TERMINOLOGY for the MECHANISM and MACHINE ...

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

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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 – SaintPetersburg. – 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

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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, StPetersburg, 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, III

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. Isaeva, Victoria V. Domasik, Ekaterina M. Petrokovets, Larisa S. Pushkina and Rada A. Yur’eva 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.

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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

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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

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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 VII

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 VIII

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 Isaeva, 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 2126, 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 IX

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

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CONTENTS

Prof. Marko Ceccarelli (Italy) IFToMM and MMS: History, Structure, Trends and Challenges………………… 1 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..……………………………………………………………… 13 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”………………………… 43 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”…………………………………………………….. 47 Prof. Yuri V. Poduraev (Russia), Prof. Eugeni V. Shalobaev (Russia) Mechatronics and Robotics – Interrelations of Notions: Point of View of Russian Encyclopedia..…………………………………………………………... 51 Prof. Eugeni V. Shalobaev (Russia), Dr. Serge V. Shil’ko (Belarus) Modern Mechanics as a Basic of Mechatronics.…………………………………. 55 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………………………… 61 Prof. Andre E. Volkov (Russia), Prof. Dmitry T. Babichev (Russia) History of Gearing Theory Development ………………………………………..

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IFToMM Permanent Commission A for Standardization of Terminology on MMS (2012–2014)…………………………………………………………………….. 103 Agenda of the 25th Working Meeting of the IFToMM Permanent Commission A…....

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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)……………………………………………………………………

Saint-Petersburg. Palace Square.

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IFToMM and MMS: History, Structure, Trends and Challenges Marco Ceccarelli, Prof., LARM - Laboratory of Robotics and Mechatronics, DIMSAT, University of Cassino, Italy, [email protected] ABSTRACT The paper presents a survey of the main aspects of IFToMM in its evolution for, directions of activity, structure, trends and challenges. The IFToMM mission – to promote the mechanism and machine science (MMS) development – is underlined with areas of interests. The role of mechatronic approach is emphasized for mechanism design and machine developments in order to alleviate human operator labor. The current problems addressing great attention are outlined. The achievements and perspective directions in MMS development are indicated. Key words: theory of mechanisms and machines, mechanism and machine science, mechanics of machines, mechatronics, IFToMM, History of IFToMM, trends for MMS. INTRODUCTION The discipline Theory of Mechanisms and Machines (TMM) was identified as a scientific area for the developments of machines and mechanisms, as well as techniques for their theoretical and experimental investigations. The discipline was established with its identity in 19-th century and it has been developed strongly in all countries dealing with structure, kinematics and dynamics of mechanisms and machines of different types as indicated in [1], referring to Russian speaking frames. The meaning for the word “Theory” helps for better understanding of TMM and today MMS. The Greek word for “Theory” comes from the corresponding verb, whose main semantic meaning is related both with examination and observation of existing phenomena. But, even in the classic Greek language the word theory includes practical aspects of observation as experiencing the reality of the phenomena, so that theory means also practice of analysis results. In fact, this last aspect is what was included in the discipline of modern TMM when Gaspard Monge (1746–1818) established it in the Ecole Polytechnique at the 1

beginning of the nineteenth century [2] (see for example the book by Lanz and Betancourt [3], whose text includes early synthesis procedures and hints for practical applications). Later (see for example Masi [4]) and even today (see for example Uicker et al. [5]) many textbooks have been entitled “Theory of Mechanisms” since they describe both the fundamentals and the applications of mechanisms in machinery. With the progress of technology, the notion TMM and its meaning have been expanded up to MMS (Mechanism and Machine Science). The word-combination the “Theory of mechanisms and mechanics of machines” has also considered as for example in [6, 7]. The textbooks on the mechanics of machines (e.g., [8]) and dictionaries on the mechanics of machines were published in several languages and specific attention was paid within the Russian written literature like in [9]. Several journals have been established for publication in the specific area of TMM and even recently new journal are started for the increasing interest on MMS with more multidisciplinary aspects like for example the journal “Mechanics of machines, mechanisms and materials” that was started in 2008 by the Joint Institute of Mechanical Engineering, Belarus (http://www.oim.by). 1. A Short History The names of IFToMM, TMM, and MMS are related to the fields of Mechanical Engineering concerned with Mechanisms in a broad sense. TMM is often misunderstood even in the IFToMM Community, although it is recognized as the specific discipline of Mechanical Engineering related with mechanisms and machines, as commented even in [10] announcing the birth of IFToMM. The meaning of TMM, now MMS, can be clarified by looking at IFToMM terminology [11, 12]: * Machine: Mechanical system that performs a specific task, such as the forming of material, and the transference and transformation of motion and force. * Mechanism: System of bodies designed to convert motions of, and forces on, one or several bodies into constrained motions of, and forces on, other bodies. * Mechanism: Kinematic chine with one of its components (links) taken as a frame. The developments in TMM have stimulated cooperation around the world at various levels. One of the most relevant results has been the foundation of IFToMM in 1969. IFToMM was founded as a Federation of territorial organizations but as based on the activity of individuals within a family frame with the aim to facilitate co-operation and exchange of opinions and research results in all the fields of TMM. Many individuals have contributed and still contribute to the success of IFToMM and related activity, (see IFToMM webpage: www.iftomm.org) under a coordination of IFToMM Presidents over time. IFToMM was founded as the International Federation for the Theory of Mechanisms and Machines in Zakopane, Poland on September 29, 1969 during the Second World Congress on TMM (Theory of Mechanisms and Machines). The main promoters of the IFToMM World Federation were Academician Ivan I. Artobolevski (USSR) and Prof. Erskine F.R. 2

Crossley (USA) with the help of Prof. Mikail Konstantinov (Bulgaria) and Prof. Jan Oderfeld (Poland). Their principal aim was to bypass the obstacles of the time of the Cold War in developing international collaboration in TMM science for the benefit of the world society. IFToMM started as a family of TMM scientists among whom we may identify the IFToMM founding fathers, who signed or contributed to the foundation act with the initial 13 Member Organizations. The names of IFToMM founders fathers one can find in various sources in particular on IFToMM site http://iftomm.org, [13]. The foundation of IFToMM was the result of an intense activity for stimulating and promoting international collaboration, more than what had been done previously, and the process started in the late 1950s, as documented by several letters that are stored in the IFToMM Archive at CISM in Udine, Italy. A first World Congress on TMM was held in 1965 in Varna, Bulgaria during which the foundation of IFToMM was planned as later it was agreed during the Second World Congress on TMM in Zakopane, Poland. The Congress series was immediately recognized as the IFToMM World Congresses and in 2011 we have celebrated the 13th event with the participation of delegates from 48 Member Organizations and from more than 55 countries [13, 14]. The term MMS has been adopted within the IFToMM Community since the year 2000 after a long discussion [15], with the aim to give a better identification of the modern enlarged technical content and broader view of knowledge and practice with mechanisms. Indeed, the use of the term MMS has also stimulated an in-depth revision in the IFToMM terminology since the definition of MMS has been given as [13]: * Mechanism and Machine Science: Branch of science, which deals with the theory and practice of the geometry, motion, dynamics, and control of machines, mechanisms, and elements and systems thereof, together with their application in industry and other contexts, e.g., in Biomechanics and the environment. Related processes, such as the conversion and transfer of energy and information, also pertain to this field. In 2000 the evolution of the name from TMM to MMS brought also a change in the denomination of the IFToMM Federation from “IFToMM: the International Federation for TMM” to “IFToMM, the International Federation for the Promotion of MMS”, [15]. This can be considered as due to an enlargement of technical fields into an Engineering Science together with a great success in research and practice of TMM with a corresponding increase of the engineering community worldwide. 2. Four IFToMM Generations IFToMM activity has grown in many aspects, as for example concerning the number of member organizations (from the 13 founder members to the current 46 members), the size and scale of conference events (with many other conferences, even on specific topics, at national and international levels, in addition to the MMS World Congress), and the number and focus of technical committees working on specific discipline areas of MMS (currently 14, with 1 more to be established). IFToMM was founded in 1969 and today a forth 3

generation of IFToMMists is active, who can be named as those working within the IFToMM community. Knowing the History of IFToMM and how we arrived at today’s modus operandi gives a greater awareness of community identity and significance. The IFToMM community evolved in character from that of a family of a few enthusiastic pioneers/visionaries and founders into a scientific worldwide community through the following generations: * 1950s-1979 – First generation: founding fathers and their friendly colleagues up to the 4th IFToMM World Congress in New Castle upon Tyne in 1975 with Prof. Leonard Maunder as Congress Chair. * 1980-1995 – Second Generation: pupils and educated people by founding fathers and their friendly colleagues; up to the 9th World Congress in Milan in 1995 with Prof. Alberto Rovetta (Bianchi’s pupil) as Congress Chair. * 1996-2011 – Third Generation: educated people in the frame of IFToMM and within IFToMM activity with 48 national organizations as IFToMM members, up to the 13th World Congress in 2011 in Guanajuato, Mexico with Prof. Carlos Lopez-Cajan, as Congress Chair. * 2011 – Today – Forth Generation: educated people in local frame linked to IFToMM and within IFToMM activity with 46 organizations as IFToMM members. IFToMM officers (who are the Chairs of IFToMM Member Organizations, the Chairs of TCs and PCs, and the members of the Executive Council) have contributed and still contribute as leaders for the mission of IFToMM, which is stated in the first article of the Constitution as: “The mission of IFToMM is the promotion of Mechanism and Machine Science”. A complete list of IFToMM officers over time is available in the Proceedings of the second International Symposium on History of Machines and Mechanisms HMM2004 that was published in 2004 by Kluwer/Springer, [16], and is now available also in the IFToMM webpage. 3. Main Areas of Activity The mission of IFToMM is to promote research, development, and education in the field of Machines and Mechanisms using theoretical and experimental methods, along with their practical application. Main activities can be outlined in: * conferences, meetings, publications, knowledge transfer, collaborations. * 46 IFToMM members of territory and national Associations. * 14 Technical Committees are functionalize: Biomedical Devices, Computational Kinematics, Multibody Dynamics, Gearing and Transmissions, Human-Machine Systems, Linkages and Mechanical Controls, Micromachines, Reliability, Robotics and Mechatronics, Rotor Dynamics, Sustainable Energy Systems, Transportation Machinery, Tribology, Vibrations. * 4 Permanent Commissions: Communications, Publications, Archive; Educations; History; 4

Standardization of Terminology. * 5 Journals: Mechanism and Machine Theory, Problems of Mechanics, Chinese Journal of Mechanical Engineering, open-access Mechanical Sciences, Advances in Vibration Engineering, Mechanics Based Design of Structures and Machines. * World Congress every 4 years: Last World Congress – Guanjuato, Mexico, 2011 and next World Congress will be held in 2015 in Taipei, China-Taipei, http://iftomm2015.vohoz.com 4. Structure The structure of IFToMM is summarized in Fig. 1 where the action of IFToMM bodies is indicated as from IFToMM constitution for a flow of activities. According to IFToMM mission as in the constitution, the IFToMM activity is finalized to provide leadership for cooperation and development of modern results in the Mechanism and Machine Sciences by assisting and enhancing international collaboration. The bodies of IFToMM can be described synthetically as: *General Assembly: it is the supreme body of the Federation and determines its policy. It is composed of the Chief Delegates of IFToMM Organization members (in 2013 they are 46) and members of the Executive Council. *Executive Council: it manages the affairs of the Federation between the sessions of the General Assembly. It is elected every four years, meets annually, and is composed of the President, Vice- President, Secretary-General, Treasurer, and six ordinary members. In 2013 14 TCs are activate in the fields of: Biomechanical Engineering, Computational Kinematics, Gearing and Transmissions, Linkages and Mechanical Controls, Micromachines, Multibody Dynamics, Reliability, Robotics and Mechatronics, Rotordynamics, Sustainable Energy Systems, Transportation Machinery, Tribology, and Vibrations. Additional TCs are under consideration for hot topics with an IFToMM significant community. The PCs are on: Communications, Publications and Archiving, Education, History of MMS, and Standardization of Terminology.

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Fig. 1 – IFToMM bodies and activities 5. Mechanisms and Mechatronics: Concept, Basics and Challenges Today, a modern machine is a combination of systems of different natures and this integration has led to the modern Mechatronics concept, Fig. 2. Thus, most of the recent advances in machinery are considered to be in fields other than MMS. But Mechanism Design can still be recognized as a fundamental aspect for developing successful systems that operate in the mechanical world of human beings. Tasks and systems for human beings must generally have a mechanical nature and a careful Mechanism Design is still fundamental in obtaining systems that assist or substitute for human beings in their operations. Most of those tasks are already performed Activity and Trends in MMS from IFToMM Community with mechanism solutions that can be seen as traditional successful ones that nevertheless could benefit from further update or re-consideration because of new operational strategies and/or new materials and components (scaled designs). Therefore, Mechanism Design can still be considered as an engineering area for current research interests.

