium “Theory and Practice of Gearing” (January 21-23, 2014,

IV

Izhevsk, Russia) [8] have been collected for publication in a special issue [9].

It is pertinent to note that Belarusian scientists (Academician N.K. Myshkin and Prof. V.B.

Algin) took part in the 14th IFToMM World Congress in Taipei (October 25-30, 2015,

Taipei, Taiwan) and presented the topics [10, 11]. In the frame of the 14th IFToMM World

Congress the Informal Working Meeting of IFToMM PC A has been held (The Meeting

Agenda see in Appendix 5).

The noticed inaccuracies or typographical errors have been corrected in the papers, certain

papers have been recycled or supplemented with fresh information. The most fundamental

changes have been introduced into the paper of A. E. Volkov and D.T. Babichev "The

History of Theory of Machines and Mechanisms and Theory of Gearing": brief and

insufficiently informative report on the history of TMM in ancient and medieval times

which is thematically not relevant to the general context and is mainly focused on the

detailed description of gear transmission theory in Russia and the Soviet Union was ruled

out. The revised paper largely corresponds to its Russian-language version [12].

The publishers would like to thank Tamara A. Isayeva, Victoria V. Domasik, Ekaterina M.

Petrokovets, Larisa S. Pushkina and Rada A. Yurjeva for preparation of the manuscript to

publication.

REFERENCES

1. Starzhinsky V.E., Antonyuk V.E., Kane M.M., Shil’ko S.V. Contribution of Belarussian

Scientists in the Problem of Gearing Terminology Identification / Proceedings of 2015

IFToMM Workshop on History of Mechanism and Machine Science (St-Petersburg, Russia,

May 26-28, 2015). St-Petersburg: St-Petersburg State Polytechnic University. – 2015

(http://hmms2015.ru).

2. Reference-Dictionary Book on Gearing. Russian-English-German-French. Editor: V.E.

Starzhinsky. Gomel: MPRI NASB. – 2011. – 220 p.

3. ГОСТ 31381-2009. Колеса зубчатые. Виды повреждений. Классификация и

описание (GOST 31381-2009. Gear Wheels. Modes of Damages. Classification and

Description).

4. Starzhinsky V.E., Antonyuk V.E., Kane M.M., Shil‘ko S.V. Activities of Belarussian

Scientists in the Development of Gearing Terminology / Theory of Mechanisms and

Machines (Russian Scientific-Methods Journal “Teoriya Mechanizmov I Mashin” TMM

SpBSTURU) (in press).

5. Frontiers of Mechanical Engineering. Special Issue on the 2015 Workshop on History of

Mechanism and Machine Science (St-Petersburg, Russia, May 26-28, 2015) Guest Editor:

Prof. Marco Ceccarelli, Publisher: Higher Education Press. Vol. 11, No. 1, 2016.

V

6. Shalobaev E.V., Shil’ko S.V., Tolocka R.T. [et al.] State of Art in Separate Sections of

MMS Terminology and Proposals for a Next Step Forward / Proceedings of the Joint

International Conference “MTM-Robotics 2016” (Aachen, Germany, October 26-27, 2016)

(in press).

7. Starzhinsky V.E., Shalobaev E.V., Kane M.M., Goldfarb V.I. Activities of Russian –

Speaking Scientists in Development of MMS Terminology / Proceedings of the Joint

International Conference “MTM-Robotics 2016” (Aachen, Germany, October 26-27, 2016)

(in press).

8. Theory and Practice of Gearing and Transmissions. In Honor of Professor Faydor L.

Litvin. Editors: Veniamin Goldfarb, Natalya Barmina. Mechanisms and Machine Science,

Series editor Marco Ceccarelli. Vol. 34. SPRINGER International Publishing Switzerland, –

2016. – 450 p.

9. Теория и практика зубчатых передач. Сборник трудов Международного симпозиума

(21-23 января, 2014 г., Ижевск, Россия). Научный редактор проф. В.И. Гольдфарб.

Ижевск: Издательство ИжГТУ, – 2013. – 578 с. (Theory and Practice of Gearing.

Proceedings of the International Symposium (January 21-23, 2014, Izhevsk, Russia).

Scientific Editor: Prof. V.I. Goldfarb. Izhevsk: Publisher IzhSTU. – 2013. – 578 p.

