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

T H E A M E R I C A N S O C I E T Y O F M E C H A N I C A L E N G I N E E R S

United Engineering Center 345 East 47th Street New York, N. Y. 1 001 7

Y. L. Sarkisyan, USSR, B. Roth and K. C. Gupta, USA 13 Synthesis of a Four-Bar Linkage for a Limited Variation in the Velocity Ratio

M. A. Moustafa, Egypt 17 Synthesis of Plane Linkages for a Spatially Variable Temperature Environment

B. Prasad and R. C. Dix, USA 21 Synthesis of Four-Bar Linkages to Match Up to Four Prescribed Velocity Ratios

C. H. Chiang, Taiwan 25 Mixed Exact-Appropriate Multiply-Separated Pianar Mechanism Position Synthesis

G. H. Sutherland, USA 29 Isometric Transformation Method Used in the Synthesis of Homokinetic Mechanisms

F. Duditza and D. Dianconescu, Romania 34 Control of Angular Displacement in Burmester Synthesis Problems

K. J. Waldron and J. W. H. Sun, USA 38 The Kinematics of Co-Rotati,ig Fully Intermeshed Rotors and Screws

D. G. Tynan, USA 42

TECHNOLOGY TRANSFER I Dynamic Acceptance Test for Machine Tools Using a Stochastic Model

M. Samaha, T. S. Sankar, and M. 0. M. Osman, Canada. 45 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 49

Design and Analysis of a Composite Spring R. Dore and G. Drouin, Canada 53

Forces of Dynamically Loaded Fitted Bolts /. Janezic, Yugoslavia 57

Design Analysis of Feedbowls D. E. Ferguson, A. G. Erdman and D. A. Frohrib, USA 61

PLANT ENGINEERING PEWD — A Portable Electronic Vehicle Weighing Device

G. S. Deep and C. S. Chandrasekhar, Brazil. 65 Conical Belt Transmission Between Shafts With Intersecting Axes

R. Chicurel, Mexico 69 Calculation of Vibrating Conveyor

A. Czubak, Nigeria 74 Future Manned Machines and Operations in Space

J. R. Tewell, R. A. Spencer, J. A. Lenda and J. W. Mooney, USA 78 Real Time Control for Numerical Control Milling of Sculptured Surfaces

J. Whitesell, Jr. andJ. Bernard, USA 82 Investigation of Toothed Belt Drivers

A. P. Pogrebnjak, USSR 86

vii

ANALYTICAL VIBRATION I Finite Element Method for the Vibration Frequency of a Curved Beam With Tip Mass

S. V. Hoa, Canada . 90 Transient Processes in the Vibratory Systems With Elastico-Hereditary Bonds

A. G. Chervonenko, I. I. Krush and D. E. Borohovich, USSR 94 Vibrations of Planar Linkages With Elastic Links

H. Dresig, GDR 98 Investigations on the Dynamic Behaviour of Plate Vibrators

S. H. Mohsin, India 102 Continuum Mechanics of Asymmetrie Stress Fields

M. Shimbo, Japan and D. Mangeron, Romania 107 Optimal Synthesis of Linkages Using Householder Reflections

J. Angeles, Mexico 111 The Holographie Method of Receptance Measurement

T. Chalko, Poland 115 Identification of Oscillatory Systems With Harmonie Packet of Entry

A. A. Martynyuk and N. P. Plahtienko, USSR 118

COMPUTER AIDED DESIGN AND OPTIMIZATION I Integration of Computer Aided Design and Computer Aided Manufacturing for CAMS Driving

Mechanisms J. De Fraine, Belgium 122

Optimal Kinematic Synthesis of a Four Bar Linkage for Functions and Paths Generation M. Di Giacinto, G. Guj and R. Piva, Italy 126

Experimental Determination of Mechanism Time Response J, Tacheny, A. G. Erdman and D. L. Hagen, USA 130

Optimization of Design of Hand-held Tools With Vibration-Shock-Action by Means of Mathematical Models

S. Kirchberg and G. Meltzer, GDR 134 A Hierarchical Technique for the Optimum Design of Curve-Generating Linkages

D. Sastry, India 139 An Experimental Approach to Dynamic Identification of Mechanical Systems

B. Z. Sandler, Israel. 144 Computer Aided Kinematic Design of Planetary Gear Trains

S. S. Kim and W. R. Newcombe, Canada 148

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 153

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 156 Measurement of Dynamic Transmission Errors in Non-Circular Gearing

P. Bussieres, L. F. Daws and R. J. Ferguson, Canada 161 Running Temperature of Thermoplastic Gears

R. Gauvin and M. P. Girard, Canada 166 Determination of Magnitudes of Stresses Acting at Meshing on Tooth Sides of Helical Worm Gearings

V. Klimo and A. Pazak, Czechoslovakia 170 Photoelastic Study of the Stresses in Epicyclic Gearing

/. M. Allison and E. J. Hearn, England 173 Operational Axial Forces of Tooth Couplings

G. Pahl, GDR 177

VIII

ROTOR DYNAMICS I A Rotor Supported Without Contact — Theory and Application

H. Ulbrich, G. Schweitzer and E. Bauser, GFR 181 Performance of Externally Pressurised Air Bearing

V. Kamala, India 185 Dynamic Characteristics of the Pericycloid Bearing With Unsymmetrical Supply Pressure

W. Kaniewski and S. Strzelecki, Poland 191 On the "Twice Per Revolution" Vibrations in Axially Unsymmetrical Shafts

N. Bachschmid, C. Diana, B. Pizzigoni and D. Borgese, Italy 195 Spring and Damping Coefficients of the Nonisothermal Oil Film