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Fig. 2 – A scheme for the concept of mechatronics Goals for Mechanism role in Mechatronics can be identified in: * Enhancements in knowledge and Technology needs for human life and industrial production have changed and evolved over time, also because of the evolution of systems, requiring innovation that have brought to Mechatronic design and operation of modern systems, * Whatever Electronics, Informatics, Telecommunications and so on, will be enhanced and expanded in Mechatronics Technology, Mechanical Design will be always needed since a woman/man will always live and interact with the environment on the basis of mechanical phenomena of the human nature. Hot topics of Mechanism Design for Mechatronics for great interest can be identified in the following areas: Kinematics and Dynamics (of load movement): * to analyse and investigate on the motion of mechatronic systems and load body during the operation performing or not a task; * to analyse and investigate on actions against the environment and within the mechatronic system yet; * for safety and security issues both for the system and human operators. Mechanics of interaction: * in evaluating situations with mechanical contacts and force transmissions; * to size the system actions according to the task requirements; * to achieve desired goals and proper working of the overall system. Dynamics of Multibody systems: * to consider complex motions like spatial movement at high acceleration; * by looking at integrated systems through suitable modelling of components of other nature. Other mechanical issues for integrated systems like for example: * locomotion mobility, object grasping and manipulation, human-machine interaction, and so on. 7

Main challenges and topics for formation, research, and professional activity in Mechanism Design for Mechatronics can be outlined in: * new mechanisms even with proper multi-functionality; * scaled mechanisms (from nano to giga mechanisms); * simplified mechanisms; * further mathematization for mechanism properties and design procedures; * new design procedures with integration within mechatronic concept; * new synthesis algorithms; * rethinking and re-application of past mechanisms and developments; * new technology for mechanisms; * development of intelligent mechanisms [17]; * application and transfer of mechanism design approach to other aspects of mechatronic designs. 6. Trends and Challenges MMS activity can be directed in further developments for: * information and understanding of the functionality and impact of systems; * algorithms for design, operation, and evaluation of systems with user/task –oriented performance; * operation and application for full tasks, as constrained by environmental limits; * performance evaluation and economic merit of systems; * transfer of innovation; * human-machine interfaces and interactions. Main current interests for research in MMS can be summarized as the following trends and challenges: * 3D Kinematics; * Modeling and mathematization for MS; * Multi-d. of multibody systems; * Spatial mechanisms and manipulators; * Unconventional mechanisms (with compliant, under- or over-constrained ones and other types); * Scaled mechanisms; * Tribology issues including the scale level of the object being created [18], and geometryenergetic theory of friction, allowing to design the junction mechanical elements with an optimal form of the mating parts [19]; * Creative design; 8

* Mechatronic designs; * Human-machine interactions for user-oriented systems; * Reconsideration and reformulation of theories and mechanism solutions. TMM has experienced a considerable growth to MMS with a modern view with the development of robotics in the 20th century as also indicated in [20]. Another surge of interests to mechanics was observed in the 80s in connection with miniaturization of electronic devices. This has given a possibility to build-in electronic components into the mechanical (electromechanical) base for PC-aided control of motion. A renewed interest for integrating TMM in other disciplines to give it the MMS character has been experienced with the rise of mechatronics that has formulated its theoretical foundations, including its basic terminology, in design procedures, subject area, technologies, and the relationship with the bordering scientific and engineering domains. The works dealing with terminology as per Russian written literature can refer to [21, 22] Mechatronics, microsystems and nanoengineering are viewed today as differently scaled mechatronic systems so that the mechatronic approach is expanded and treated as a systematic procedure for designing and operating all kind of systems, as also stressed in [23]. It is important to underline that mechatronics does not substitute the traditional mechanics but supplements and impact its further development. CONCLUSIONS IFToMM is a federation of worldwide community working in MMS (Mechanism and Machine Science) with a modern vision that is evolved from TMM. In this paper mission and characters of IFToMM are outlined also using historical perspective to emphasize on the role, trends and future interests of today MMS whose TMM foundation is still the core for technological developments also for mechatronic systems. REFERENCES 1. Артоболевский С.И. Теория механизмов и машин. – М.: Высшая школа, 1968. (Artobolevsky S.I. Theory of Mechanisms and Machines. – Moscow: Vys’shaya Shkola, 1968). 2. Chasles M. Exposé historique concernant le cours de machines dans l’enseignement de l’Ecole Polytechinique. Gauthier-Villars, Paris. 1886. 3. Lanz J.M. Betancourt, A.: Essai sur la composition des machines, Paris. 1808. 4. Masi F. Teoria dei meccanismi. Zanichelli, Bologna. 1897.

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5. Uicker J.J., Pennock G.R., Shigley J.E.: Theory of Machines and Mechanisms. – New York: Oxford University Press, 2003. 6. Попов С.А. Курсовое проектирование по теории механизмов и механике машин. – М. 1986. (Popov S.A. Term Projecting on Theory of Mechanisms and Mechanics of Machines. – Moscow, 1986.) 7. Теория механизмов и механика машин. Учебник для ВУЗов / К.В. Фролов, С.А. Попов, А.К. Мусатов и др. // Под ред. К.В. Фролова. – М.: Изд-во МГТУ им. Н.Э. Баумана, 2002. – 664 с. (Theory of Mechanisms and Mechanics of Machines. Textbook for Institutions of Higher Education / Editor K.V. Frolov. – Moscow: Publishing House “N.E. Bauman MSTU”, 2002. – 664 p.) 8. Механика машин / И.И. Вульфсон, М.Л. Ерихов, М.З. Коловский и др. // Под ред. Г.А. Смирнова. – М.: Высшая школа, 1996. – 511 с. (Mechanics of Machines / Editor G.A. Smirnov. – Moscow: Vys’shaya Shkola, 1996. – 511 p.) 9. Крайнев А.Ф. Механика машин. Фундаментальный словарь. – М.: Машиностроение, 2000. – 904 с. (Krainev A.F. Mechanics of Machines, Fundamental Glossary. – Moscow: Mashinostroenie, 2000. – 904 p.) 10. Erskine Crossley F.R The international federation for the theory of machines and mechanisms // J. Mech. – 1970. – No. 5. – P. 133-145. 11. IFToMM: IFToMM Commission A. Standards for Terminology // Mechanism and Machine Theory. –1991. – Vol. 26, No 5. 12. IFToMM: Standardization of Terminology // Mechanism and Machine Theory. Special issue. – 2003. – Vol. 38, Nos 7-10. 13. Mechanism and Machine Sciences. Vol. 1. Technology Developments: the Role of Mechanism and Machine Science and IFToMM / Editor Marco Ceccarelli. – Springer, 2011. 14. Ceccarelly M. History and Trends of Mechanism Science with an IFToMM Role / Proc. of the International Symposium “Theory and Practice of Gearing” (January 21-23, 2014, Russia, Izhevsk). Editor V.I. Goldfarb. – Izhevsk: Publishing House IzhGTU, 2013. – P. 3149. 15. Ceccarelli M. On the meaning of TMM over time // Bull. IFToMM News. – 1999. – Vol. 8, No. 1. – http://www.iftomm.org. 16. Angeles J., Bianchi G., Bessonov A.P., Maunder L., Morecki A., Roth B. A history of IFToMM, Chapter 2. In: Proceedings of HMM2004 – the Second IFToMM International Symposium on History of Machines and Mechanisms. –Dordrecht: Springer, 2004. – P. 25125. 17. Bansevičius R.P., Toločka R.T. Adaptive mechanics: concept and course for mechatronics study programme // Mechatronic Systems and Materials: selected papers / Opole University of Technology, editors: Ewald Macha, Roland Pawliczek. – Opole: Oficyna wydawnicza Politechniki Opolskiej, 2007. – P. 7-14.

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18. Мышкин Н.К., Петроковец М.И. Трение, смазка, износ. Физические основы и технические приложения трибологии. – Москва: Физматлит, 2007. – 368 c. (Myshkin N.K., Petrokovets M.I. Friction, Lubrication, Wear. Physical bases and technical appendices of a tribology. – Moscow: Fizmatlit, 2007. – 368 p.) 19. Шульц В.В. Форма естественного износа деталей машин и инструмента. – Ленинград: Машиностроение, 1990. – 208 с. (Shultz V.V. Form of natural wear of machine parts and tool. – Leningrad: Mashinostroenie, 1990. – 208 p.). 20. Шалобаев Е.В. Теоретические и практические проблемы развития мехатроники // Сборник «Современные технологии» под ред. С.А.Козлова. – СПб: СПбГУ ИТМО, 2001. – С.46-66. (Shalobaev E.V. Theoretical and practical problems of development of mechatronics // Collection "Modern Technologies" Editor S.A.Kozlov. – Saint-Petersburg: SPbSU ITMO, 2002. – P. 46-66.). 21. Шалобаев Е.В., Толочка Р.-Т. О рекомендациях IFToMM по терминологии в области мехатроники // Мехатроника, автоматизация, управление. – 2013. – № 2. – С. 2-5. (Shalobaev E.V., Tolocka R.-T. About recommendations of IFToMM terminology in the field of mechatronics // Mechatronics, Automation, Control. – 2013. – No. 2. – P. 2-5.). 22. Шалобаев Е.В., Толочка Р.-Т. Современное состояние и перспективы развития основных понятий в области мехатроники // Научно-технический вестник информационных технологий, механики и оптики. – 2014. – №1. – С.156-161. (Shalobaev E.V., Tolocka R.-T. Current state and prospects of development of the basic concepts in the field of mechatronics // The Scientific and technical messenger of information technologies, mechanics and optics. – 2014. – No. 1. – P. 156-161.) 23. Shalobaev Е.V. Mechatronics: Today Problems and Development Trends of Terminology // Proceeding of the Scientific Seminar “Terminology for the Mechanism and Machine Science” / Edited by V. Starzhinsky and V. Algin. (23rd Working Meeting of the IFToMM Permanent Commission for Standardization of Terminology on MMS, Minsk – Gomel, Belarus, June 21-26, 2010). – Minsk: BelGISS. – 2010. – P. 111-118.

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While in Saint-Petersburg seeing tour.

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PARTICIPATION OF SCIENTISTS FROM FORMER SOVIET REPUBLICS AND CIS COUNTRIES IN IFToMM ACTIVITIES Victor E. Starzhinsky, Prof., Dr. Sci., V.A. Belyi Metal-Polymer Research Institute of National Academy of Sciences of Belarus, Gomel, Belarus, [email protected]; Veniamin I. Goldfarb, Prof., Dr. Sci., Institute of Mechanics Kalashnikov Izhevsk State Technical University, Izhevsk, Russia, [email protected] Vladimir B. Algin, Prof., Dr. Sci., Institute of Machine Reliability of National Academy of Sciences of Belarus, Minsk, Belarus, [email protected] Eugeni V. Shalobaev, Prof., St.-Petersburg national research university of information technologies, mechanics and optics, Saint-Petersburg, Russia, [email protected] Mark M. Kane, Prof., Dr. Sci., Belarussian National Technical University, Minsk, Belarus, [email protected] ABSTRACT The data on participation of scientists from ex-USSR and CIS countries in the IFToMM foundation, development and current activities as well as in scientific and technical conferences and workshops promoted by the Federation are presented. Their contribution in the IFToMM structure and activities is described. The questions concerning terminological problems are discussed too. Key words: IFToMM, Theory of Mechanisms and Machines (TMM), Mechanism and Machine Science (MMS), terminology, Russian version. INTRODUCTION Information on scientists who took active part in the IFToMM can be consistently and credibly traced almost from its very onset. Four years after the IFToMM had been founded a Permanent Commission on TMM History (HMMS PC) was established through the efforts of the first President of the Federation, Academician I.I. Artobolevsky (USSR) and enthusiasm of the first Commission Chairman, J. Fillips (Australia). This occurred in 1973 [1]. The achieved results have shown that the work of the Commission was activated when Prof. 13

M. Ceccarelli (Italy) headed the Commission in 1998 and proposed to organize symposia on the MMS history every four years in the time between the IFToMM Congresses. In the period from 2000, the Symposia were held in Cassino (Italy) in 2000 and 2004, in Taiwan in 2008, Amsterdam (Holland) in 2012, while the next one is planned to be held in 2016 in Queretaro (Mexico). Besides, Prof. M. Ceccarelli has proposed to conduct scientific workshops as a preparatory stage on the history of MMS which are convened in different countries, e.g., in Moscow in 2005 on the base of N.E. Bauman Moscow State University (Prof. A.A. Golovin). Similar Workshop on History of Mechanism and Machine Science was held in St. Petersburg in 2015 on the base of St. Petersburg State Polytechnical University (Prof. A.N. Evgrafov) (http://hmms2015). To summarize the results of the above-named events it was decided to publish collections of the Symposia and workshops papers [1-3] with contribution by scientists from the CIS countries and Baltic States on the following topics: history of creation of the first steam vehicle [4, 5] and the prototypes of manipulators [6], examples from the HMMS studies [7, 8] and modern investigations in the MMS field [9, 10]. The HMMS presentations included: the description of the collection of models of different mechanisms in the Bauman Moscow State University [11, 12]; a report on the contribution by such eminent Russian scientists as N.I. Mertsalov, L.P. Smirnov, A.G. Ufimtsev and other [13, 14] in the development of MMS; the results of work of the IFToMM Technical Committees on Gearing [15] and Reliability [16]; reports of the Chairmen of the National IFToMM Committees on their contribution in the development of MMS [17-21]. Analysis of the aforementioned reports and the experience gained by the authors in the IFToMM structures, as well as the information available on the IFToMM web-site http://www.iftomm.net provide a clear vision of participation of the scientists from Russia, Belarus, Ukraine, Armenia, Baltic countries, etc. in the IFToMM activities. Their significant contribution both to the work of the Federation and to the science as a whole was marked by Prof. A. Fuentes (Spain) in his speech at the International Symposium “The Theory and Practice of Gearing” in Izhevsk (Russia) in January, 2014 . He said: “It is very important that the Symposium has gathered a reputable international community of scientists in gears. Unfortunately, in my viewpoint, till now the Russian science in all its diversity is undeservedly insufficiently known abroad. In this respect, Prof. Goldfarb has made every effort to change this situation, e.g. by publishing the Proceedings of this Symposium in English to make them available to the world public.”



Several papers of Russian authors have been published in Special Issue (see Appendix4).

Proceedings of the International Symposium “Theory and Practice of Gearing” (January 21-23, 2014, Izhevsk, Russia), Izhevsk: Publisher IzhSTU, 2013. – 580 p. 

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1. In the beginning of IFToMM The activities of Russian scientists in the field of machines science have been closely interrelated with IFToMM from the very beginning. For instance, Academician Artobolevsky I.I. was one of initiators and founders of the organization in 1969. He was its first President and was at the head of the organization for the next 8 years. At the same time, he was the first Chairman of the USSR Committee of IFToMM. Artobolevsky’s successor as a representative of the USSR and Russia was Prof. A.P. Bessonov. He was also elected the Chairman of the National Russian Committee. The XI-th World Congress (2004) acknowledged his fruitful work in the Federation and awarded him the honorary medal. It is worth mentioning an interesting fact that the President of IFToMM, Prof. K.J. Waldron and the General Secretary of the Federation, Prof. M. Ceccarelli took part in the Conference dedicated to a Centenary Jubilee of Prof. I.I. Artobolevsky in 2005 at the Institute of Machines Science in Moscow. In 1969 when IFToMM was founded, they have organized a Permanent Commission on Standardization of Terminology (IFToMM PC A). Prof. D. Muster was elected as the Chairman and Prof. N.I. Levitsky (USSR) as the Vice-Chairman. 2. Participation in executive boards and technical structures Based on the available information let us dwell upon the personal participation of the scientists from the former USSR in the activities of IFToMM organization departments. Professor Yury L. Sarkissyan worked at the Yerevan Polytechnic Institute (from 1971 – the Armenian State Technical University (SEUA). The development of TMM in Armenia started from the moment when a Seminar on TMM was organized at the Yerevan Polytechnic Institute in 1971 which was a part of All-Union Seminars on TMM conducted in the USSR [22]. The first works on the four-link mechanisms were published by Yu.L. Sarkissyan as a co-author with Prof. N.I. Levitsky [23, 24]. Armenia became a member of IFToMM in 1998. The Armenian IFToMM National Committee published a terminological dictionary [25] in 2009 and its electronic version in English is available on the University web-site (www.seua.am). Prof. Yu.L. Sarkissyan has published his works in the Journal of Machines Science (Russian Journal “Mashinovedenie”) [26-28], participated in the work of a number of IFToMM Congresses, Symposia [29-34] and Conferences [35-39]. He has published a monograph on the approximating synthesis of mechanisms [40]. Prof. Yu.L. Sarkissyan was elected as the IFToMM Executive Counsel (1991-1995), was a member of the USSR IFToMM National Committee and a Chairman of the Armenian IFToMM National Committee. As a member of the IFToMM on Terminology (PC A) (1963) he worked on compiling the Russian version of sections 0-6 IFToMM Terminology (1991) [41]. 15