10. Algin. V. From Newton’s Mechanics to Dynamics of Regular Mechanical Systems with

Variable States and Power Flows. Proceeding of the 14th IFToMM World Congress, Taipei,

Taiwan, October 25-30, 2015. DOI Number: 10.6567/IFToMM.14TH.WC.OS12.005

(http://elite.newhopetek.com.tw/IFToMM2015CD/PDF/OS12-005.pdf)/)

11. Myshkin N.K., Grigoriev A.Ya. Scale Factor in Tribology: Roughness and Texture.

Proceeding of the 14th IFToMM World Congress, Taipei, Taiwan, October 25-30, 2015.

DOI Number: 10.6567/IFToMM.14TH.WC.OS18.002

(http://elite.newhopetek.com.tw/IFToMM2015CD/PDF/OS18-002.pdf).

12. Бабичев Д.Т., Волков А.Э. История развития теории зубчатых передач / Вестник

научно-технического развития, № 5(93), – 2015. – С. 28-42 (Babichev D.T., Volkov A.E.

History of the Development of the Gears Theory / Bulletin of Scientific-Engineering

Development, No. 5(93). – 2015. – pp. 25-42.

Prof. V.E. Starzhinsky

Prof. E.V. Shalobaev

VI

Saint-Petersburg. At the entry to Hotel “Penguin”. Left to right: Commission’s Members:

Prof. I. Bíro, Prof. E. Shalobaev, Prof. V. Starzhinsky and

Candidate for observer Dr. S. Shil’ko attended the Meeting

VII

25th Working Meeting

of IFToMM Permanent Commission

for Standardization of Terminology on MMS,

Saint-Petersburg, Russia, June 23 – 29, 2014

PREFACE ON THE FIRST EDITION

IFToMM Permanent Commission A (PC A) activities till 2009 inclusive have been

described in detail in articles [1, 2], see the Proceedings of Scientific Seminars on the

subject at the 21st and 23rd Working Meetings of Commission A.

While the Commission continues to pursue the activities which are traditional in form to the

ones described in the aforementioned papers, it should be noted that the following members

took part in the 23rd PC A Working Meeting: P. Antonesku, I. Biro, T. Brix, B. Corves,

M. Kane, A. Klein Breteler (Chairman), V. Starzhinsky, T. Tolocka (June 21-26, 2010,

Minsk-Gomel, Belarus); expert E. Shalobaev received an observer status at the Meeting.

The results of interactions with subcommissions, organizational and information activities

of the Commission, interface with similar structures (Permanent Commissions and

Technical Committees of IFToMM, ISO working groups, and universities) were discussed.

A new structure and contents of Chapter 12 “Gearing” were discussed and the terms were

arranged under seven subsections. Prof. A. Klein Breteler presented Chapter 14

“Transportation Machinery and Logistics” consisting of six subsections.

Eighteen reports were presented at the scientific seminar [3]. On the occasion of the 40th

Anniversary of the IFToMM and Commission A the guests and sponsors of the Meeting

were awarded with Special Certificates, signed by IFToMM President, Prof. M. Ceccarelly

and PC A Chairman, Prof. A.J. Klein Breteler.

The 24th Meeting of the Commission (June 24-30, 2012, Ilmenau, Germany) was attended

by O. Antonescu, P. Antonescu, T. Brix, B. Corves, U. Doering, M. Kane, A. Klein Breteler

(Chairman), Z. Lan, T. Leinonen, N. Pavlovic, V. Starzhinsky.

Traditionally, subcommission reports were presented.

New sections on terminology were discussed: Chapter 15. Quality indices of machines and

their components (M. Kane /V. Starzhinsky). Chapter 16. Compliant mechanisms

(N.Pavlovic / L.Centner / Yue-Qing Yu.).

Seven reports were presented at the scientific colloquium on the subject. Since the

proceedings of the Colloquium were not published, we think it would be appropriate to list

them as follows:

Antonescu O. and Sirbulescu M.: Braking Mechanisms in Railway Vehicles.

Klein Breteler A.J.: Development of a Foldable Maritime Container.

Starzhinsky V.E. et al.: Double-Flow Toothed Mechanisms: PC-Aided Design in Terms of

VIII

Reducer Volume Optimization Criterion.

Reebing M. et al.: DMG-Lib Goes Europeana.

Corves B.: Synthesis of Five-Bar Mechanisms.

Pavlovic N.T. and Pavlovic N.D.: Modelling of a Compliant Scott-Russel Mechanism with

Small Length Flexural Pivots.

Kane M.M. and Starzhinsky V.E.: Principles of Creation and Contents of the New Chapter

of IFToMM Terminology “Quality Indices of Machines and Their Components”

Since the 24th PC A Meeting the members have participated in various scientific events held

within the IFToMM framework. In particularly, Profs. M. Kane, V. Starzhinsky and E.