W. Kaniewski, S. Strzelecki and W. Swiderski, Poland 199 Study on Nonstationary Vibrations of Rotor Systems with Semirigid Spindles

/. Koretysski, USSR 203 On The Behaviour of an Ununiformly Heated Rotor

R. Cukic and D. Ruzic, Yugoslavia 207 Oil Pressure Distribution in the Dynamically Loaded Slide Bearing

J. M. Stasiak, Poland 211 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 215

Critical Speeds of Multi-Bearing Rotors M. Hincz, Poland 219

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 223 A Method of Dynamic Synthesis in the Elastodynamics of Machinery Units

E. S. Stanchev and N. Minchev, Bulgaria 227 Dynaminical Analysis of a Machine With a View to Its Characteristic

J. Zahradka, Czechoslovakia 231 Dynamic Behaviour of a Stone Roughing Machine

M. A. Satter, Iran 234 Investigation of the Transient Process Arising in a Drive During Friction Clutch Engagement

A. Bodnar and S. Berczynski, Poland. 238 On Elastodynamic Behavior of Mechanisms: Parts I & II

J. G. Jahn, J. Nieto and E. Onate, UK. 242 Describing Function Simulation of Dynamic Forces in Single Degree-of-Freedom Mechanisms

R. R. Allen and D. M. Rozelle, USA 246 Dynamic Invariants in the Statistical Elastodynamics of Machinery Units

N. D. Minchev, Bulgaria 250 A Method of Site Balancing of Machine Systems

J. Wawrzecki, Poland 256

DYNAMICS I Modern Biomechanics, Its Foundations and Objectives in Engineering Medicine and Sport —

Keynote Lecture A. Morecki, Poland 260

Dynamics of Systems With Alternating Parameters W. I. Sokolowski and W. S. Parschin, USSR 276

The Effect of Rotation on Structural Stiffness D. A. Peters, USA 280

IX

Longitudinal Dynamics of the Train Consisting of Cars of Continuous Draw Bar Modelled as a System of Elastic Discrete Masses

K. Horvath, Hungary 284 Dynamic Characteristic of Passive and Active Flexible Objects

W. Wodzicki, Poland 289 Dynamics of Non-Linear System: Railway Vehicle-Railway Track in Curve

N. Cucuz, Yugoslavia 293 On Rigid Body Displacement

F. Essenburg, USA 297 On The Matrices Which Represent Two Spatial-Positions of a Moving Rigid Body

B. Roth, USA 301 Dynamic Analysis of Two-Mass Drive System

W. Nadolski and A. Pielorz, Poland 306

ISOLATORS AND DAMPERS Experimental Investigation of the Dynamic Properties of Damped Systems

L. Pust, Czechoslovakia 310 Determination of Optimal Dampers in Driving Systems

F. Holzweibig and S. Liebig, GDR 314 Rapid-Action Wheel Suspension Mechanism

F. Sztanyik and G. Varga, Hungary 318 The Vibrations of Multi-Rotor Machines on the Non-Linear Shock Absorbers

Z. Parszewski and Z. Miklaszewicz, Poland 321 Study on a Variable Stiffness-Type Dynamic Damper With Eddy Current Damping

K. Seto, Japan 325 Effect of Primary Damping on the Tuning Conditions of a Dynamic Vibration Absorber

V. A. Bapatand H. V. Kumaraswamy, India 329 A Dynamic Vibration Damper With an Active Frequency Tuning

H. Holka, Poland 333 Analysis of Airspring Isolators

J. R. Baumgarten, G. E. Anderson, USA 337

DYNAMICS OF GEARS- 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 341 Effect of the Tolerance on the Tooth Load by Spur Gear Drives With Positive-Drive and Branching

Power K.-H. Vatterott, GFR 345

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 350

Investigations on the Thermal Balance of Gear Drives H. Winter and K. Michaelis, GFR 354

New Measuring Method of a Single Flank Transmission Error of a Pair of Gears /. Hayashi and T. Hayashi, Japan 359

The Tooth-Gear Dynamic Model L Muller, Poland. 363

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

Computer Study of a Spatial Mechanism

C. Florea, Romania 375

Algorithms of Simulation of Dynamics of Complicated Controlled Mechanisms on Digital and

Analog Computers

P. B. Sliede, USSR 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 Algori thm to Synthesize for Rigid Body Guidance Al l Planar Mechanisms

With One Degree of Freedom

A. H. Soni and S. A. Azeez, USA 388

An Extra Accelerated Method for the Optimization of Hobbing Process

R. Mitrovic, Yugoslavia 392

Optimizat ion of the Synthesis of the Steering Linkage in Vehicles

Fl. Dudita and I. Visa, Romania 396

Computerizing Logistic Support Analysis (LSA) Assists Designers

B. Levine, USA 400

ANALYTICAL VIBRATION II

Stabilization of Seif Excited Oscillations

D. L. Taylor, USA 404

Random Processes and Transfer of Dynamic Systems

L. Rus, Czechoslovakia 408

On The Stabil ity of Small-frame Vibration for Non-Uniform Reduction Linkages

R. Schraut, GFR 412

Somerfeld Resonance Effect in Vibrating System With Variable Mechanical Parameters

M. Kobrin, Israel 416

On The Self-Synchronization of Mechanical Vibrator Due to the Impact

J. Inoue, Y. Araki and S. Miyaura, Japan 420

Some Remarks on the Problem of the Use of Correlation Methods for the Analysis of Acoustic