Professor Veniamin I. Goldfarb (Kalashnikov Izhevsk State Technical University, Institute of Mechanics) – author of publications on spiroid gears, simulation and computer-aided design of gears, in particular, monographs [42, 43], public speeches at IFToMM World Congresses [44-47], conferences on gears [48-52] and the scientific seminar on terminology [53]. He is the organizer of international scientific technical conferences and conferences with international participation “Theory and Practice of Gearing” (1996, 1998, 2001, 2004, 2008), as well as the International Symposium of the same name (2014). In 1994 Prof. V.I. Goldfarb was elected as the member from Russia to the IFToMM Technical Committee for Gearing and Transmissions. Immediately he proposed to edit and publish regularly the International Journal “Gearing and Transmissions”. Since 1991 it has been published in Russia as the official press edition of Association of Mechanical Transmission Engineers (АМТ) and has become one of IFToMM official journals. Since 1994 Prof. Goldfarb had been the chief editor of “Gearing and Transmissions” Journal till 2005 when it ceased to be published in Russia. In 1997 Prof. V.I. Goldfarb was elected as the Chair of IFToMM Technical Committee for Gearing and Transmissions (IFToMM TC GT). After a 4-year period of his Chairmanship he was re-elected for the second term 2001 - 2005. He contributed a lot to revitalizing IFToMM TC GT: a new concept of its activity was proposed in 7 directions including the development of joint programs and projects, publishing activity, educational and other activities; a new international program on gears was organized with the participation of Slovakia, Czech Republic, Hungary, Poland, Bulgaria, USA, Belarus. One or two meetings were held annually, usually within the framework of international conferences all over the World. Being the Chair of IFToMM TC GT, Prof. Goldfarb participated actively in the Executive Councel meetings by taking part in discussions of key directions of the Federation’s activity. In 2008 Prof. V.I. Goldfarb was elected as a constant member of IFToMM Executive Council as the expert who contributed immensely to IFToMM activity. He was the member and Chair of a number of Working Groups on development of the procedure for the new members election, on interaction with other international organizations, etc. He participated in all meetings with the full voting status. In 2011 Prof. V.I. Goldfarb was elected as the Vice-President and member of the Executive Council of IFToMM (till 2015). At the same time he was elected as the Chair of IFToMM Permanent Commission for Communications, Publications and Archiving. At present he is in charge of extensive and critical activities on restructuring, reprogramming and continuous updating of IFToMM official website http://www.iftomm.net, on collaboration with national committees and other ongoing obligations. In January, 2012 he participated in the meeting of Belarus IFToMM National Committee which brought a very productive exchange of ideas on the directions of activities of IFToMM, Joint Institute of Mechanical Engineering of the National Academy of Sciences of Belarus, Belarus IFToMM National Committee and IFToMM PCA. Several proposals were 16

made on participation of Russian and Belarus experts in IFToMM Technical Committees and IFToMM Permanent Commissions and many of which were implemented later. At the annual meeting of IFToMM Executive Council in 2010 Prof. V.I. Goldfarb, for the first time ever, proposed the idea to organize and hold regularly International Student Olympiads on Theory of Machines and Mechanisms supported by IFToMM. In 2011 Prof. V.I. Goldfarb became the organizer of the First International Student Olympiad on TMM which was successfully held in Kalashnikov Izhevsk State Technical University and gave rise to a number of international student initiatives in the field of TMM. Professor Mark M. Kane (Belarus State Technical University) is a member of the PC A since 2005. He is the author of monographs and textbooks for students and participated in elaboration of standards on the technology of mechanical engineering and quality of techware [54-56]. He has compiled a terminological section on “Quality Parameters of Machines and Their Components”. Restructuring and contents of this section were a subject rd

th

of discussion at the 23 (Minsk–Gomel, Belarus, 2010) and 24 (Ilmenau, Germany, 2012) PC A Working Meetings. Classification of terms included in the original version of the Chapter “Quality” is presented below Chapter, group

Name of group, subgroup (number of terms)

Chapter, group

Name of group, subgroup (number of terms)

1.

General notions of quality (61 terms)

3.1.

General notions (8 terms)

1.1.

Quality as such (10 terms)

3.2.

Machine behavior (6 terms)

1.2.

Machine quality characteristics (16 terms)

3.3

Defects, failures, damages, and faults (36 terms)

1.3.

Correspondence between product quality and requirements (13 terms)

3.4.

Redundancy (19 terms)

1.4

Quality estimation (7 terms)

3.5.

Notions concerning machine structure (design) (7 terms)

1.5.

Audit of correspondence between quality and requirements (15 terms)

4.

Structure-technological indices of quality (46 terms)

2.

Anthropological parameters of machine quality (30 terms)

4.1

Machine structure characteristics (5 terms)

2.1.

Labor safety indices (19 terms)

4.2

Technical efficiency Indices (6 terms)

2.2.

Machine safety (11 terms)

4.3.

Technical compatibility of Machines and their components (23 terms)

3.

Machine dependability parameters (76 terms)

4.4.

Process ability of machines and their component structure (12 terms)

17

Professor Vladimir D. Plakhtin (Moscow State Open University) – was a member of the PC A since 1995 till 2008. He translated and edited the Russian version of sections 7-13 of the IFToMM Terminology published in 2003 [57]. Professor Eduard E. Peisach (Saint - Petersburg University of Technology and Design) took part in the 19th (Kaunas, Lithuania, June 25-30, 2000) and 21st (Bardejov Spa, Slovakia, June 27 – July 2, 2005) meetings of the PC A as an expert. He has analyzed the both issues: [41] (paper in English) and [57] (paper in Russian). The analysis has been carried out through the “classical” TMM sections: 0 – Generalities; 1 – Structure of Machines and Mechanisms; 2 – Kinematics; 3 – Dynamics; 6 – General terms used in MMS and briefly remarks stated as follows: 1. Presence of notions (28) taken from other disciplines – mathematics, physics, theoretical mechanics, which disturbs the general principles of architecture of scientific notions (e.g., 2.2.1 MOTION). 2. There are the notions, related to the general principles and laws of physics and theoretical mechanics (14), establishing the relation between mechanical values, that can not be related to the category of terms (e.g., 3.4.11 HAMILTON’S PRINCIPLE). 3. In the Russian part of Terminology there are some inadequate word-combinations (6), such as 3.4.3 ПРИНЦИП КОЛИЧЕСТВА ДВИЖЕНИЯ – PRINCIPLE OF MOMENTUM, which are irrelevant with the established traditional conventional verbal expression in this discipline in Russian (“theorem about change in momentum of a system”). 4. Unacceptable notions from a scientific slang (7) are included such as 1.1.49 ХРАПОВАЯ СОБАЧКА – PAWL [CLICK, DETENT] and other. 5. There are the forms of terms not reflecting, the essence of the phenomena due to their incompleteness (10) such as 3.7.40 ВОЗБУЖДЕНИЕ – EXCITATION [STIMULUS], which become concrete only in word-combination, such as “ВОЗБУЖДЕНИЕ – EXCITATION OF VIBRATION” (power, kinematic, parametric, harmonic) or it is included. 6. There are the notions that are not terms (6) e.g., 2.3.14 POLE, 2.3.16 POLE VELOCITY and other. 7. There is disagreement between some notion and its definition (5), e.g., notion 1.3.2 ISOMORPHISM. If we change its definition for “STRUCTURAL ISOMORPHIC MECHANISM”, it would recover agreement between the notion and its definition. 8. Polysemy of notions encountered in different sections of Terminology (8), such as 3.2.31, IMPULSE – ИМПУЛЬС, 3.5.53. MECHANICAL SHOCK – ИМПУЛЬС. To remove it, we should either (1) leave one term with a compromise definition (if terms are close in sense) or (2) include two terms of different forms (if terms differ much in sense). In [58] proposals for terms 1.3.13, 3.2.30, 3.2.31, 3.5.53, 3.5.55, 4.1.14, 4.2.5 have been formulated. 9. Inaccuracies in definitions to the terms (especially in Russian-language version) as well 18

as in sense of the concept content itself, and in relation to the norms of Russian language (18). This occurred because of insufficient of participation of Russian-language editors in the Terminology development. 10. Absence of the range of important generally accepted notions related to the theory of mechanisms (47), contained in sources [143] (47) and [144] (22), as well section “Synthesis of mechanisms” and important group of notions “Assembly of Linkages” (10 notions have been mentioned in the source [145]). Our comments concerning above remarks and proposals can be summarized as follows: Concrete proposals in relation to the principles of selecting the terms and formulation of definitions long with their translation into other languages can be in different extent considered during further work with the terminology. The proposals in what concerns returning to a traditional abbreviation of TMM and definition of the sphere it occupies, questioning of the leading specialists in this field as well as preparation of corresponding books in certain TMM directions can not be realized within the frames of the IFToMM concept consisting in a wide understanding of TMM as a science on the mechanisms and machines (MMS) that was adopted in 2000, and is continuously expanding. Besides, it is necessary to take into account the adopted system of work with terminology in the Commission and the results of a many-year titanic work of more than one generation of professionals and its major result in the form of the functioning today electronic terminological multilingual dictionary. In this connection, it will be better to consider these proposals as a self-reliant project that requires mobilizing of corresponding organization, intellectual and material resources. Dr. Yury L. Soliterman (Joint Institute of Mechanical Engineering of National Academy of Science of Belarus) (JIME of NASB) was a member of the IFToMM Technical Committee “Gearing and Transmissions” from 1995 till 2008 and a member of the IFToMM Permanent Commission on History of TMM. He is a specialist in the dynamics and vibroactivity, prediction of reliability, standardization of gearing and problems of terminology [62-64]; he has numerous publications on these topics, he participated in international conferences and symposia. Yury Soliterman took part th

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in the 4 World Congress on Gearing (Paris, France, 1999) [65], in the 10 World Congress on TMM (Oulu, Finland, 1999) [66, 67], International Symposium on HTMM (Cassino, th

Italy, 2000) [68], 10 ASME conference on gearing (Las Vegas, Nevad, USA, 2007) [69]. His latest publications are articles in the journal “Reducers and Drives” [70] and in the proceedings of the Association on Design, Elements and Construction (ADECO, Serbia) [71, 72]. He was among the initiators and developers of the standard on the gear failure modes [73]. Professor Victor E. Starzhinsky (V.A. Belyi Metal-Polymer Research Institute of NASB). Prof. V.E. Starzhinsky has been a member of the IFToMM Technical Committee “Gearing and Transmissions” since 1995 and a member of the IFToMM PC A since 2000. He took part in all IFToMM PC A Working Meetings from 2000 till 2014. He has been engaged in 19

the problems of gearing terminology in cooperation with Dr. Yu.L. Soliterman and Dr. A.M. Goman since 1990-ies. [62]. As the result of analysis of publications and standards on terminology performed in 20002003 [63, 64, 74, 75], the Reference Dictionary Book on Gearing [76] was finalized. Prof. Starzhinsky is the author of Chapter 12 “Gearing” (226 terms) of the IFToMM Terminology [57]. He also participated in preparation of the electronic version of the dictionary (www.iftomm.3me.tudelft.nl) and worked on the problem of the so-called “missing links” in Chapters 7-13 of the Russian part of the IFToMM Terminology, as well as on translation of Chapter 14 “Transportation Machinery and Logistics” into Russian. As a member of the IFToMM PC A and the member of Belarus IFToMM National Committee he was the organizer (jointly with Prof. V.B. Algin) of the 23rd Working Meeting in Minsk and Gomel in 2010. In cooperation with Prof. E.V. Shalobaev, Prof. V.E. Starzhinsky was a chief organizer of the 25th Working Meeting of the IFToMM (St. Petersburg, Russia, 2014). Prof. V.E. Starzhinsky was the editor of the 5th edition of the Reference Dictionary Book on Gearing published in 2011 [77]. Professor Vladimir B. Algin (The Joint Institute of Mechanical Engineering NASB) is the Chairman of Belarus IFToMM National Committee, and a Member of IFToMM Technical Committee on Multibody Dynamics. He is the organizer (together with Prof. V.E. Starzhinsky) of the 23rd Working Meeting of IFToMM PC A in Minsk and Gomel. He took part in the work of the 12

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(Besancon, France, June 2007) and the 13

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(Guanajuato,

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Mexico, June 2011) World Congresses [79, 80], as well as of the 23 Working Meeting of IFToMM PC A (Minsk-Gomel, Belarus, 2010) [81]. He participated in the organization, carrying out and publication of proceedings of the Belarus Congresses on Theoretical and Applied Mechanics and [82-84, 146] and “Innovation in Mechanical Engineering” [147151. The research directions in the field of mechanism and machine theory in Belarus are considered by V. Algin in the chapter “Role of MMS and IFToMM in Belarus” of the monograph “MMS and IFToMM” [85]. They are as follows:  theory of superlong highway multilink trucks;  investigations in modelling and simulation of mobile machines and their units as multibody systems (MBS) for driving and braking modes;  investigations in advanced vehicle control using multibody dynamics methods and software;  investigations on automobiles with hybrid power units;  theory and calculations of mobile machines: load modes, life-and-functional computation, reliability calculation, life expectancy of machines and their units. Some important results obtained in the aforementioned directions are presented in works [86, 87]. Professor Eugeni V. Shalobaev (St. Petersburg National Research University of Information Technologies, Mechanics and Optics). 20

The first contacts with IFToMM were initiated by Prof. E.V. Shalobaev in 1975 when Prof. F.R.E. Crossly (USA), the then IFToMM Vice-President, visited departments “Theoretical Mechanics” and “Parts of Instruments” in the Leningrad Institute of Precise Mechanics and Optics. At that time Prof. V.E. Shalobaev was a post-graduate student and acted as a German translator for the guests; later he was invited to Germany for practical training during the IFToMM probation period. Prof. E.V. Shalobaev has published (with co-authors) a number of articles in the journal “Gearing and Transmissions” (Editor-in-Chief, Prof. V.I. Goldfarb) [88, 89]. The journal has grown from an industry journal of the Association of Engineers of Mechanical Transmissions (AMT) to the IFToMM body which Editorial Board was expanded by the scientists from Bulgaria - Profs. K. Arnaudov and V. Parushev (recommended by Prof. V.I. Goldfarb). Prof. E.V. Shalobaev was invited by the Vice-President of IFToMM Prof. V.I. Goldfarb to take part in the International Conferences and Symposia on the Theory and Practice of Gearing organized by the IFToMM Technical Committee “Gearing and Transmissions” jointly with Russian IFToMM National Committee in 1996 [90], 1998 [91], 2004 [92-95], 2014 [96]. He also participated in the International Conferences organized jointly with IFToMM in Great Britain [97], Serbia [98, 99], Bulgaria [100]. In 2000 Prof. E.V. Shalobaev was invited by Prof. V.E. Starzhinsky to take part in the work within the frame of IFToMM [63]. He joined the team of the authors of the 2nd edition of the Reference Dictionary on Gearing (Russian-English-German-French) which was published in 2002 [76] and afterwards re-edited several times [77, 101-104]. In 2002 Prof. E.V. Shalobaev began his work in the IFToMM PC A as an expert in the field of mechatronics [105]. He has published several works in this field of knowledge [106-113] and put forward valuable proposals, in particular, with respect to the electronic version of the Dictionary IFToMM Terminology 2003 [114] which is being constantly revised. This includes, e.g., the notions like “sensor-controller-actuator” triads, mechatronic levels (macro-, micro-, nano-), etc. th