Shalobaev attended and made reports at the International Symposium “Theory and Practice

of Gearing” dedicated to the 100-anniversary of Prof. F.L. Litvin, a noted scientist in the

field of gearing (January 21-23, 2014, Izhevsk, Russia) [4].

Within the scope of the Symposium a Meeting of the Technical Committee “Gearing” was

held where it was announced that the International Journal of Design Engineering had

become the Committee’s official publisher. The idea of resuming the publication of Journal

“Gearing and Transmission” which was closed several years ago is under discussion.

The next symposium on the theory and practice of gearing is planned to be held in 2017 in

Cartagena, Spain at the Polytechnic University of Cartagena (Prof. A. Fuentes).

Within the frame of the Symposium, scientific events planned for 2014 and 2015 under the

IFToMM’s aegis were announced:

* International Symposium on Robotics (Moscow, Russia, June 23-27, 2014).

* An IFToMM Workshop on the History of Mechanisms and Machines Science

(St. Petersburg, Russia, May 26-28, 2015).

* International Conference “Graph Modelling in Engineering” (Belsko-Biala, Poland, June

22-24, 2015).

* IFToMM World Congress (Taipei, Taiwan, October 25-30, 2015).

Prof. M. Ceccarelli (IFToMM President from 2008 till 2011) who attended the Symposium

was invited to the 25th PC A Working Meeting in St. Petersburg; he is programming to make

a report which is published in this book.

We apologize to the Commission members whose scientific activities outside the scope of

the Commission have not mentioned here.

At the suggestion of Prof. M. Ceccarelli and in implementation of the decisions adopted by

the Symposium, a group of participants composed of Prof. Victor E. Starzhinsky (Gomel,

Belarus), Prof. Viniamin I. Goldfarb (Izhevsk, Russia), Prof. Vladimir B. Algin (Minsk,

Belarus), Prof. Eugeni V. Shalobaev (St-Petersburg, Russia), Prof. Mark M. Kane (Minsk,

Belarus) has prepared a publication on the work of scientists from CIS countries within the

framework of the IFToMM activities.

Prof. Andrei E. Volkov (Moscow, Russia) and Prof. Dmitry T. Babichev (Tomsk, Russia)

have prepared a report on the role of scientists of CIS countries in the development of the

theory of machines and mechanisms, gearing theory in particular, which is published in this

collection. The last report contains detailed notes to the editors.

To visualize the links between the recommendations of the PC A and other credible sources

IX

like encyclopedias, in particular, the Large Russian Encyclopedia, a report was prepared by

Prof. Yuri V. Poduraev (Moscow, Russia) and Prof. Eugeni V. Shalobaev (St-Petersburg,

Russia), the authors of numerous works on mechatronics and robotics, and articles written

for the encyclopedia.

In conclusion, it is important to note that just after the papers on Chapters 15 and 16 for the

given proceedings were ready, additional information - updated version of Chapter 15 (Prof.

A. Klein Breteler) and the suggestion to include new terms into Chapter 16 (Dr. N.

Pavlovic) - appeared.

Presentation of Dr. Sergei V. Shil’ko entitled “Mesomechanical Analysis of Adaptive

Structures Made of Biological Tissues and Functional Materials” is included in Appendix 1.

The organizers considered it important to add information in the field of compliant

mechanisms with illustrations which have been kindly provided by Prof. N. Pavlovic

(Appendix 2).

In Appendix 3 a portrait of Leonardo Euler (the famous scientist who proposed to use

involute for description of tooth profile in gear meshing) drawn by Anna Biro (daughter of

Prof. Istvan Biro and Eva Biro) who attended the PC A 25th Working Meeting is presented.

The Organizing Committee of the 25th Working Meeting thanks the following employees of

V.A. Belyi MPRI NAS Belarus – Tamara Isayeva, Larisa Pushkina, Valentina Moiseenko,

Ekaterina Petrokovets, Tatyana Ryabchenko, Sergei Shil’ko and employees of ITMO

University Rada Yurjeva, Galina Yurkova, Olga Kozyreva for their assistance provided to

the organizers of the meeting, translation of texts and preparation of the manuscript for

publication.