Parameters of Enclosures

G. Brzozka, Poland 424

Lateral Response Spectra of Longitudinally Rapped Thin Elements

D. Juricic and G. Herrmann, USA 428

Self-Excited Oscillations in Rectilinear Mechanical Systems

D. Filipov, Bulgaria 432

TECHNOLOGY TRANSFER II

Original Contributions to an Established Principle Used in the Turning of Polygons on a Lathe

F. Sticher and A. A. Sherwood, Australia 436

An Alternate Specification for Metrie Screw Threads

D. N. Jensen, Canada 440

Adelisor and Eladisor of New Spring Elements

J. Jerabek, Czechoslovakia 445

A Logical Approach to Design of Statically Loaded Helical Springs Made From Round Wire

C. Samonov, Mexico 449

A Contr ibut ion to the Analyses of the Flywheel Energy Transfer of Frict ion Screw Presses Without

Side Discs

P. Popovic and D. Domazet, Yugoslavia 453

DYNAMICS OF MECHANISMS I

Dynamic Analysis of a Constant-Velocity Mechanism

J. H. Escobar, Ecuador and M. J. Gilmartin, England 457

XI

The Concept of Structural Group in the Analysis and Synthesis of Barred and Geared Mechanisms /. N. Constantinescu and V. Zamfir, Romania 462

Experimental Investigations of Multi-Impact Wrenches J. Baumgarten, USA and B. Bialkowicz and A. Oledzki, Po/and 466

Dynamically Tuned Gyroscopes L. Maunder, England 470

Kinetolelastodynamic Deviations of Dyades C. Pelecudi and S. Mitsis, Romania 474

Vibration of a Non-Linear Polyharmonic Type Oscillator V. Jivkovand I. Viltchev, Bulgaria 478

Determination of Coulomb Friction Forces in Complex Mechanical Systems K. Nazarczuk, Poland 481

Static Analysis of a Constant-Velocity Coupling M. J. Gilmartin, England 485

KINEMATIC ANALYSIS AND SYNTHESIS II Line System Geometry Applied to Closures of Spatial Mechanisms

F. Sticher, Australia 489 The Fundamental Dimensions of a Centroidal Mechanism With Slider

M. D, Mochkov, Bulgaria. 494 A Novel Method for the 4-Bar Function Generation Problem: Subdomain Method

/. AkcaliandJ. C. Lindholm, USA 498 Coupler-Curve Linkages With Hydrodynamic Lubrication

J. Volmer, H. Glaser and C. Gruger, GDR 502 Statics of Immovable and Movable Spatial Systems by Dual Deformation Vectors (Deformation

Screws) M. Keler and M. A. Beran, GFR 506

On a Theorem of De La Hire G. R. Veldkamp, The Netherlands 510

The Unitary Method of Structural Synthesis of All Planar Jointed Kinematic Chains (KCmjsD N. I. Manolescu, Romania 514

Kinematic Analysis of a Modern High-Speed Impact Printer S. R. Dandage and A. L. Dil Pare, USA 518

Envelopes and Line-Loci From the Planar Four-Bar Linkage; Introductory Theory and Applications K. H. Hunt, Australia 522

KINEMATIC ANALYSIS AND SYNTHESIS - III Controlling Mechanical Motion — Keynote Lecture

A. U. Ishlinskii, USSR 526 A Rapid Method for Optimum Kinematic and Dynamic Synthesis of Planar Four-Bar Linkages

A. G. R. Thomson and C. J. Clifton, England 532 Symmetrical Coupler Curves Produced by a Six-Bar Linkage of Type Stephenson-I

£. A. Dijksman, Netherlands 537 On The Kinematic Synthesis of Five-Axis 3R-2C Spatial Screw Generating Mechanism

P. N. Nitescu, Romania 541 Kinematic Analysis and Technique of Synthesis of an Elastic Four Bar Chain

J. P. Modak and B. D. Shiwalkar, India 545 A New Algorithm for Kinematic Synthesis of Plate Cam Profiles for Prescribed Follower Acceleration

A. Di Benedetto and A. Vinciguerra, Italy 549 Synthesis of a Four-Bar Mechanism to Generate Desired Radii of Polode Curvature at More Than One

Design Point S. V. Kulkarni, India 553

XII

Problems of Kinematics and Accuracy of Five-Link Hinged Mechanisms N. S. Davitashivili, USSR 557

Synthesis of High Class Mechanisms on Condition of Coordinating Movements of Two Working Members >

U. A. Djoldasbekov and K. S. Ivanov, USSR 561 Curvature Theories in Spatial Kinematics

G. R. Veldkamp, Netherlands 565

DYNAMICS OF MECHANISMS II Dynamic Analysis of Mechanisms with Nonintegrable Constraints o

D. N. Levitsky, USSR 571 Dynamics of Mechanisms of a Variable Structure

S. N. Kogevnikov and E. I. Antoniouk, USSR 574 Dynamics and Stability of an Orientation Mechanism for Submersibles

W. M. Mansour, Brazil 579 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. 583

A Finite Element Approach to Kinematics and Dynamics of Mechanisms K. Van Der Werff, The Netherlands 587

Improving Dynamic Characteristics of a Cam-Follower Mechanism Through Finite Difference R. N. Kanango and N. Patnaik, India 591

On the Geometry of Cylindrical Cams U. Meneghetti and A. Andrisano, Italy 595

Dynamical Analysis of Mechanisms Using Symbolical Equation Manipulation E. J. Kreuzer, GFR 599 0

FLUID POWER TECHNOLOGY Vibrational Modes of an Aircraft Simulator Motion System

R. Hoffman and M. McKinnon, Canada 603 The Optimization of the Performance of Vane-Type Air Motors

G. Jacazio, B. Piombo, A. Romiti and A. Sola, Italy 607 The Analysis of Six-Degree-of-Freedom Work Station for Mechanised Assembly