Prof. E.V. Shalobaev participated in the 19 (2000, Kaunas, Lithuania as a contributor) and rd

23 (2010, Minsk-Gomel, Belarus, as a participant) IFToMM PC A Working Meetings. Prof. E.V. Shalobaev has presented two papers that were published in the Proceedings [115, 116] and was introduced to the PC A as an observer. In the decade 2004-2014 Prof. E.V. Shalobaev individually and with Prof. R.T. Tolocka as a co-author published a series of articles devoted to the problem of terminology in the field of th

mechatronics [117-124]. At the 24 Meeting (2012, Ilmenau, Germany) Prof. E.V. Shalobaev was elected a member of the Commission. At the Plenary Session of the International Symposium on the Theory and Practice of Gearing [125] in January 2014, Prof. E.V. Shalobaev proposed to significantly increase the coverage of the activities of scientists from the former USSR in IFToMM publications. On behalf of the IFToMM authoritie, Prof. M. Ceccarelli (President of IFToMM 2007-2011) 21

asked a group of scientists from CIS countries (Profs. V.E. Starzhinsky, E.V. Shalobaev and A.E. Volkov) to give their opinion on the progress of TMM in CIS states to get an objective picture on TMM evolution in the world. Prof. M. Ceccarelli proposed to organize closer collaboration with the IFToMM’s Permanent Commission on the HTMM and to take part in the Seminar on HMMS to be held in 2015 in Russia, St. Petersburg. Prof. E.V. Shalobaev together with Prof. Starzhinsky are the main coordinators and th

organizers of the 25 Working Meeting of the IFToMM PC A in 2014. Professor R. Tadas Tolocka (Kaunas Technological University) has been a member of the IFToMM PC A since 1998. He took part in the PC A Working Meetings in 1998, 2000, 2002, 2005, 2008, 2010. He is a developer of Chapter 13 “Mechatronics” published in a special issue “Standardization of Terminology” in 2003 [57]. He has a number of publications in the field of mechatronics [118-123] jointly with his co-author Prof. Shalobaev, articles in the proceedings of scientific seminars on Terminology of TMM, as well as on modern history and terminology of smart adaptive mechanisms [126, 127]. He also takes part in the work of Permanent Commissions on communications, publications and archiving, education and history. 3. Terminology: contribution of scientists from the ex-USSR and CIS countries The work on compilation of the TMM dictionary has begun from the first days of the IFToMM PC A establishment. At the first working meeting in 1971 the participants adopted the main list of terms, the draft program, responsibility zones and a set of rules. In 1973 the provisional program of work was discussed with respect to the subject matter, structure and volume of information; contacts with ISO were established (TC 10/SC4 and ЕS 45). Subsequent meetings were devoted to the discussion of specific sections of terminology which were being gradually filled with the terms [128]. In 1987 the completed versions of terminology were presented at a Special Meeting of the VII World Congress of IFToMM: the German version by Prof. G. Boeglsack, Russian version by Prof. Yu.L. Sarkissyan and the French one by Prof. J.P. Lallemand. In 1990, at the 12th Working Meeting, responsible persons presented the final version of the terminology; the editors and persons in charge of the terminological sections were elected. In 1991, the 26th volume of the Journal “Mechanism and Machine Theory” was issued which official version of terminology contained 773 terms with definitions in four languages [41]. The IFToMM Terminology 1991 [41] included the terms grouped into 7 sections, namely: 1. The main terms (4); 2. Design of machines and mechanisms (124); 3. Kinematics (97); 4. Dynamics (352); 5. Control of machines and measurements (73); 6. Robotics (91); 7. General terms used in TMM (32). The transition to a new concept proposed by IFToMM which envisaged both the expansion of “The theory of mechanisms and machines” (TMM) subject matter and the change of its 22

name to the “Mechanism and machine science” (MMS) was officially adopted in 2000. To this effect, the IFToMM PC A has prepared the basis. At the Working Meeting in 1994 the IFToMM PC A discussed new additional terms which had appeared in dynamics and robotics. In 1998 the functioning IFToMM PC A were reorganized and new subcommissions were established to develop terminology in “Dynamics” and new “Rotor th

dynamics” and “Nonlinear oscillations” sections. At the 19 (2000) and subsequent Meetings the IFToMM PC A discussed the above-mentioned sections, as well as newly proposed ones, such as “Stability”, “Systems and models”, “Biomechanics”, “Gearing”, “Mechatronics”. This work has spurred preparation and publication of the IFToMM Terminology 2003 [57]. It included the sections developed earlier (0-6) and the following new chapters: 1. Dynamics. New terms (42); 2. Rotor dynamics and measurements (110); 3. Vibration and oscillations (125); 4. Stability (22); 5. Biomechanics (51); 7. Gearing (223); 8. Mechatronics (63). In line with the work on new terminological sections, the Commission was preparing a new th

variant of representing and relative position of the texts in four languages. At the 18 Meeting in 1998 it was decided to organize a new sub-commission “A new order of organization and interaction of the system”. At this and subsequent Meetings, the Commission undertook the discussion on the digital Internet version of the electronic terminological Dictionary. The final stage of the work on the Dictionary was to place its version 3.0 on the website www.ocp.tudelft.nl/tt/cadom/IFToMM/web/index.html. rd

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At the 23 (Minsk-Gomel, Belarus) and 24 (Ilmenau, Germany) Meetings the Commission addressed the following issues:  definitions of a number of the main terms in “Kinematics” and “Dynamics” sections;  structure of “Gearing” section, division of the terms according to their subject matter attribution for subsequent use in the electronic Dictionary;  finalization of “Transportation Machinery and Logistics” section for subsequent use in the electronic Dictionary;  review of terminology in the new “Quality factors of machines and their components”, “Compliant mechanisms”, and “Micromechanisms” sections;  enhancing the volume, refinement of terminology quality, format and monitoring of electronic Dictionary in the Internet in view of the latest updated version 3.0;  creation of the database within the frame of DMG-lib/think MOTION project. As it was previously mentioned, the Russian versions of sections 0-6 (translations into Russian) were prepared by Prof. Yu.L. Sarkissyan (member of the PCA since 1983) and were later included into the terminological book 1998 [41]. Finally, this version was reviewed by Dr. I. Ionescu (Concern “Romanian State Passenger Railroads”, Romania). New sections (2003) of the terminology were prepared by Prof. V.D. Plakhtin (Moscow State Open University, Russia) jointly with Prof. V.E. Starzhinsky (MPRI NASB, Belarus). 23

Prof. V.E. Starzhinsky has also prepared the first draft variant of Section 12 “Gearing” in four languages that was later updated and restructured by Prof. A.J. Klein-Breteler (Technical University, Delft, the Netherlands). The so-called missing links were fixed in sections 0-6 of the Russian version of the electronic Dictionary by Dr. S. Segla (Slovakia); for sections 7-13 this work was done by Prof. V.E. Starzhinsky (Belarus). It should be reiterated that Prof. E.E. Peisach has made significant and creative contribution into the elaboration of the classical TMM terminology, which includes the basic notions of kinematics and dynamics. He has thoroughly analyzed the terms and definitions for sections 0-6 and pointed out a number of essential drawbacks in formulations and translations in the Russian version [58, 59]. The issues related to translation of MMS terminology into Chinese, Dutch, Romanian and Czech languages was repeatedly discussed at the Meetings. Nevertheless, only Romanian version of the terminology has been published [129]. We know that the terminology translations into Armenian [25] and Georgian [130] languages are also available. In the closing part of the article, it is worthwhile to underline the importance to adhere to traditional approaches which have been formed in a tedious and long-lasting process of terminology elaboration and legacy of the developers participating in it. Based on the analysis of the issue we should emphasize a systematic work in this direction by the national Committees of Germany, France, Hungary and Romania. For instance, Prof. G. Boegelsack (Ilmenau) was succeeded by Prof. B.Corves (Ilmenau) in 2005, and two young specialists Dr. T. Brix and Dr. U. Doering from the same University started their work in the PC A in 2008. A broad-minded expert, Prof. J.P. Lallemand (France) who was the member of the Commission from 1988 till 2000 handed over his position to Prof. D. Remond (France) in 2002. Prof. I. Salyi (Hungary) was working in the Commission from 1980 till 2000 and was substituted in 2000 by Dr. I. Biro. The Romanian specialists introduced changes in 1992 when Prof. N.I. Manolesku retired and Dr. T. Ionescu was accepted as a member, then Prof. O. Antonescu came in 1996, and since 2008 Dr. O. Antonescu is working in the PC A as an expert. The bulk of work on the Russian translation of Chapters 0-6 terminology which was incorporated in the issue of 1991 [41] had been done by Prof. Yu.L. Sarkissyan. Russian translation of new Chapters 7-13 has been prepared by Prof. V.D. Plakhtin. It should be noted that, unfortunately, the Russian IFToMM National Committee has not managed to preserve stable continuity of the Russian specialists. We have to admit that Prof. Yu.L. Sarkissyan rarely attended the Meetings, especially in recent years (his last presence at a meeting dates back to 1991). Professor V.D. Plakhtin has retired because of a disease; Prof. D.N. Levitski did not take part in the work of the Commission in the recent decade. The above facts have strained the situation with the Russian part of work on terminology. The work of the delegates from Belarus (Prof. V.E. Starzhinsky since 2000, and Prof. M.M. Kane since 2005) and invitation of Prof. E.V. Shalobaev as an observer to the Commission (2010) and then as its member (2012) have alleviated the situation with deficiency of the 24

Russian-speaking specialists. Nevertheless, the issue of filling the second vacancy in the restricted quota of the IFToMM representatives from the Russian members remains outstanding. Let us cite a generalized statistics for objectiveness [128]. In total, about 60 scientists from 25 countries of the world participated in the work of the IFToMM PC A from 1969 till 2012, among them seven members from Germany; four scientists per Great Britain, Poland, Romania, USA; three representatives per Hungary, China, Russia, France; two representatives per Belarus, The Netherlands, Serbia, Taiwan, Czechoslovakia, Yugoslavia, Japan; one member per Austria, Armenia, Bulgaria, Spain, Italy, Lithuania, Slovakia, USSR, Finland. Taking into account the importance of systematic work on terminology and coordination of the efforts of scientists from different countries in achieving high-quality results, it is highly important for the Russian IFToMM National Committee to analyze the situation and make everything possible to organize participation of Russian specialists in the Meetings for preparation and coordination of terminological texts, development of new sections. It is of no less importance to attract competent young scientists with a fluent knowledge of English. Unfortunately, the long-lasting reorganization in the Russian IFToMM National Committee due to the departure of its Chairman Prof. N.V. Umnov in 2010 and election of a new Chairman, Academician of RAS, V.M. Fomin, transfer of the Committee coordination center to Novosibirsk are the factors impeding stabilization of the work. In this connection, the Belorussian IFToMM National Committee has asked the Chairman of the IFToMM PC A to approve election of Dr. S.V. Shil’ko (V.A. Belyi Metal-Polymer Research Institute of NASB, Gomel, Belarus) as an expert. Dr. S.V. Shil’ko has a profound experience in the field of terminology [76, 77, 101-104, 131], book publications in English [132, 152], as well as participation in the International Conferences on mechanics [133-139]. CONCLUSIONS In conclusion, the available data on participation of scientists from the USSR, CIS and Baltic countries in the leading and technical structures of IFToMM are presented in a summarized form [140]. The members of the Executive Council of IFToMM in different periods were:  Academician of RAS N.I. Artobolevsky as a President (1969-1974), and an Honorary President (1975-1979);  Prof. A.P. Bessonov as a member of the Council (1975-1979, 1979-1999), VicePresident (1980-1983); was a Chair of the Permanent Commission for publications (1971-1981) periodically exchanging the position with Prof. Erskine F.R. Crossley;  Prof. V.I. Goldfarb as a member of the Executive Council (2008-2011), VicePresident (2012-2015), Chairman of the Technical Committee on Gearing (199825

2005), Chairman of the Permanent Commission on communication, publications and archiving (2012-2015);  Academician of RAS K.V. Frolov as a member of the Executive Council (19841991), Chairman of the Technical Committee on the systems man-machine (19861989);  Prof. Yu.L. Sarkissyan as a member of the Executive Council (1992-1995), member of the Permanent Commission on terminology (1983-till now);  The Corresponding Member of the Ukrainian Academy of Sciences Prof. S.M. Kozhevnikov was a member of the Executive Council of IFToMM (19711983), and then (till 1986) an Honorary member of the EC, a member of the Permanent Commission on science connections with industry;  Academician of Kazakhstan AS Prof. Gakhal Umaliev was a member of the Executive Council since 1983 (Kazakhstan). In the first years of IFToMM organization, a well-known Soviet scientist Prof. N.I. Levitskii was the Vice-Chair of the PC on standardization and terminology Along with the above-mentioned specialists, the scientists from the former USSR, which currently represent CIS and Baltic states, are working in the Technical Commissions and Permanent Commissions of IFToMM [140]: Technical Committees:  TC on Gearing: Prof. B. Shchokin (Ukraine), Prof. S.A. Lagutin (Russia), Prof. I. Belokonev (Ukraine);  TC on Linkages and Mechanical Controls: Prof. R.I. Alizade (Azerbaijan);  TC on Micromachines: Prof. B. Bansevicius (Lithuania);  TC on Multibody Dynamics: Prof. V.B. Algin (Belarus), Prof. Oleg Gasparyan (Armenia);  TC on Reliability: Prof. I.V. Demiyanushko (Russia), Prof. O.V. Berestnev (Belarus), Prof. Pereverzev (Ukraine), Prof. V.P. Roizman (Ukraine), Prof. G. Panovko (Russia), Prof. K.N. Voinov (Russia), Prof. B. Bansevicius (Lithuania); Dr. V. Barzdaitis (Lithuania), Prof. G. Kulvietis (Lithuania), Prof. V.A. Glazunov (Russia);  TC on Rotor Dynamics: Prof. Yu. Vorobiyov (Ukraine);  TC on Sustainable Energy Systems: Dr. G. Stauskis (Lithuania);  TC on Tribology: N.K. Myshkin (Belarus), Prof. V. Dulgeru (Moldova), Prof. R. Barauskas (Lithuania);  TC on Systems Man-Machine: Prof. V.P. Tregubov (Russia, is a chairman since 2002);  TC on the Personnel of Higher Qualification: Academician U.A. Zheldosbekov (Kazakhstan). Permanent Commissions  PC on Communication, Publications and Archiving: Dr. N.A. Barmina (Russia); 26