REFERENCES

1. Boegelsack G. Concise Chronicle of the IFToMM Commission for Standardization of

Terminology (1969-2005) / Proceedings of the Scientific Seminar “Terminology for the

Mechanism and Machine Science” (Bardejov Spa, Slovakia, June 27 – July 2, 2005) /

Edited by Stefan Segl’a. – Bardejov Spa. – 2005. – P. 7-16.

2. Boegelsack G., Klein Breteler A.J. Concise Chronicle of the IFToMM Commission for

Standardization of Terminology (1969-2009) / Proceedings of the Scientific Seminar

“Terminology for the Mechanism and Machine Science” (Minsk-Gomel, Belarus, June 21-

26, 2010) / Edited by V. Starzhinsky and V. Algin. – Minsk: BelGISS. – 2010. – P. 7-18.

3. Proceedings of the Scientific Seminar “Terminology for the Mechanism and Machine

Science” / Edited by V. Starzhinsky and V. Algin. – Minsk: BelGISS. – 2010. – 145 p.

4. Сборник трудов международного симпозиума «Теория и практика зубчатых

передач» (21-23 января 2014, Ижевск, Россия). – Ижевск: Изд-во ИжГТУ, 2013. –

580 с. (Proceedings of the International Symposium “Theory and Practice of Gearing”

(January 21-23, 2014, Izhevsk, Russia). – Izhevsk: Publisher IzhSTU. – 2013. – 580 p.)

Prof. E.V. Shalobaev

Prof. V.E. Starzhinsky

X

Participants of the Meeting. Left to Right:

Prof. I. Bíro, Prof. E. Shalobaev, Dipl. Eng. O. Kozyreva,

Prof. V. Starzhinsky, Dr. N. Dmitriev, Dr. S. Shil’ko

XI

CONTENTS

Prof. Marko Ceccarelli (Italy)

IFToMM and MMS: History, Structure, Trends and Challenges…………………

Prof. Victor E. Starzhinsky (Belarus), Prof. Veniamin I. Goldfarb (Russia), Prof.

Vladimir B. Algin (Belarus), Prof. Eugeni V. Shalobaev (Russia), Prof. Mark

M. Kane (Belarus)

Participation of Scientists from Former Soviet Republics and CIS Countries in

IFToMM Activities..………………………………………………………………

Prof. Mark M. Kane (Belarus), Prof. Victor E. Starzhinsky (Belarus)

State of Art and Perspectives of Terminology Development on Chapter 15

“Quality Factors of Machines and Their Components”…………………………

Dr-Ing. Nenad T. Pavlovic (Serbia), Prof. Antonius J. Klein Breteler (The

Netherlands), Dr. Lena Centner (Germany), Prof. Victor E. Starzhinsky

(Belarus)

About Preparation of New Section of Terminology IFToMM on MMS: Chapter

16 “Compliant Mechanisms”……………………………………………………..

Prof. Yuri V. Poduraev (Russia), Prof. Eugeni V. Shalobaev (Russia)

Mechatronics and Robotics – Interrelations of Notions: Point of View of

Russian Encyclopedia..…………………………………………………………...

Prof. Eugeni V. Shalobaev (Russia), Dr. Serge V. Shil’ko (Belarus)

Modern Mechanics as a Basic of Mechatronics.………………………………….

Dr. Serge V. Shil’ko (Belarus), Prof. Victor E. Starzhinsky (Belarus)

On the Terminological Contents and Interrelation of the “Biomechanics”

Section with Traditional (Basic) Sections of Mechanics…………………………

Prof. Andre E. Volkov (Russia), Prof. Dmitry T. Babichev (Russia)

History of Gearing Theory Development ………………………………………..

IFToMM Permanent Commission A for Standardization of Terminology on

MMS (2012–2014)……………………………………………………………………..

Agenda of the 25th Working Meeting of the IFToMM Permanent Commission A…....

1

13

43

47

51

55

61

71

103

105

XII

APPENDIX 1

Dr. Serge V. Shil’ko’s Presentation

Mesomechanical Analysis of Adaptive Structures Made of Biological Tissues

and Functional Materials………………………………………………………….

APPENDIX 2

Compliant Mechanisms. Diagrams and Drawings………………………………..

APPENDIX 3

Gift to the 25th Working Meeting from talent person…………………………….

APPENDIX 4

Contents of Russian authors publications in the Jornal “Frontiers of Mechanical

Engineering” ……………………………………………………………………..

APPENDIX 5

Agenda of Informal Working Meeting of IFToMM PC A (October 25-30, 2015,

Taipei, Taiwan)……………………………………………………………………

107

117

131

133

135

Saint-Petersburg. Palace Square.