H. McCallion and P. D. Truong, New Zealand 611 Simulation-Aided Design of a Quiet Pneumatic Rock Drill

R. J. Hooker, Australia 617 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 621

A Hydraulic Motor for Low-Cost Applications A. E. F. Fahim, L. Suchy and C. C. K. Kwok, Canada 625

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 629

The Use of Various Experimental Techniques in Describing the Plastic Collapse of Turbine Discs F. Ginesu, B. Picasso and P. Priolo, Italy 633

Turbomachine Blade Vibration J. S. Rao, India 637

Prediction of Subsonic Flow Angle in Turbine Blades F. Martelli, Italy 641

XIII

On Discrete Modelisation of Response of Blades With Slip and Hysteretic Damping A. Muszynska, Poland and D. I. G. Jones, USA 646

Some Experience With Dynamic Absorbers for Impeller Pumps S. S. Stecco and A. Janigro, Italy 650

COMPUTER AIDED DESIGN AND OPTIMIZATION - IM Ships Machine Aggregates Dynamic Analysis by Means of Electronic Digital Computer

V. I. Nebesnov, USSR 654 Multi-Criterial Optimization of Parameters of a Mechanical System

O. Knaifl, Czechoslovakia 659 Optimum Synthesis of Geared Four-Bar Linkages to Generate Functions of Two Variables Using

Geometrie Programming A. C. Rao, India 663

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 667

On Good Starting Points for Optimization of Machines J. Oderfeld, Poland 673

Simulation of Engineering Systems Containing Lumped Components and Transmission Elements R. C. Rosenberg and J. Devlin, USA 676

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 680

Dynamic Design Study of a Hydrostatic Transmission System for Urban Buses J. Svoboda, Canada 684

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 688 Dynamics of Railroad Cars Fitted With Automatic Coupling Units

T. Tomaszczyk and A. Oledzki, Poland 692 Bevel Gear Differentials for Industrial Applications

F. W. Geurts, USA 696 Dynamics of Molten Metal Weighing Devices

E. S. Sidash, USSR 700 Dynamic of Breaking Vehicle Having Anti-Blocking Device

J. Lanzendoerfer and C. Szczepaniak, Poland 702 A Non-Stall Point Automotive Transmission Makes a Major Fuel Saving Possible

W. H. DeLancey, USA 706 Some Ingenious Mechanisms Used Across the Time in the Romanian Populär Technique

/. Popescu, Romania 710 A Six-Link Mechanism That Simulates a Positive Displacement Machine

J. L. Schlafer, USA 712

EXPERIMENTAL AND TEACHING METHODS Projected Changes in the Engineer's Life-Style Within the Coming Decade

D. C. Sayles, USA 715 Engineering Design Process in the Conceptual Phase

G. Pahl, GFR 720 Diagram Method for Teaching Mechanisms and Machines

Z. Levai, Hungary 724 Biomechanics and Its Role in Workplace Design: A Multimedia Teaching Approach

M. V. Ananthakrishnan and S. P. Dutta, India 728

XIV

Description and Classification for Mechanisms-Oriented Design Problems G. Merhar, Switzerland 732

Historical Notes on Coupler Curves E. F. Fichter, USA 736

About the General Features of Mechanisms of Different Families (Clasification After I. I. Artobolevskiy)

S. I. Pantleev, USSR 739

POWER TRANSMISSIONS Power Transmission by Kinematically Unconstrained Mechanisms

T. F. Berreen andJ. S. Stecki, Australia 743 On the Synthesis of "Turbula" Gear Train

K. Wohlhart, Austria 747 Performance Characteristics of a Ker-Train Transmission

L. F. Daws and R. J. Ferguson, Canada 751 Small Gear Sizes by Using Bicoupled PlanetaryTransmissions

H. W. Muller, GFR 755 Special Questions of Planetary Gear Drives With Compound Planet Pinion

A. Terplan, Hungary 759 Power Control in Planetary Gear

M. Wozniak, Po/and 763 Experimental Dynamics of Cardan Shaft Locomotives Transmissions

N. I. Manolescu and T. lonescu, Romania '. 767 Randomless Operation of the Coupling Logical Mechanism of the Geared Discrete Speed Variator

/. Szekely, Romania 771

PNEUMATICS, HYDRAULICS AND ELECTRODYNAMICS I Improving Productivity by Adaptive Control — Keynote Lecture

M. C. Shaw and J. P. Avery, USA 777 Synthesis of Hydraulic Mechanisms With Reciprocating Motion Having Extreme Characteristics

A. A. Grunawer, N. D. Gritsenko and V. M. Nikitin, USSR 781 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 785

A General Statistical Method for the Analysis of Stationary Liquid Flows C. Arrighetti, Italy 789

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 793 Dynamics of Hydromechanic Systems With an Open-Circle Volumetrie Hydraulic Drive

A. V. Prazdnikov, A. U. Vulych and V. I. Bolshakov, USSR 796 Dynamics of Inertial Stepless Automatic Transformer of Driving Moment With Elastic Elements

A. I. LeonovandA. F. Dubrovsky, USSR 800 Simulation of a Fluidic-Hydraulic Control System

E. J. Espinosa, H. R. Martin and S. A. Alpay, Canada 804 A Hydraulic Stepper Motor

J. S. Ansari, India 808

ROBOTS AND MANIPULATORS - I Towards Real-Time Dynamic Control of Manipulators

V. Cvetkovic andM. Vukobratovic, Yugoslavia 811 Results of the Examination of Industrial Robots on a Test Stand

H. J. Warnecke, B. Brodbeck and G. Schiele, GFR 816

xv

Development of a Theory of Errors for Manipulators K. J. Waldron and A. Kumar, USA 821