 PC on Education: Prof. V.A. Gavrilenko (USSR, till 1977), Prof. V. Barzdaitis (Lithuania), Prof. D.N. Levitskiy (Rusia);  PC on History: Prof. A. Golovin (Russia), Prof. V. Tarabarin (Russia), Prof. Ya. Kinitskii (Ukraine), Prof. B. Kopey (Ukraine), Prof. O.V. Egorova (Russia). Let us once again track the major stages of progress in the MMS with regard to the terminological aspect due to its paramount importance: 1. Terminological Dictionary issued in 1991 [41] that included seven subject sections edited by the Chairman of the PC A, Prof. G.M. Prentis (1988-1990). 2. Publication of “Terminology of MMS – 2003” [57] that included seven new sections taking into account new interpretation of TMM as a Science on mechanisms and machines presuming changes in the format of representing blocks of terminology to simplify preparation of the electronic version of the dictionary. The book was prepared and published under the guidance of the Chairman of the PC A, Dr. T. Ionesku (1997-2005). 3. Preparatory and organizational works on launching the electronic version of the dictionary through Internet were initiated and monitored by the Chairman of the PC A, Prof. A.J. Klein-Breteler (2006-2013) [141, 142]. REFERENCES 1. Koetsier T., Kerle H. Hong-Sen Yan. The History of Mechanism and Machine Science (HMMS) and IFToMM’s Permanent Commission for HMMS / Technology Developments: the Role of Mechanism and Machine Science 1 / Editor Marco Ceccarelli. Springer. 2011. – P. 77-93. 2. Ceccarelli M., Koetsier T. On the IFToMM Permanent Commission for History of MMS / Proceedings HMM 2004 // Editor Marco Ceccarelli. Kluwer Academic, Dordrecht. 2004. 3. Ceccarelli M. Proceedings HMM 2000. Kluwer Academic. Dordrecht. 2000. 4. Egorova O.V. The First Steam Machine in Cuba: Little-Known Pages of Agustin de Betancourt’s Work and Life / International Symposium on History of Machines and Mechanisms. Proceedings of HMM 2008. // Editors Hong-Sen Yan, Marco Ceccarelli. Springer. 2009. – P. 165-174. 5. Egorova O.V. A Mystery of One Havana Portrait: The First Steam Machine in Cuba / History of Machines for Heritage and Engineering Development // Editors J.M. de la Portilla, Marco Ceccarelli. Springer. 2011. – P. 189-214. 6. Arakelyan V.: The History of the Creation and Development of Hand-Operated Balanced Manipulators (HOBM / International Symposium on History of Machines and Mechanisms. Proceedings HMM 2004 // Edited by Marco Ceccarelli. Kluwer Academic Publishers. 2004. – P. 347-356. 7. Головин А.А. Теория механизмов от Гаспара Монжа до наших дней: наукаиучебнаядисциплина/ Механика (Международный симпозиум по истории машин и механизмов, г. Кассино, Италия, 2000 г.). – 10 с. (Golovin A.A. Theory of Mechanisms 27

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for Actuators of Pipeline Valves / Proc. of the 7 International Scientific Conference “Research and Development of Mechanical Elements and Systems // Editor Vojislav Miltenovic (Zlatibor, Serbia, April 27-28, 2011). Beograd: Mechanical Engineering Faculty, 2011. – P. 7-12. 53. Goldfarb V.I. Variety Types of Gear Drives / Proceedings of the Scientific Seminar “Terminology for the Mechanism and Machine Science” (Minsk-Gomel, June 21-25, 2010), Minsk: BelGISS, 2010. – P. 69-76. 54. Кане М.М., А.Г. Суслов, О.А. Горленко [и др.]. Управление качеством продукции машиностроения: Учебное пособие / Под общ. ред. М.М. Кане. М.: Машиностроение, 2010. – 416с. (Kane M.M., Suslov A.G., Gorlenko O.A. [et al.] Management of Quality of Engineering Products / Editor M.M. Kane. – Moscow: Mashinostroenie, 2010. – 416 p.) 55. Кане М.М., Иванов Б.В., Корешков В.Н. [и др.] Системы, методы и инструменты менеджмента качества: Учебник для вузов / Под редакцией М.М. Кане; 2-е изд. – СПб.: Питер, 2012. – 576 с. (Kane M.M., Koreshkov B.H., Ivanov B.V. [et al.] Systems, 31

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NASB; Editorial board: M.S. Vysotski [et al.] in 2 volumes. – Minsk, 2011. – Vol. 1. – 300p.; Vol. 2. –504 p.). 84. Актуальные вопросы машиноведения: cб. науч. тр. VIБелорусского конгресса по теорет. и прикл. механике «Механика 2013» (Минск, 23-25 октября 2013 г.) / Объедин. ин-т машиностроения НАН Беларуси; редкол.: А.А. Дюжев [и др.]. Минск. – 2013. – Вып. 2. – 492 с. (Actual Issues of Engineering Science. Proc. of the 6th Belarusian Congress on Theoretical and Applied Mechanics “Mechanics-2013”, (Minsk, October 23-25, 2013) Issue No 2 / Joint Institute of Mechanical Engineering of the NASB; Editorial board: A.A. Djuzhev [et al.]. – Minsk. – 2013. – 492 p.). 85. Algin V. Role of MMS and IFToMM in Belarus (Book Chapter) / Mechanisms and Machine Science, 1, Volume 1, Technology Developments: the Role of Mechanism and Machine Science and IFToMM. Editor M. Ceccarelli. Part 3. Springer, 2011. – P. 235-247. 86. Альгин В.Б. Развитие работ в Республике Беларусь в области кинематики, динамики и надежности мобильных машин // Актуальные вопросы машиноведения: cб. науч. тр. / Объедин. ин-т машиностроения НАН Беларуси; редкол.: А.А. Дюжев [и др.]. - 2013. - Вып. 2. - С. 28-46. (Algin V.B. Development of works in Republic of Belarus in the field of kinematics, dynamics and reliability of mobile machines // Collection of research papers "Actual Issues of Engineering Science", 2013. Issue No 2/Joint Institute of Mechanical Engineering of the NASB; Editorial board: A.A.Djuzhev [et al.]. – P. 28-46). 87. Альгин В.Б. Расчет мобильной техники: кинематика, динамика, ресурс. – Минск: Беларус. навука, 2014. – 271 с. – ISBN 978-985-08-1653-5. (Algin V.B. Calculation of mobile machinery: kinematics, dynamics, life. – Minsk: Belaruskaja Navyka, 2014. – 271 p.). 88. Шалобаев Е.В., Старжинский В.Е., Осипенко С.А. Оптимизация многоступенчатых приборных зубчатых редукторов с орбитальной компоновкой // Передачи и трансмиссии. – 1997. – №2. – С. 15-24. (Shalobaev E.V., Starzhinsky V.E. Ossipenko S.A. Optimization of Multistep Instrument Drives with Orbital Arrangement / Gearing and Transmissions. – 1997. – No 2. – P. 15-24.) 89. Берестнев О.В., Гольдфарб В.И., Старжинский В.Е., Шалобаев Е.В. Составление терминологического словаря международных терминов по конструированию, изготовлению и работоспособности зубчатых передач // Передачи и трансмиссии. – 2001. – №1. – С. 50-59. (Berestnev O.V., Goldfarb V.I., Starzhinsky V.E., Shalobaev E.V. Compilation of Glossary of International Terms in Gear Design, Manufacture and Serviceability: Concepts and Contents / Gearing and Transmissions. – 2000. – No 1. – P. 50-59.) 90. Старжинский В.Е., Осипенко С.А., Шалобаев Е.В. Оптимизация многоступенчатых зубчатых механизмов по габаритным размерам // Труды Международной конференции: Теория и практика зубчатых передач. TPG-96, 4-6 декабря 1996, Ижевск, Россия. – Ижевск: ИжГТУ, 1996. – С.439-444. (Starzhinsky V.E. Ossipenko S.A., Shalobaev E.V. Optimization of multisteps Toothed Mechanisms on the Overall Dimensions / Proc. of the Internal Conference “Theory and Practice of Gearing” TPG-96 (December 4-6. 1996, Izhevsk, Russia). – Izhevsk: IzhSTU. – 1996. – P. 439-444.) 91. Старжинский В.Е., Осипенко С.А., Шалобаев Е.В. Выбор передаточных чисел 35

многоступенчатых соосных зубчатых механизмов с минимальным объемом // Труды Международной конференции: Теория и практика зубчатых передач. TPG-98 (18-20 ноября 1998, Ижевск, Россия). – Ижевск: ИжГТУ, 1998. – С.160-165. (Starzhinsky V.E., Ossipenko S.A., Shalobaev E.V. Selection of gear ratios of multistages coaxial toothed mechanisms with minimum volume // Proc. of the Internal Conference “Theory and Practice of Gearing” TPG-98 (November 18-20, 1998, Izhevsk, Russia). – Izhevsk: IzSTU. – 1998. – P. 160-165.) 92. Шалобаев Е.В. Проблемы гармонизации отечественных стандартов с системой международных и национальных стандартов // Материалы Всероссийской конференции с международным участием: Теория и практика зубчатых передач. – Ижевск: ИжГТУ, 2004. – С. 44-48. (Shalobaev E.V. The Problems of Harmonization of Native Standards with the System of International and National Standards // Proc. of Scientific and Engineering Conference with International Partisipation “Theory and Practice of Gearing” (May 19-21, 2004, Izhevsk, Russia). – Izhevsk: IzhSTU, 2004. – P. 44-48.) 93. Шалобаев Е.В., Монахов Ю.С., Янгузов Г.И. Повышение надежности и точности зубчатых механизмов на основе вибродиагностики их подшипниковых узлов // Материалы Всероссийской конференции с международным участием: Теория и практика зубчатых передач. – Ижевск: ИжГТУ, 2004. – С. 132-138. (Shalobaev E.V., Monakhov Yu. S., Yanguzov G.I. Promotion of Reliability and Accuracy of Tothed Mechanisms on the Base of Vibrodiagnostics of their Bearing Units // Proc. of Scientific and Engineering Conference with International Partisipation “Theory and Practice of Gearing” (May 19-21, 2004, Izhevsk, Russia). – Izhevsk: IzhSTU, 2004. – P. 132-138.) 94. Шалобаев Е.В., Медунецкий В.М., Монахов Ю.С. Геометрическая оптимизация трибопары в зацеплении зубчатых колес // Материалы Всероссийской конференции с международным участием: Теория и практика зубчатых передач. – Ижевск: ИжГТУ, 2004. – С. 139-144. (Shalobaev E.V., Medunetsky V.M., Monachov Yu. S. Geometrical Optimization of Tribopair in Gearing // Proc. of Scientific and Engineering Conference with International Partisipation “Theory and Practice of Gearing” (May 19-21, 2004, Izhevsk, Russia). – Izhevsk: IzhSTU, 2004. – P. 139-144.) 95. Шалобаев Е.В., Домбек З. Измерение параметров крупномодульных зубчатых колес методам видеосъемки // Материалы Всероссийской конференции с международным участием: Теория и практика зубчатых передач. – Ижевск, 2004. – С. 257-261. (Shalobaev E.V., Dombek Z. Measurement of Coarse-Pitch Gears Parameters by Camera Shooting Method // Proc. of Scientific and Engineering Conference with International Partisipation “Theory and Practice of Gearing” (May 19-21, 2004, Izhevsk, Russia). – Izhevsk: IzhSTU, 2004. – P. 257-261.) 96. Шалобаев Е.В. Становление советской школы проф. Ф.Л. Литвина // Труды Международного симпозиума: Теория и практика зубчатых передач. TPG-14, (21-23 января 2014, Ижевск, Россия). – Ижевск: ИжГТУ, 2014. – С.16-25. (Shalobaev E.V. Russian Period of Creation and Development of Scientific Sciil Headed by Prof. F.L. Litvin / Proc. of the International Symposium (January 21-23, 2014, Izhevsk, Russia) // Edited by 36

V.I. Goldfarb. – Izhevsk: IzhSTU, 2013. – P. 15-22.) 97. Starzhinsky V.E., Osipenko S.A., Shalobaev E.V. Optimization of Multistage Toothed Mechanisms // Mechanics in Design‘98: Proceedings of the International Conference, 6-9 July 1998, Nottingham, 1998. – P. 111-119 98. Starzhinsky V., Osipenko S., Shalobaev E., Monahov Yu. Optimization of multistage instrumental toothed reducers by volume minimization criterion // Proc. of the Second International Conference “Power Transmissions 2006” (April 25-26, 2006) Faculty of Technical Sciences. – Novi Sad, 2006. – P. 95-102. 99. Shalobaev E., Raspopov V., Starzhinsky V., Surikov D., Kukhar V. Failures of th

Mechatronic Modules of Motion // The 7 International conference “Research and Development of Mechanical Elements and Systems”, IRMES (27-28 April, 2011, Zlatibor, Serbia), 2011. – P. 195-197. 100. Shalobaev E.V., Starzhinsky V.E., Basinyuk V.L., Mardasevich A.I. Computer-Aided Design of Multistage Instrumental toothed Mechanisms Optimized by Criterion of Volume Minimization // International Virtual Journal. – Sofia, 2012. – No.1. – P. 12-19. 101. Старжинский В.Е., Кане М.М., Шалобаев Е.В., Шилько С.В. [и др.] Словарьсправочник по зубчатым передачам: русско-англо-немецко-французский. Изд. 2-е, испр. и доп. / Под общ. ред. В.Е. Старжинского. – Санкт-Петербург: ЦЦП ОАО "Светоч", 2004. – 180 с. (Starzhinsky V.E., Kane M.M., Shalobaev E.V., Shil'ko S.V. [et al.] nd

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103. Старжинский В.Е., Антонюк В.Е., Кане М.М., Шалобаев Е.В., Шилько С.В. и др. Словарь-справочник по зубчатым передачам: русский, английский, немецкий, французский. Изд. 4-е, испр. и доп. / Под общ. ред. В.Е. Старжинского. 2007. – 186 c. (Starzhinsky V.E., Antonuyk V.E., Kane M.M., Shalobaev E.V., Shil'ko S.V. [et al.] nd

Dictionary Reference Book on Gearing: Rus.-Engl.-Germ.-Fr. 4 corrected and enlarged edition / Edited by V.E. Starzhinsky. – Minsk: BelGISS, 2007. – 186 p.) 104. Старжинский В.Е., Антонюк В.Е., Кане М.М., Шалобаев Е.В., Шилько С.В. и др. Словарь-справочник по зубчатым передачам: русский, английский, немецкий, французский/ Изд. 5-е, испр. и доп. / Под общ. ред. В.Е. Старжинского. – 2008. – 190 c. (Starzhinsky V.E., Antonuyk V.E., Kane M.M., Shalobaev E.V., Shil'ko S.V. [et al.] 37

nd

Dictionary Reference Book on Gearing: Rus.-Engl.-Germ.-Fr. Additional print run to the 4 corrected and enlarged edition / Edited by V.E. Starzhinsky. – Gomel: MPRI NASB, 2008. – 190 p.) 105. Шалобаев Е.В. К вопросу о международном трансляторе по мехатронике // Мехатроника. – 2002. – № 4. – С. 6-11. (Shalobaev E.V. On Revisited about International Translator on Mechatronics // Mechatronics. – 2002. – No. 4. – P. 5-10.)