Piezoelectric Drives With Several Degrees of Freedom for Micromanipulators R. Bansevitchus and K. Ragulskis, USSR 827 Q

Dynamics and Control Methods for Moving Flexible Structures and Their Application to Industrial Robots

A. Truckenbrodt, GFR 831 Qualimetry of Robot and Manipulator Mechanisms

E. G. Nachapetjan, USSR 835 System Design Features of the Space Shuttle Remote Manipulator

P. Kumar, P. Truss and C. G. Wagner-Bartak, Canada 839

VOLUME TWO

BIOMECHANISMS I The Dynamics of the Human Body

J. Wittenburg, GFR 843 Man-Machine System: Research on the Bio-Mechanical Le«p of High Speed Guidance

M. Pirtoli, Italy 847 Simulation of Human Walking Characteristics by Simple Model

T. Yamashita and T. Taniguchi, Japan 851 Development of the Theory and Practice of Biomechanisms in Poland

A. Morecki, Poland 855 Determination of Joint Positions From Limb Segment Constraints in Robotic Systems

D. E. Orin and S. Y. Oh, USA 8 6 0

Some Biomechanical Aspects of the Hand Movement O. Muftic, Yugoslavia 864

COMPUTER AIDED DESIGN AND OPTIMIZATION IV Optimization of Discrete Linear System Parameters From the Point of View of Dynamics

V. Zeman, Czechoslovakia 867 Computer Aided Statement of Engineering Optimum Design Problems

V. I. Sergeyev, I. M. Sobol and R. B. Statnikov, USSR 871 Basic Analysis and Optimal Design of In-Iine Transfer Indexing Cam

H. Makino, Japan 875 Global Optimum Search in Design

E. Chicurel, Mexico 879 Partial Derivatives in Kinematic Optimization

A. J. Klein Breteler, The Netherlands 883 Optimal Synthesis Method of Mechanical Transmissions

J. Kowalski, Poland 889 A Graphical Design Procedure for a Fluid Operated Stepping Motor

A. E. F. Fahim and R. M. H. Cheng, Canada 901

NOISE PROBLEMS IN MACHINERY On The Noise of Roller Chain Drives

K. Uehara and T. Nakajima, Japan 906 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 910

XVI

Influences of Printing Paper on Noise of Impact Printer N. Nishiwaki, S. Hori and M. Tsutsumi, Japan 914

Noise and Vibration Control of Motor Vehicle Units and Mechanisms A. G. Zubakin and V. E. Koshkin, USSR 918

Identification of Vibroacoustic Effects in Mechanisms K. Tomaszewski, Poland 922

Noise and Vibrations of the Rotor System of a Compressor W. J. Stojanowski, Poland 926

Dynamics of a Three-Wheeled Vehicle H. Hatwal and A. Ghosh, India 930

On the Predictability of Dynamic Wheel Loads in Automobile Proving Ground Tests H. K. Sachs and J. J. Johnson, USA 935

The Mechanism of Processing With Unbalanced Grinding Wheel G. Varga and F. Sztanyik, Hungary 939

Effect of Test Clamp Weight on the Evaluation of Stockbridge Damper Performance M. S. Dhotarad, N. Ganesan and B. V. A. Rao, India 943

On the Analysis of Dynamics of Sealing Elements A. Rovetta, Italy 947

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 951 Theoretical Behaviour of a Vibratory Moldboard Plow

M. Aguirre-Gandara, A. Ramirez-Tapia and J. L. Hernandez-Cano, Mexico 955 Application of Finite Element Method to Design of Torispherical Bottom of Autociave Made by Minel

V. M. Trbojevic, Yugoslavia 960

DYNAMICS OF MECHANISMS - III The Sliding Dynamics of CV-Joints: Mathematical Modeling and Non-Linear Dynamical Equations

N. Bellomo and A. Palamara Orsi 964 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 968

On Influences of Clearance and Friction Effects to the Behaviour of Transfer Mechanisms G. Bogelsack, V. Ifrim and H. quoc Viet, GDR 972

Dynamic Analysis of Specific Devices With Flexible Links by Finite Element Method A. Gulbinas, A. P. Kavolelis and A. Jakstas, USSR 976

The Application of Hydraulic Impact for Accelerating Rigid Bodies Z. Koloc and M. Vaclavik, Czechoslovakia 980

Changes of the Dynamic Properties of the Real Cam Profile During Its Wear B. Bialkowicz, T. Klimowicz and M. Swietlik 984

Analysis of the Dynamical Motion of a Detached Level Escapement J. F. Shelley and F. R. Tepper, USA 988

Optimisation of Picking Cam Design Through Dynamic Studies P. B. Jhala and C. G. Venkataramanan, India 992

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 996 Constantly Transmitting Four Bars

E. h. K. Hain, GFR 1000 Optimum Design of Linkages Using Fourier Series and Taylor Series

J. S. Lal, India 1004

XVII

Numerical Solution to the Input-Output Displacement Equation of the General 7 R Spatial Mechanism H. Albala, Israel and J. Angeles, GFR 1008

Geared Five Link Mechanisms With a Rack on the Coupler Systematic, Kinematic and Applications H. Rankers, The Netherlands 1012

Special Four-Bar Spatial Mechanisms as Function-Generators K. Luck and K.-H. Modler, GDR 1020

A Least-Squares Finite-Difference Method for Kinetic Analysis F. Y. Chen, USA 1024

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 1028 Stepmechanisms and Their Behavior

IM. Pavlovic, T. Petrovic, Z. Zivkovic, Yugoslavia and G. Bogelsack, GDR 1032 Analytical Determination of the Space Burmester Lines for Cylindric-Cylindric Cranks

A. F. Vadasz, Venezuela and A. H. Soni, USA 1036

KINEMATIC ANALYSIS AND SYNTHESIS - V Without Vision . . . — Keynote Lecture

D. Firth, UK. 1040 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 1056

Analytic Methods of Synthesis of the Plane Mechanisms Which Outline Imposed Trajectories /. Popescu, Romania 1062

Remarks Upon the Importance of the Functional Relationship in Analysis and Synthesis of Mechanisms

G. Geise and K.-H. Modler, GDR 1065 Analysis and Synthesis of Some Five-Link Bar Mechanisms

N. S. Davitashvili and D. S. Tavkhelidze, USSR 1069 The Synthesis of Plane Mechanisms Which Fulfil the Imposed Rules of Motion

/. Popescu, Romania 1073

DYNAMICS OF MECHANISMS - IV Contributions to the Matrix Elastodynamic Analysis of Plane Mechanisms Placed in a Field of

Hydrodynamic Forces M. Bucelei, Romania 1075

Predicting Impact Conditions Due to Bearing Clearances in Linkage Mechanisms S. W. E. Earles and 0. Kilikay, England 1078

Force Balancing of a Six-Bar Linkage /?. S. Berkof, USA 1082

Classification and Design of Three-Dimensional Cam Mechanisms G. Dittrich and H. Zakel, GFR 1086

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 1090 The Effect of Clearance and Tolerances in Linkages Motion

C. Hammerschmidt and H. Strumpfe/, GDR 1093 Computer Aided Type Synthesis and Compilation of Specific Mechanisms of Lowest Complexity

G. Kiper, GFR 1097 Analysis of Six-Bar Mechanism for Textile Machines

K. S. H. Sadek and M. El-Messiry, Iraq 1101

XVIII

DYNAMICS OF GEARS - IM True Stress and Stiffness of Spur Gear Tooth

T. Tobe, M. Kato and K. Inoue, Japan 1105 Whirl of Geared Systems Supported on Hydrodynamic Bearings

B. M. Hamad, Sudan and A. Seireg, USA 1109 Worm Gears of Increased Seizure and Pitting Resistance

K. J. Wozniak, Po/and 1113 In Connection With the Theory of Rolling Contact Gears Basis

/. Bocian and G. Miloiu, Romania 1116 Effect of Gear Errors on Non-Linear Vibrations of a Gear-Train System

B. Kishor, India 1122 On a Planetary Gear Servo-Damping Unit

Y. Okada and T. Nakada, Japan 1126 Dynamic Behaviour of a Mechanical System With Gear Transmission Error

A. Toda and G. V. Tordion, Canada 1130

COMPUTER AIDED DESIGN AND OPTIMIZATION - V Optimization of Machine Parts Dynamic Calculation

E. K. Korovin, USSR 1134 Optimization of Testing for Experimental Run Labour-Saving Machinery

B. N. Volkov, V. G. Pereponov, I. V. Vinokourov and Sh. S. Noukhanov, USSR 1137 Optimum Design of Mechanisms with Spur and Helical Gears and Involute Profile

V. Merticaru and V. Atansiu, Romania 1140 Mathematical Model and Computer Program in Fortran for Helical Gearing Noise

V. Merticaru and V. Atanasiu, Romania 1144 Optimization of the Geometry and the Kinematics of the Hypoid Gears

V. Simon, Yugoslavia 1148 Automated Optimum Design of Stepped Thrust Bearings

V. K. Chopra, B. D. Gupta and V. K. Kapur, India 1154

BIOMECHANISMS-II On Some Biomechanical Aspects of Vertebral Scoloisis Using the Harrington Rod

A. Di Benedetto, A. Vinciguerra, L. Aulisa and G. Lorini, Italy 1158 Heuristic Approaches to the Inversed Dynamic Linkage Problems: With Special Application to

Biomechanics T. W. Lee and N. Langrana, USA 1163

A Model of Repetitive Hopping Movements in Man K. Matsuoka, Japan 1168

Crash Victim Simulations — Their Use and Validation D. H. Robbins, USA 1172

The Kinematics and Control of Soft Gripper for the Handling of Living or Fragile Objects S. Hirose and Y. Umetani, Japan 1175

RELIABILITY CONTROL An Economic Approach to Total Reliability Optimization

S. S. Issa, GFR 1179 Optimal Choice of a Redundancy Technique to Assure the Required Design Objectives and Per­

formance Reliability A. F. Rashed and M. A. Mitwally, Egypt 1182

The "Damage Mechanism" of Elements of Mechanisms J. Muller, GDR 1188

Simulation of Gear Life A. Kubo, Japan 1192

XIX

Current Control of the Optimum Reliability of the Diesel Locomotive Z Lisowski, Poland 1196

Statistical Analysis of Accuracy and Parametrical Reliability of Machines and Mechanisms H. Kordonsky, N. Salenieks and A. Zviedris, USSR 1200

PREVENTIVE MAINTENANCE

General Theory of Machine Systems V. Hubka, Switzerland 1204

Extreme Values of Stochastic Stress Vibrations in Machine Parts M. Matolcsy, Hungary 1208

Maintenance Aspects of Machines are Also the Designer's Responsibility B. Levine, USA 1214

Identification and Diagnostics of Rotary Machines S. S. KorabljevandE. I. Fedotkin, USSR 1218