106. Шалобаев Е.В. Микросистемная техника и мехатроника: особенности соотношения макро- и микроуровней // Микросистемная техника. – Москва, 2000. – № 4. – С. 5-10. (Shalobaev E.V. Microsystem technics and mechatronics: features of a parity micro- and macrolevels // Microsystem Technics. – 2000. – No. 4. – P. 5-9.) 107. Шалобаев Е.В. Проблемы микросистемной техники и 21-й век (Обзор) // Микросистемная st

техника. – 2001. – № 3. – С. 37-40. (Shalobaev E.V. The Problems of Microsystem Technics and 21 Century (Review) // Microsystem Technics. – 2001. – No. 3. – P. 37-40.)

108. Шалобаев Е.В. Фундаментальные и прикладные проблемы развития мехатроники // Сборник: Современные технологии / Под ред. С.А. Козлова. – СанктПетербург: СПбГИТМО(ТУ), 2001. – С. 46-67. (Shalobaev E.V. Theoretical and Applied Questions of Mechatronics Development // Proceedings: Modern Technologies / Edited by S.A. Kozlov. – Saint-Petersburg: IТМО University, 2000. – P. 46-67.) 109. Шалобаев Е.В. К вопросу об определении мехатроники и иерархии мехатронных объектов // Датчики и системы. – 2001. – № 7. – С. 62-65. (Shalobaev E.V. To a Question on Definition of Notion Mechatronics and Hierarchies of Mechatronical Objects // Sensors and Systems. – 2001. – No. 7. – P. 62-65.) 110. Шалобаев Е.В., Аршанский М.М. Мехатроника: основы глоссария // Мехатроника. – 2001. – № 2. – С. 47-48. (Shalobaev E.V., Arshansky M.M. Mechatronics: Basis of Glossary // Mechatronics. – 2001. – No 1. – P. 47-48.) 111. Шалобаев Е.В. Проблемы сенсорики и 21-й век (Обзор) // Датчики и системы. – Москва, 2001. – № 1. – С. 63-65. (Shalobaev E.V. The Problems of Sensories and 21 century (Review) // Sensors and Systems. – 2001. – No 1. – P. 63-65.)

st

112. Шалобаев Е.В., Петров С.Ю. Универсальные регистрирующие и показывающие приборы как элемент иерархии мехатронных объектов // Мехатроника. – Москва, 2001. – № 5. – С. 29-34. (Shalobaev E.V., Petrov S.Yu. Universal Recording and Indicating Devices as an Elements of Hierarhy of Mechatronic Objects / Mechatronics. – 2001. – No. 5. – P. 29-34.) 113. Шалобаев Е.В. Об интеллектуальном управлении мехатронными системами // Датчики и системы. – Москва, 2002. – № 2. – С. 8-12. (Shalobaev E.V. About Intellectual Management of Mechatronic Systems // Sensors and Systems. – 2002. – No 2. – P. 8-12.) 114. Официальный сайт университета Делфт (Нидерланды). Международный транслятор по ТММ. Standardizationof terminology for the mechanism and machine science, (MMS-Terms-2003). [Электронный ресурс]. Режим доступа: http://www.iftomm.3me.tudelft.nl/1049/frames.html, свободный.] (Official Site of Delft University (the Netherland) International Translator on TMM. Standardization of 38

Terminology for the Mechanism and Machine Science, (MMS-Terms-2003). [Electronic Resource] Rezhime of accessibility: http://www.iftomm.3me.tudelft.nl/1049/frames.html) 115. Shalobaev E.V. Mechatronics: Todays Problems and Development Trends of Terminology. // Proc. of the Scientific Seminar “Terminology for the Mechanism and Machine Science”, Minsk-Gomel: MPRI NASB. – 2010. – P. 111-118. 116. Shalobaev E.V. Comments to prof. E.E. Peisach offers on MMS Terminology. // Proc. of the Scientific Seminar “Terminology for the Mechanism and Machine Science”, MinskGomel: MPRI NASB. – 2010. – P. 119-120. 117. Шалобаев Е.В. Проблемы и тенденции развития терминологии в современных условиях // Микросистемная техника. – 2004. – № 4. – С. 29-32. (Shalobaev E.V. et al.: Theoretical and Applied Questions of Avionics and Mechatronics Development // Problems of Intellectual Management in Avionics: Edited by E.V.Shalobaev. – St.-Petersburg: ITMO University, 2005. – P. 12-42.) 118. Толочка Р.-Т., Шалобаев Е.В. Рекомендации по терминологии в области мехатроники // Материалы 10-ой сессии Международной научной школы "Фундаментальные и прикладные проблемы надежности и диагностики машин и механизмов" VPB-2011, 24-28 октября 2011. Санкт-Петербург, Россия. – СПб: ИПМашРАН, 2011. (Tolocka R.-T., Shalobaev E.V. Recommendations on Terminology in th

the Field of Mechatronics // Proc. of 10 Session of International Scientific School “Fundamental and Applied Problems of Machines and Mechanisms” VPB-2011 (October 24-28, 2011, Saint-Petersburg, Russia). – Spb: Issuer Institute of Problems of Machine Science of Russian Academy of Science. – 2011) 119. Шалобаев Е.В., Толочка Р.-Т. К вопросу терминологии в области мехатроники // Научно-технический вестник НИУ ИТМО. – 2012. – №5. – С. 148-151. (Shalobaev E.V., Tolocka R.-T. Terminology in the Field of Mechatronics // Scientific and Technical Bulletin of “NTU ITMO”. – 2012. – No. 5. – P. 148-151.) 120. Шалобаев Е.В., Толочка Р.-Т. О рекомендациях по терминологии в области мехатроники // Мехатроника, автоматизация, управление. – 2012. – № 11. – С. 3-6. (Shalobaev E.V., Tolocka R.-T. About Recommendation on Terminology in the Field of Mechatronics / Mechatronics, Automation, Management. – 2012. – No 11. – P. 3-6.) 121. Шалобаев Е.В., Толочка Р.-Т. Терминологические аспекты современной мехатроники // Фундаментальные и прикладные проблемы техники и технологий. – 2013. – № 5. – С.122-132. (Shalobaev E.V., Tolocka R.-T. Terminological Aspects of Modern Mechatronics // Fundamental and Applied Problems of Engineering and Technologies. – 2013. – No. 5. – P. 122-132.) 122. Шалобаев Е.В., Толочка Р.-Т. Рекомендиции IFToMM по терминологии в области мехатроники // Мехатроника, автоматизация, управление. – 2013. – № 2. – С. 2-5. (Shalobaev E.V., Tolocka R.-T. IFToMM Recommendation on Terminology in the Field of Mechatronics / Mechatronics, Automation, Management. – 2013. – No 2. – P. 2-5.) 39

123. Шалобаев Е.В., Толочка Р.-Т. Современное состояние и перспективы развития основных понятий в области мехатроники // Научно-технический вестник информационных технологий, механики и оптики. – 2014. – № 1. – С. 156-161. (Shalobaev E.V., Tolocka R.-T. Modern Station and Perspectives of Development of Basic Notions in the Field of Mechatronics // Scientific and Engineering Bulletin of Information Technologies, Mechanics and Optics. – 2014. – No. 1. – P. 156-161.) 124. Шалобаев Е.В. Вопросы терминологии и миниатюризация аэрокосмических систем // Мехатроника, автоматизация, управление. – 2013. – № 10. – С. 60-66. (Shalobaev E.V. Problems of Terminology and Miniaturization of Aerospace Systems / Mechatronics, Automation, Management. – 2013. – No. 10. – P. 60-66.) 125. Сборник трудов Международного симпозиума «Теория и практика зубчатых передач» / Научн. редакторВ.И. Гольдфарб (21-23 января2014 г., Россия, Ижевск) Ижевск: Изд-воИжГУТ. – 2013. – 580 с. (Proceedings of the International Symposium “Theory and Practice of Gearing” // Editor V.I. Goldfarb (January 21-23, 2014, Izhevsk: IzhSUT Publisher House. – 2013. – 580 p.) 126. Bansevicius R., Tolocka R.T. Vodern History and Terminology of Intelligent Mechanisms and Smart Structures // Proc. of the Scientific Seminar “Terminology of the Theory of Mechanismes and Machines” / Edited by R.T. Tolocka and A. Kondratas (Kaunas, Lithuania. – June 25-30, 2000), Kaunas: Technologija. – 2000. – p. 37-42. th

127. Tolocka P.T. Adaptive Mechanics for Mechatronics // Proc. of the 22 Meeting of the IFToMM Permanent Commission for Standardization of Terminology / Edited by D. Remond (June 29 – July 4, 2008, Lyon, France). Villeurrbanne: INSA de Lyon. – 2008. – P. 25-29. 128. Bögelsack G., Klein Breteler A.J. Concise Chronicle of the IFToMM Commission for Standardization of Terminology (1969-2009) // Proc. of the Scientific Seminar “Terminology for the Mechanism and Machine Science” (Minsk-Gomel, Belarus, June 2126, 2010). Belarus. – 2010. – P. 7-15. 129. Antonescu P., Antonescu O. Terminologie Pentru Teoria Mecanismelor sia Masinilor si Vocabular. Englez-German-Romun. Bucuresti. 2001. – 80 p. 130. Davitashvili N. Georgian-English and English-Georgian Dictionary of Standard Terminology for Mechanism and machine Science. Geirgian Committee if IFToMM. Tbilisi. Georgian Committee of IFToMM. 2008. – 300 p. 131. Русско-белорусско-немецко-английский словарь по механике / Плескачевский Ю.М., Шилько С.В., Тамуж В., Цируле К. // Под общ. ред. Ю.М. Плескачевского. – Минск: Беларуская энцыклапедыя, 2005. – 192 с. (Russian-Byelorussian-German-English Dictionary on Mechanics / Pleskachevsky Yu.M., Shil'ko S.V., Tamuzh V., Tsirule K. / Editor Yu.M. Pleskachevsky. Minsk: PublishingHouse “Belaruskaja Entsiklopedia”, 2005. – 192 p.) 132. Shil'ko S. Adaptive Composite Materials: Bionics Principles, Abnormal Elasticity, Moving Interfaces / In Book: Advances in Composite Materials – Analysis of Natural and Man-Made Materials / Ed. by P. Tesinova, InTech, 2011. – Chapter 23. – P. 497-526. 133. Shil'ko S.V., Petrokovets E.M., Pleskachevsky Yu.M. Prediction of auxetic phenomena 40

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STATE OF THE ART AND PERSPECTIVES OF DEVELOPING TERMINOLOGY ON CHAPTER 15 “QUALITY FACTORS OF MACHINES AND THEIR COMPONENTS” Prof. Mark М. Kane, Prof., Dr. Sci., Belarussian National Technical University, Minsk, Belarus, [email protected] Prof. Victor E. Starzhinsky, Prof., Dr. Sci., V.A. Belyi Metal-Polymer Research Institute of National Academy of Sciences of Belarus, Gomel, Belarus, [email protected] ABSTRACT The principles of formation, state and perspectives of further development of Chapter 15 “Quality Factors of Machines and Their Components” of the Terminology IFToMM are discussed. Key words: quality parameters, general notions of quality, dependability, reliability, anthropological factors, constructive and technological factors, service factors. Effectiveness of economics is in a great degree dependent on quality of machines used in all branches of economy and defining its technical level. At the present time much attention is paid to the problems of quality of production and services, since it is generally recognized that this objective is closely related to the quality of life. A series of new standards in the field of quality have been created and are functioning. By case study is a series of ISO 9000 standards on quality management developed in 1987. As of the date of their creation, there were 5 such standards, while now this series includes more than 50 normative documents which are used practically in all industrially advanced countries. Terminology in the field of quality has been standardized in a large number of international (ISO, FEC, EN et al.) and national standards. They embrace a lot of quality factors and use many terms, although some variations of them are not employed. In connection with this situation the designers, producers and customers encounter difficulties in development of constructions, their production and maintenance in respect to the requirements to the 43

machine quality which are actual in different countries. In conditions of globalization of world economics the importance of the problem is intensified. On these grounds, in 2006 Prof. M. Kane proposed to include the section “Quality factors of machines, their components and materials” in the “Terminology IFToMM on MMS”. A subcommission consisting of Prof. M.M. Kane (Chair) and Victor Starzhinsky has proposed the following basic principles of its structure: 1. The section should include the main factors of machine quality and their components, necessary for development, production and operation of machines. 2. The contents of the terms should be in line with the basic international and national standards in the given field. 3. It is necessary to include into the section most widely used terms in a most simple and accessible for specialist’s formulation. Quality parameters of machines can be divided into operating and technical factors. The operating factors characterize commercial properties of machines that are evident in operation, for example: ergonomics, dependability, effectiveness, ecological compatibility, etc. Technical factors characterize the properties of machines that are formed in manufacture and ensure the operating factors. For example, accuracy of manufacture and assemblage of machine parts, sub-assembling and machine as a whole, strength and wear resistance of its components, etc. may be related to the technical factors. In the 1st edition, we attempted to take into account the mentioned groups of factors. Hence, initial 712 factors have been included into the section. nd

Then, the list has gradually decreased. Description of the 2 edition, in which the number of terms was reduced to 213, was given in the report “Principles of Creation and Contents of the New Chapter IFToMM Terminology “Quality Indices of Machines and Their th

Components”, at the 24 Working Meeting of the IFToMM PC A (Ilmenay, Germany, June 24-30, 2012). After discussion, Prof. A.J. Klein Breteler proposed the following changes for rd

the 3 edition: 1. The terms, unrelated directly to machines and the ones rarely used have been excluded. As a result, 23 terms were excluded from part 1, 13 terms from part 2, 36 terms from part 3, and 23 terms from part 4. In all 95 terms were excluded. The volume of section 15 reduced two times. 2. Formulation of many factors was made more precise in order to harmonize them with the main international and national standards, simplify formulation of definitions, and achieve more precise and complete correspondence of the factor description to its contents. rd

The operating factors were basically included in the 3 edition of Chapter 15. They are divided into four groups: 1) general notion of quality (33 factors); 2) quality factors concerning human safety and health (16); 44

3) factors on dependability and reliability (37); 4) constructive and technological factors (23). In total Chapter 15 contains 109 notions of machine quality. On our opinion, in future it is necessary to expand and perfect this section by way of making more precise and extension volume of the current parts and introduction of new ones. For example, “Selection of requirements to the quality of machines and their components”, “Technique of checking and diagnostics of quality of machines and their components”, “Testing of machines and their components”. In conclusion, it should be noted that the concept presented in the given section of terminology is based not only of a large quantity of normative documents, but also on experience of the authors. The main publications are listed below.

REFERENCES 1. Кане М.М. Методы обеспечения качества зубчатых колес и передач / Технология производства и методы обеспечения качества зубчатых колес и передач. Учебное пособие / Под общ. ред. В.Е. Старжинского и М.М. Кане. – Минск: УП «Технопринт», 2003. – С. 329-510. (Kane M.M. Procedure of Support of Gear and Gear Pair Quality/ Production Technology and Methods of Providing Gear and Gear Pair Quality. Textbook/ Edited by V.E. Starzhinsky and M.M. Kane. – Minsk: Publishing House “Technoprint”, 2003. – P. 329-510.) 2. Кане М.М. Методы обеспечения качества зубчатых колес и передач / Технология производства и методы обеспечения качества зубчатых колес и передач. Учебное пособие / Под общ. ред. В.Е. Старжинского и М.М. Кане. – Санкт-Петербург: Профессия, 2007. – С. 367-556. (Kane M.M. Procedure of Support of Gear and Gear Pair Quality/ Production Technology and Methods of Providing Gear and Gear Pair Quality. Textbook/ Edited by V.E. Starzhinsky and M.M. Kane. – Saint-Petersburg: Publishing House “Professiya”, 2007. – P. 367-556.) 3. Kane M., Starzhinsky V. Quality Factors of Machines and Their Components. Role of Quality Factors in Provision on Machine Service Properties / Proceedings of the 22th Working Meeting of the IFToMM Permanent Commission for Standardization of Terminology (June 29 – Jule 4, 2008, Villeurbanne, France) Lyon: INSA de Lyon, 2008. – P. 77-80. 4. Kane M. Product Quality Control Exemplified by Analysis of Variations of Quality Parameters of Gears in the Process of Their Machining / Proceedings of the Scientific Seminar “Terminology for the Mechanism and Machine Science” (June 21-26, 2010, Minsk-Gomel, Belarus) Minsk-Gomel: BelGISS, 2010. – P. 77-81.

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5. Кане М.М., Суслов А.Г., Горленко О.А. [и др.]. Управление качеством продукции машиностроения: Учебное пособие / Под общ. ред. М.М.Кане. – М.: Машиностроение, 2010. – 416 с. (KaneM.M., SuslovA.G., GorlenkoO.A. [et al.] Management of Quality of Engineering Products / Editor M.M. Kane. – Moscow: Mashinostroenie, 2010. – 416 p.) 6. Кане М.М., Иванов Б.В., Корешков В.Н. [ и др.] Системы, методы и инструменты менеджмента качества.: Учебник для вузов./ Под редакцией М.М. Кане; 2-е изд.СПб.: Питер, 2012. – 576 с. (Kane M.M., Ivanov B.V., Koreshkov B.H. [et al.] Systems, Methods and Implements of Quality Management: Textbook for Universities / Editor M.M. Kane. - Saint-Petrsburg: Piter. 2012. – 576 p.).

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ABOUT PREPARATION OF NEW SECTION OF IFToMM TERMINOLOGY ON MMS: CHAPTER 16 COMPLIANT MECHANISMS Nenad T. Pavlovic, Dr.-Ing., University of Nis, Faculty of Mechanical Engineering, Serbia, [email protected] Antonius J. Klein Breteler, Prof. Dr., Delft University of Technology, the Netherlands [email protected] Lena Centner, Dr., Technische Universitat Ilmenau, Germany, [email protected] Victor E. Starzhinsky, Prof., Dr. Sci., Metal-Polymer Research Institute of National Academy of Sciences of Belarus, Gomel, [email protected] ABSTRACT The order and stages of preparation of the new section of IFToMM Terminology – Chapter 16 Compliant mechanisms – are considered. Key words: compliance, compliant mechanism, stiffness, stages of development. A compliant mechanism is a mechanism that gains the whole or a part of its mobility rather thanks to relative flexibility of its elements than due to the rigid-body joints only. The basic property of this sort of mechanisms is compliance which according to the definition of the Prof. G. Boegesack is the ability of a body or a structure to exhibit a distinct deformation due to the action of external forces. Compliance (in other words – flexibility) is a measure inverse to of rigidity. Rigidity represents a measure of the ability of a body or a structure to resist deformation exerted by the external forces. Without a pretention on a detailed presentation of the problem under discussion, we are going to mention here the principal stages preceding the appearance of the given section of terminology and familiarize you with available information. We believe that the first mention about the compliant mechanisms appeared in the beginning of the nineties of the XX century in the papers by Larry L. Howeell et al. published in the journal “Machine Elements and Machine Dynamics” (see the list of references). In 199447

2011 a series of publications appeared in the Journal “Mechanism and Machine Theory”, as well as in the proceedings of different International Workshops (TU Ilmenau, 2002, 2005, 2011). The International Symposiums on Compliant Mechanisms were held in Bangalore, India (2007) and Delft University of Technology, Delft, the Netherlands (2011). The first who proposed to include the terminology of compliant mechanisms in IFToMM Terminology was Prof. G. Boegelsack (TU Ilmenau, Germany). He proposed in 2010, as the initial version 12 terms with definitions in German and English. Then, in 2011, Prof. Klein Breteler (TU Delft, the Netherlands) has proposed to the members of IFToMM Permanent Commission “Standardization of Terminology” to prepare for the 24th Working Meeting in Ilmenau the initial informative material for discussion, wherefore all IFToMM PC A members have received the information about available results, topical issues (presence of information resources, necessity to organize subcommission, participation in preparation of materials for discussion), presence of information sources (see the list of references). The initial presentation of terminology on compliant mechanisms was stated by the new invited IFToMM PC A member of Commission Dr.-Ing. Nenad T. Pavlovic (University of Nis, Serbia). Co-reporter Dr. Center (TU Ilmenau, Germany) has presented the report too. For discussion at 25th working meeting the updated package of terms “Compliant mechanisms” with definitions is presented. The volume of presentation is 30 units with commentaries and suggestions concerning as refinement, elimination or paddition of the new terms. Prof. V.E. Starzhinsky has fulfilled the Russian translation. The list of information sources barrowed from the paper by Nenad T. Pavlovic and Nenad D. Pavlovic “Modeling of a Compliant Scott-Russell Mechanism with Small Length Flexural Pivots” and from Prof. Klein Breteler letter from 17.10.2011 to the PC A members are given [1-16]. Authors see proper to supplement the paper by drawings of flexible elements from the L.L.Howell Handbook [17] (see Appendix 2). REFERENCES 1. Howell L.L. Compliant Mechanisms. – New York: John Wiley &Sons, Inc., 2001. 2. Pavlović N.T., Christen G. Experimental Research of The Compliant Four-Bar Linkage for Rectilinear Guiding, In: Proc. of 47. Internationales Wissentschaftliches Kolloquium, Tagungsband, TU Ilmenau. – 2002. – P. 320-321. 3. Pavlović N.T., Pavlović N.D. Improving of Mechanical Efficiency of Compliant Mechanisms, In: Proc. of 50. Internationales wissenschaftliches Kolloquium TU Ilmenau, Tagungsband (CD-ROM), TU Ilmenau. – 2005. – P. 379-380. 4. Pavlović N.D., Pavlović N.T. Rastpolbahn der nachgiebigen Mechanismen, In: Proc. of 50. Internationales wissenschaftliches Kolloquium TU Ilmenau, Tagungsband (CD-ROM), TU Ilmenau. – 2005. – P. 381-382.

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5. Pavlović N.T., Pavlović N.D. Compliant Mechanism Design for Realizing of Axial Link Translation, In: Mechanism and Machine Theory. – Elsevier, 2009. – P. 1082-1091. 6. Howell L.L., Midha A., Murphy M.D. Dimensional Synthesis of Compliant ConstantForce Slider Mechanisms, In: Machine Elements and Machine Dynamics (1994), ASME, DE-Vol. 71. – P. 509-515. 7. Howell L.L., Midha A. The Development of Force-Deflection Relationships for Compliant Mechanisms, Machine Elements and Machine Dynamics (1994), ASME, DEVol. 71. – P. 501-508. 8. Choi S.-B., Cheong C.-C. Thompson B.S. et al. Vibration Control of Flexible Linkage Mechanisms Using Piezoelectric Films, Mechanism and Machine Theory. – Elsevier, 1994. – P. 535-546. 9. Pavlović T.N., Pavlović D.N., Milošević M. Design of Compliant Slider Crank Mechanism, In: Proceedings of the 56th International Scientific Colloquium "Innovation in Mechanical Engineering – Shaping the Future", Ilmenau University of Technology, Germany, 2011. 10. Tanik E., Parlaktas V. A new type of compliant spatial four-bar (RSSR) mechanism, In: Mechanism and Machine Theory. – Elsevier, 2011. – P. 593-606. 11. Midha A., Howell L.L., Norton W. Limit positions of compliant mechanism using the pseudo-rigid-body model concept, In: Mechanism and Machine Theory. – Elsevier, 2000. – No.1. – P. 99-115. 12. Pavlović N.T., Pavlović N.D. Mobility of the Compliant Joints and Compliant Mechanisms, Theoretical and Applied Mechanics. – Belgrade, 2005. – No. 4. – P. 341-357. 13. Larry L. Howell Compliant Mechanisms. – Wiley & Sons, 2001. – 480 p. 14. http://compliantmechanisms.byu.edu/ 15. http://compliantmechanisms.3me.tudelft.nl/ 16. http://mechanical-sciences.net 17. Handbook of Compliant Mechanisms // Editor(s): Larry L. Howell, Spencer P. Magleby, Brian M. Olsen. – John Wiley & Sons Ltd, 2013. – 342 p.

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Saint-Petersburg. Excursion to Pushkino. Catherine Palace Hall. Bíros’ family: Eva, Anna, Istvan

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MECHATRONICS AND ROBOTICS – INTERRELATIONS OF NOTIONS: POINT OF VIEW OF RUSSIAN ENCYCLOPAEDIA Yuri V. Poduraev, Prof., Dr. Sci., Moscow State Technical University (Moscow, Russia), [email protected] Eugeni V. Shalobaev, Prof., Saint-Petersburg National Research University of Information Technologies Mechanics and Optics (St. Petersburg, Russia) [email protected] ABSTRACT The phasses of robotics development as well as its classification on functional and structural groups are considered. Interrelations of notions in the sections of MMS – Mechatronics and Robotics have been analyzed. Key words: robotics, mechatronics, functional group, structural group, robot control system. Robotics is a multidisciplinary field of science and technology, which studies the development and application of robots and robotic systems for assisting human labour activities and intensification of manufacturing. In scientific and engineering literature the term "robot" depicts an automatic machine which replaces human operation with objects of the physical world. Etymologically the term "robot" is close to Slavic word "Rabochi" («Рабочий» – a worker, labour), "Rab" («Раб» – slave). The word "Robot" was introduced by a Сzech writer K. Chapek in his play "R.U.R" published in 1921. The term "Robotics" was introduced by a Polish writer I. Asimov in his science fiction story "Liar!" in 1941. History of robotics starting from ancient times and Middle Ages is full of outstanding ideas and inventions from scientists and engineers from all over the world. Notably, in the 21st century, robotics has turned into a challenging field defining the direction of the global technological transformation. Hence, the worldwide quantity of robots has shown a steady growth, accounting to hundreds of thousands machines. It is possible to distinguish three phases of robotics developmend. 51

The first phase – "robot replacing a man" is especially significant for automation of tiresome, hard and dangerous for human health operations. The second phase of robotics – "robot is better than a man" implies significantly better performance of operations and the tasks performed by a robot (or a group of robots) if compared to human performance (e.g. accuracy, speed of motion, etc). It is specifically important for industrial manufacture performing machining operations (welding, assembling, painting, etc). In this connection, it is clear that robots displace human labour from certain type of activities, sometimes causing social problems. The modern (third) phase of robotics consists in development of essentially new generation of autonomous robotic technologies in which a man only supervises robot task on a higher level of system control. For instance, these can be robotic micro- and nano- manipulations, navigation inside the biological systems, operations in space or underwater autonomous exploration. Consequently, the modern phase of robotics development makes it practically relevant to discuss the philosophical and ethical questions on human and robot interrelation, raised by science fiction previously. Generally, we can define the classification features of a robot using two groups: functional and structural. According to International Federation of Robotics, the functional group includes industrial, mobile, service, domestic, biomedical, space and humanoid robots. Humanoid is a human-like creature, with the appearance recalling a man. The types of robots mentioned above are used in various environments (hazardous, underwater, radioactive, etc) as well as in conventional industrial activities. For example, industrial robots have been widely used in automotive, machining, electronic and other branches of industry since 1960's. The mobile robots actively developed during the last decade, are used more extensively for nuclear plants and pipelines maintenance, for accomplishment of inspection, military and security tasks. Service, domestic and medical robotics are new and promising fields of research and development that attract a significant international attention. Robotics is a multidisciplinary area consolidating knowledge of several previously independent fields of science and technology. Challenge for new higher quality robotic systems requires functional, structural and physical integration of devices having different physical modalities (mechanical, microelectronic, computational) in a single machine using the principles of Mechatronics and mathematics and computer-based modelling. Structural classification of robots is based on the type of control systems, actuators, as well as the tools and sensory systems. Robots are classified as teleoperated (teleported), semiautonomous and autonomously controlled depending on the role of the human operator in the control loop. Autonomous robots can be pre-programmed, adaptive or with intelligent control. These three types of control define three generations of robots. The first generation of robots implement a pre-programmed position point-to-point and contour control which cannot be modified on-line. Adaptive control systems enable automatic modification of control parameters on-line for adapting to a changing state of the robot and its environment. Intelligent control systems imply systematic knowledge analysis and are based on artificial 52