On a Digital Approach to the Analysis of Mechanical System Response Systems G. D. Xistris and G. K. Boast, Canada 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 1254 Modelling of Pneumatic Drives

K. Nazarczuk, Poland 1258 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 1262

Epicyclic Gear Pump C. K. Wojcik, Saudi Arabia 1266

Dynamics of Electromagnetic Machines N. P. Ryashentsev and A. T. Malov, USSR 1272

Speed and Position Control of a Pneumatic Cylinder Using a Cam and Air Sensors K. Yamafuji and T. Iwagaya, Japan 1275

The Determination of the Optimum Dimensions of Pneumatic Motors for a Certain Power /. N. Constantinescu, R. Czibula and A. Florea, Romania 1279

Energy Economy of a Hydrostatic Transmission for Skid Steered Terrain Vehicles J. Svoboda and H. Hong, Canada 1283

xx

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 1287 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 1291

The Optimization of the Cams Utilised in the Construction of the Machines-Tools N. I. Manolescu, D. Stanescu and G. Bonoci, Romania 1295

The Modified Polynomial Specification for Cams G. K. Matthew, USA 1299

Optimization Criteria in Polydyne CAM Design N. Berzak and F. Freudenstein, USA 1303

Generalized Design Technique for a Spatial Cam-Link Function Generator M. W. Dixon and K. L Ting, USA 1307

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 1311 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 1315

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 1322 Synthesis of Electrohydraulic Servosystem for Industrial Manipulators

P. Ciner, Yugoslavia 1327 Computer Synthesis of Continuous Path Robot Motion

V. Milenkovic, USA 1332 Physical and Mathematical Model of Multifunctional Anthropomorphoral Mechanism

K. V. Kveladse, USSR 1336 Features of Steering Mechanisms of Walking Vehicles

A. P. Bessonov and N. V. Umnov, USSR 1339 A Recursive Solution to the Equations of Motion of an N-Link Manipulator

W. W. Armstrong, Canada 1343 Pneumatic Control Device for Industrial Manipulators

D. Rajic, Yugoslavia 1347 Dynamics and Control of Anthropomorphic Industrial Manipulators

M. Vukobratovic, D. Hristic and D. Stokic, Yugoslavia 1351

BEARING DYNAMICS AND LUBRICATION Dynamic Analysis of Oil Film Bearing With Application of Finite Element Method

J. Stemarczyk, Poland 1356 Wear-Resistant and Self-Lubricating Coatings for Mechanical Components

H. Bovingand H. E. Hinterman, Switzerland. 1360 Stiffness and Damping Matrices of Multi-Sleeve Journal Bearings

N. H. Hien and M. Roszkowski, Poland 1364 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

The Use of Flexible Members in Technique G. G. Vassin and V. V. Levanidov, USSR 137g

On The Development of the Shuttle Mechanism of the Power-Loom J. S. Rao and D. Y. Bibikar, India 133g

Computer Modelling of Systems with Intermittent Motion F. R. E. Crossley, USA, A. Oledzki, K. Nasarcuzuk and W. Szydlowski, Poland 1 3 8 4

The Perspectives of New Inertia-Impulse Mechanisms Application in the Drives of Working Machine Members

G. G. Vassin and V. I. Pozhbelko, USSR 1 3 8 8

The Optimal Synthesis of the Mechanism Which Generates Two Perpendicular Straight Lines A. Sekulic and T. Pantelic, Yugoslavia 1 ^Q2

DYNAMICS OF MECHANISMS V The Roller Motion Mechanism and Some Effects Upon the Ramming Process

A. G. Vrigazov and P. I. Tzenov, Bulgaria 1395

Dynamic Modelling of Stepping Motor Mechanisms G. Bogelsack and E. Schron, GDR 1400

Asymmetrie Impact of Finite Bars Using Finite Difference Method P. V. Ramana Murti and V. Ramamurti, India 1404

Dynamics of Indexing Cam Mechanism and Speed-Up of Its Motion M. Takano and S. Toyama, Japan 1408

The Matrix Thermokinematic and Dynamic Analysis of Plane Kinematic Chains Characterized by Two Degrees of Mobility

M. Buculei and S. Mitsis, Romania 1412 Dynamics of the Pin Pallet Runaway Escapement

G. G. Löwen and F. R. Tepper, USA 1416 Pecularities of the Dynamic Balancing of Spatial Four-Bar Mechanisms

T. T. Gappoev and D. B. Tabuev, USSR 1420

KINEMATIC ANALYSIS AND SYNTHESIS VI A Numerical Method of Optimal Tolerance Determination in Kinematic Chains

S. Miller and W. Twarog, Poland 1424 Kinematic Analysis of Spatial Mechanisms Using Screw Coordinates

G. Kunad, GDR 1428 Optimum Design of Linkages Using Closed Form (Non-Iterative) Techniques

J. S. Lal, India 1432 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 1436

Intrinsic Invariants of Rigid Body Motion and Higher Path Curvature Theory in Spatial Kinematics M. N. Siddhanty and A. H. Soni, USA 1440

Influence of Center Distance Change at Noninvolute Spur Gears J. Hiebanja, Yugoslavia 1444

Determination of Some Kinematic-Geometrical Characteristics of Helical Worm Gearings A. Pazak and V. Klimo, Czechoslovakia 1448

Synthesis of Plane Mechanisms for Approximate Reproduction of Algebraic Curves V. S. Karelin, USSR 1452

KINEMATIC ANALYSIS AND SYNTHESIS VII Synthesis of Six-Link Involute Cam-Mechanisms

P. V. Ramanamurti andT. V. Lakshmana Rao, India 1456 Kinematic Synthesis of Drive Mechanisms for Solar Concentrating Collector Using Auxiliary Mirrors

A. L. Dilpare and A. J. Morales, USA 1460

XXII

Elementary Joystick Mechanisms M. W. J. Carmichael, England. 1464

Synthesis of Mechanisms With Continuously Adjustable Stroke V. Handra-Luca, Romania 1468

Kinematic Analysis and Synthesis of High Class Mechanisms With the Help of the Theory of Graphs K. R. Kazyknanov and S. Tilemisov, USSR 1472

Boundary Curves, Singular Solutions, Complementary Conjugate Surfaces and Conjugation Analysis in Theory of Conjugate Surfaces

C. Chin-Hsin, China 1478

VIBRATION PROBLEMS IN MACHINERY A Theoretical Investigation of the Vibration of Roller Chain Drives

J. N. FawcettandS. W. Nico/, Eng/and 1482 Vibration of a Pipe Line Conveying Fluid

M. Paz, USA 1486 Elimination of Low Frequency Vibration in Marine Power Plants

A. F. Gal, A. P. Gurov, G. D. Zhukov, and G. P. Nervbenko, USSR 1490 On the Spatial Vibration of Milling Machines

B. C. George, Romania 1494 Dynamics Problems of Heavy Duty Vibratory Systems

V. N. Poturaev, USSR 1498 Stability of Self-Induced Vibrations in Metal Cutting

A. Lasota and P. Rusek, Po/and 1502 Gyroscopic Rollerons for Roli Stabilization of Submersibles

S. G. Cavalcanti and W. M. Monsour, Brazil 1506

ROBOTSAND MANIPULATORS III Algebraic-Linguistic Approach to the Problem of Automatic Forming a Purposeful Behaviour for

Integral Robots V. Kirov, Bulgaria 1510

Robotic Manipulator Control Systems With Invariant Dynamic Characteristics S. Dubowsky and D. T. DesForges, USA 1515

Optimization of Crawl Gait for Quadruped Levered Vehicles Z. U. Rahman, R. W. Gibson and W. H. Busseil, USA 1519

Robots and Manipulators Control With Phase Coordinates Being Non-Stationary in Nature A. N. Tkachenko, Y. P. Kondratenko and N. M. Brovinskaya, USSR 1523

A Hydraulic Modular Robot to Help Seriously Motor Handicapped People R. Stepoujine, France 1527

PRODUCTION TECHNOLOGY Calculation of Mechanical Presses

K. Lange and H. Blum, GFR 1534 Dimensional Analysis of Technological Processes of Machine Parts Production

V. V. Matveyev, USSR 1540 On The Feasibility of Using Machine Tool Sonic Signals as an Adaptive Control Parameter

M. A. Manan, India 1544 Force Equilibrium Under Non-Isothermal Grinding Conditions

J. K. Banerjee, Venezuela 1548 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. 1552

Effect of Some Cutting Fluids in Turning J. K. Banerjee, Venezuela 1556

XXIII

Optical Method of Measurement of Fabric Deformation and its Application Z Parszewski and A. Kondratas, Poland. 1560

MECHANICAL DEVICES AND SYSTEMS IV Blade Vibration Frequency of Flexible Blade Auto Cooling Fans

S. V. Hoa and S. Sankar, Canada 1564 Random Vibration of Mechanisms on Plates

S. H. Crandall and A. P. Kulvets, USSR 1568 On The Dynamic Action and Vibrations of Large Systems With Periodic Motion

J. I. Wulfson, USSR 1572 Effects of Blade Shape and Casing Geometry on Noise Generation From an Experimental

Centrifugal Fan G. Krishnappa, Canada 1576

DYNAMICS II Combined Instability Regions of Discrete-Continuous System

J. Krodkiewski, Poland 1580 Some Energetical Aspects of the Rigid Body With Fixed Point

D. Perju ane M. Crudu, Romania 1584 Non-Linear Performance of Structures in Parallel or Centrifugal Force Fields

B. J. Hartz and J. Brunso, USA 1588 O Dynamic Analysis of Mechanic Non-Holonomic Systems Used in Industrial Processes

Z M. Zlokolica, Yugoslavia 1593 Dynamic Properties of Elastomer Cartridge Specimens Under a Rotating Load

M. S. Darlow, A. J. Smalley and R. E. Cunningham, USA 1599 On Contact Theory in Kinematical Pairs

F. Kovacs, Romania 1603 Moving Surface Following Dynamics

J. Gecevitchus, USSR 1607 Topology of the Devices for the Calculation of the Mechanisms

S. I. Gamrakeli, USSR 1611

ROTOR DYNAMICS- I I Squeeze Film Lubrication Within the Impact Pair

R. G. HerbertandD. C. McWhannell, England 1615 Torsionally Vibrating Shaft System in Generator Shafts

A. S. Zadgaonkar and C. S. Zadgaonkar, India 1619 Comparison Between Some Methods for the Balancing of Flexible Rotors by Using Automatic

Techniques N. Bachschmid, B. Pizzigoni, G. Vallarino and G. Zanolo, Italy 1622

The Stability of Flexibly Supported Hybrid Gas Journal Bearings Z Kazimierski and K. Jarzecki, Poland 1626

Free Vibrations of Rotors With Allowance for Linearized Characteristics of Bearings M. Roszkowski, Poland. 1630

On the Balancing of Flexible Rotors Using Reduced Gradient Method Y. P. Kakadand T. W. Lee, USA 1633

Approximative Balancing of Flexible Rotor With Wide Band Which Unrolls L. Cveticanin, Yugoslavia 1637

XXIV