neural networks, fuzzy logic, expert systems and content-addressable memory technology. The algorithms and control programme is automatically formed by the artificial neural network during learning and imitating learning processes in biological neural networks. In the mechanical design of the robots it is generally assumed to distinguish between serial, parallel and hybrid kinematic configurations. Robot manipulators with serial kinematics are classified based on their workspace configuration. Frequently used serial manipulators' workspace configurations can be defined by the Cartesian, cylindrical, spherical and anthropomorphic coordinate systems. Robot drives, which include electronic power amplifiers and actuators (electric, hydraulic, pneumatic, etc), create the control forces and torques in the robot joints, required to perform the desired motion. The sensory systems of the robots collect, analyze and transfer information about the robots (position, velocity, acceleration) and environments (computer vision, tactile, force/torque measurements, range sensors) state of the robot control system. REFERENCES 1. Робототехника: История и перспективы / И.М. Макаров, Ю.И. Топчеев. – 2003. (Robotics: history and perspectives / I. M. Makarov, Yu.I. Topcheev. – 2003.) 2. Попов Е.П., Верещагин А.Ф., Зенкевич С.Л. Манипуляционные роботы. Динамика и алгоритмы. – М., 1978. (Popov E.P., Vereshchagin A.F., Zenkevich S.L. Manipulation robots. Dynamics and algorithms. – M., 1978.) 3. Юревич Е.И. Робототехника. – СПб, 2001 (Yurevich E.I. Robotics. – SPb, 2001) 4. Подураев Ю.В. Мехатроника: основы, методы, применение. – М., 2007. (Poduraev Yu.V. Mechatronics: principles, techniques, application. – М., 2007). 5. Справочник по промышленной робототехнике / Под ред. Ш. Нофа. – 1989. (Handbook on industrial robotics / Ed. Sh. Nof. – 1989). 6. Медведев В.С., Лесков А.Г., Ющенко А.С. Системы управления манипуляционных роботов. – М.: 1978. (Medvedev V. S., Leskov A.G., Yushchenko A.S. Management systems of handling robots. – М.: 1978). 7. Дистанционно-управляемые роботы и манипуляторы / Под ред. В.С.Кулешова. – М.: 1986. (Remote-controlled robots and manipulators / Ed. V.S. Kuleshov. – M.: 1986). 8. Каляев И.А., Лохин В.М., Макаров И.М. Интеллектуальные роботы: учебное пособие для вузов / Под ред. Е.И. Юревича. – М.: 2008. (Kalyaev I.A., Lokhin V.M., Makarov I.M. Intelligent robots: a training manual for high schools / Ed. E.I. Yurevich. – М.: 2008).

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Saint-Petersburg. Pushkino. Garden near Catherine Palace. Left to right: Prof. I. Bíro, Anna Bíro, Eva Bíro, Prof. V. Starzhinsky, Prof. E. Shalobaev, Dr. S. Shil’ko

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MODERN MECHANICS AS A BASIC OF MECHATRONICS Evgenii V. Shalobaev, Prof., St.-Petersburg National Research University of Information Technologies, Mechanics and Optics, Russia, [email protected] Serge V. Shil'ko, Dr., V.A. Belyi Metal-Polymer Research Institute of NASB (MPRI of NASB), Gomel, Belarus, [email protected] ABSTRACT It is set for the fact in the paper that mechanics has a range of peculiarities which we should take into account at designing mechatronic systems. By now the theoretical basics of mechatronics have been formed and they include the basic terminology, design method, subject of domain, technologies, interrelation with the bordering fields of science and engineering. The scientific-organizational and interpretive-communication problems are discussed. Key words: theory of mechanisms and machines, miniaturization, mechatronics, quasimechatronic objects, adaptive mechanics, adaptronics, logistics, autonics, avionics, translator. One of the basic discipline in the field of Mechanics – Theory of mechanisms and machines th

has experienced its first renaissance owing to the development of robotics in the 20 century [1]. Another surge of interest to mechanics was observed in the 80s in connection with miniaturization of electronic devices [2]. This has furnished a possibility to build-in electronic components into the mechanical (electromechanical) base for PC-aided control of motion. In confirmation of the assertion of the theory, it is in the junctions of sciences in the bordering areas of various disciplines where new discoveries occur. The idea to unite incompatible (at first glance) components has been realized as a new sphere of science and engineering. Its name is mechatronics that joins three notions in one and is closely related with TMM. In the recent quarter of the century mechatronics has formulated its theoretical foundations 55

[3], including basic terminology, design procedures, subject area, technologies, and the relationship with the bordering scientific and engineering domains. In the source [4], among the publications where theoretical concepts of mechatronics are considered, the following ones [5-7] are referred to. The works dealing with terminology [8-11] have accurately specified the very definition of mechatronics and have created the hierarchy of mechatronic objects [12]. Such notions as a module, machine [2] and a complex [13, 14] have been identified and a novel scaled approach has been introduced to the concept of mechatronics. Mechatronics, microsystems and nanoengineering are viewed today as differently scaled mechatronic levels [15] which expand much of its subject area to where the mechatronic approach is treated as a systematic procedure with a parallel design of the objects. A procedure enabling the use of techniques for creating mechatronic objects for the systems that are not canonically mechatronic ones but can be classified as mechatronized (the systems with mechatronic elements [16]) or quasi-mechatronic objects. The mechatronic and quasi-mechatronic objects can be united into a single mechatronic class [17] which makes possible to elevate the quality of quasi-mechatronic objects (author’s offer of the given paper). The mechatronic domain which was previously based on merely electromechanics is expanded via hydro and pneumomechanics and the like areas. In this connection we witness the appearance of new terms that interrelate mechatronics with aircraft industry (avionics) and automobile production (autonics, autotronics), optimization of motion of a group of objects (logistics) and so on. Prof. Klein-Breteler (the Netherlands) [18] shares the point of view of the author of these lines. It is to be noted that mechanics occupies a specific place in mechatronics. For instance, in Lithuania they have included the tutorial on adaptive mechanics in the mechatronic program [19]. This approach is justified since the adaptive mechanics describes a unified complex relationship between the dynamic effects, energy transformations, mechanics of the variable structures, as well as the parameters and devices thereof. Adaptive mechanics has developed independently but naturally enriching the notion of adaptronics accepted as a general term for the internationally acknowledged trends like smart materials, smart structures, intellectual systems and other [20]. This is because the mechatronic systems of a higher rank are related to the intellectual ones. In this connection, the term adaptonics requires a thorough substantiation. Speaking about mechanics as the base for mechatronics, one should remember that the role of the common mechanics is gradually diminishing. This is especially evident on the example of the memory-storage devices where the rotating parts are discarded first of all and substituted by the flash memory despite the fact that the flash memory does not furnish 100% reliability in contrast to the laser discs. Notice that the contact groups are gaining force, e.g., the magnetically operated reed switches [21, 22] based on a symbiosis of mechanical elements and electromagnetic effects. Besides, the mechanisms using the piezoeffects are of no less interest [23]. 56

It is important to underline that mechatronics does not substitute the traditional mechanics but supplements and impact its further development. The concept on the expansion of the subject area adopted by the IFToMM [24] in 2000 lies in the base of renaming TMM into the MMS [25]. The development of mechatronics has lead to misunderstanding in the scientific and organization spheres. Since mechatronics is triunique, there arose a competition of views between the scientists united into International communities as far back as 35-45 years ago who adhered to the prevailing then sharing of scientific knowledge. In our case, this is the Federation dealing with the progress of sciences about machines and mechanisms (IFToMM) and the Federation of the automatic control (IFAC) which includes the profile Committees for mechatronics, as well as commissions and subcommissions on mechatronics. To exclude nonconstructive competition it is necessary to use the methods of mechatronic approaches, i.e., the efforts of various specialists should be united as far as the object in question is inhomogeneous in their essence and difficulty compatible. Of great importance was the decision to impact cooperation and mutual understanding through the creation of International translators [26, 27]. They are especially helpful in compiling summaries of papers and in optimal choice of the research works in one or several scientific field since the focus is often placed on the investigations in the allied areas. Solution of this problem alleviates estimation of the work of scientists proceeding from the citation index. The general results of named activities will be seen in a complete and objective acquaintance with the developments and achievements of the colleagues from different countries. Summarizing the above, it should be emphasized that the problems related to the development of modern mechanics, including mechatronics, can be successfully solved by determination of both purely scientific and organizational and translation-communicative tasks. REFERENCES 1. Минков К. Робототехника – ренессанс теории механизмов и машин // Материалы третьей Международной Школы: Применение механики в робототехнике и новых материалах. – Варна: Изд-во Болг. АН, 1988. – С. 42-47. (Minkov K. Robotics – rd

Rennaisance of Theory of Mechanisms and Machines / Proceedings of the 3 International Scool “Applied of Mechanics in Robotics and New Materials”. – Varna: Publishing House of Bulgarian Academy of Science. – 1988. – P. 42-47). 2. Шалобаев Е.В. Фундаментальные и прикладные проблемы развития мехатроники // Сборник: Современные технологии. / Под ред. С.А. Козлова. – Санкт-Петербург: СПбГИТМО (ТУ), 2001. – С. 46-67. (Shalobaev E.V. Theoretical and Applied Questions of Mechatronics Development // Proceedings: Modern Technologies / Edited by S.A. Kozlov. – Saint-Petersburg: IТМО University, 2000. – P. 46-67). 57

3. Шалобаев Е.В., Толочка Р.-Т. Терминологические аспекты современной мехатроники // Фундаментальные и прикладные проблемы техники и технологий. – 2013. – № 5. – С.122-132. (Shalobaev E.V., Tolocka R.-T. Terminological Aspects of Modern Mechatronics // Fundamental and Applied Problems of Engineering and Technologies. – 2013. – No 5. – P. 122-132.) 4. Образовательная, научная и прикладная составляющие мехатроники / Ю.С.Смирнов, Е.В. Юрасова, Д.А. Кацай, И.С. Никитин // Вестник Южно-Уральского государственного университета. Серия: Компьютерныетехнологии, управление, радиоэлектроника. – 2014. – Т.14, Вып.№1. – С.81-88. (Educational, Scientific and Applied Components of Mechatronics. E.V. Smirnov [et al.] // Bulletin of South Uralian State University. Series: PC-Technologies, Management, Radioelectronics. – 2014. – Vol. 14, No 1. – P. 81-88). 5. Теряев Е.Д., Филимонов Н.Б., Петрин К.В. Мехатроника как компьютерная парадигма развития технической кибернетики // Мехатроника, автоматизация, управление. – 2009. – № 6. – С. 2-10. (Teryaev E.D., Filimonov N.B., Petrin K.V. Mechatronics as Computer Paradigm of Engineering Cybernetics Development/ Mechatronics, Automation, Management. – 2009. – No. 6. – P. 2-10). 6. Кориков, А.М. О развитии понятия «мехатроника» // Доклады ТУСУРа. – 2010. – № 1 (21). – Ч. 2. – С. 199-202. (Korikov A.M. About Development Notion of “Mechatronics” / Issues Paper of TUSUR. – 2010. – No 1 (21). – Vol. 2. – P. 199-202). 7. Подураев, Ю.С. Мехатроника: основы, методы, применение. – М.: Машиностроение, 2006. – 256 с. (Poduraev Yu.S. Mechatronics: Basics, Techniques, Applied. – Moscow: Mashinostroenie, 2006. – 256 p.). 8. Шалобаев Е.В., Толочка Р.-Т. К вопросу терминологии в области мехатроники // Научно-технический вестник НИУ ИТМО. – 2012. – №5. – С. 148-151. (Shalobaev E.V., Tolocka R.-T. Terminology in the Field of Mechatronics // Scientific and Technical Bulletin of “NTU ITMO”. – 2012. – No 5. – P. 148-151.) 9. Шалобаев Е.В., Толочка Р.-Т. Рекомендиции IFToMM по терминологии в области мехатроники // Мехатроника, автоматизация, управление. – 2013. – №2. – С. 2-5. (Shalobaev E.V., Tolocka R.-T. IFToMM Recommendation on Terminology in the Field of Mechatronics / Mechatronics, Automation, Management. – 2013. – No 2. – P. 2-5.) 10. Шалобаев Е.В., Толочка Р.-Т. Терминологические аспекты современной мехатроники // Фундаментальные и прикладные проблемы техники и технологий. – 2013. – № 5. – С.122-132. (Shalobaev E.V., Tolocka R.-T. Terminological Aspects of Modern Mechatronics // Fundamental and Applied Problems of Engineering and Technologies. – 2013. – No 5. – P. 122-132.) 11. Шалобаев Е.В., Толочка Р.-Т. Современное состояние и перспективы развития основных понятий в области мехатроники // Научно-технический вестник информационных технологий, механики и оптики. – 2014. – №1. – С. 156-161. (Shalobaev E.V., Tolocka R.-T. Modern Station and Perspectives of Development of Basic Notions in the Field of Mechatronics / Scientific and Engineering Bulletin of Information Technologies, Mechanics and Optics. – 2014. – No 1. – P. 156-161.) 58

12. Шалобаев Е.В. К вопросу об определении мехатроники и иерархии мехатронных объектов // Датчики и системы. – 2001. – № 7. – С. 62-65. (Shalobaev E.V. To a question on definition of notion mechatronics and hierarchies of mechatronical objects // Sensors and Systems. – 2001. – № 7. – P. 62-65.) 13. Шалобаев Е.В. Вопросы терминологии и миниатюризация аэрокосмических систем // Мехатроника, автоматизация, управление. – 2013. – №10. – С. 60-66. (Shalobaev E.V. Problems of Terminology and Miniaturization of Aerospace Systems // Mechatronics, Automation, Management. – 2013. – No. 10. – P. 60-66.) 14. Шалобаев Е.В., Дунаев А.В., Козырева О.Д. Сканирующая лазеротерапия с применением биологических обратных связей и мехатронные аспекты проектирования медицинских установок // Фундаментальные и прикладные проблемы техники и технологии. – 2014. – №1 (303). – С.101-108. (Shalobaev E.V., Dunaev A.V., Kozyreva O.D. Scanning Laser Therapy with Application of Biological Backlinks and Mechatronic Aspects of Projecting of Medical Installations // Fundamental and Applied Problems of Engineering and Technology. – 2014. – No. 1 (303). – P. 101-108.) 15. Шалобаев Е.В. Микросистемная техника и мехатроника: особенности соотношения макро- и микроуровней // Микросистемная техника. – Москва, 2000. – № 4. – С. 5-10. (Shalobaev E.V. Microsystem technics and mechatronics: features of a parity micro- and macrolevels // Microsystem Technics. – 2000. – No. 4. – P. 5-10.) 16. Shalobaev Е.V. Mechatronics: Today Problems and Development trends of Terminology // Proceeding 23th Working Meeting of the IFToMM Permanent Commission for Standardization of Terminology on MMS. – Minsk–Gomel, Belarus, June 21–26, 2010. – P. 111-118. 17. Горбатов П.А. Особенности параллельного проектирования горных выемочных машин новых поколений как энергетических систем мехатронного класса // Горное оборудование и электромеханика. – 2010. – № 10. – С. 39-42. (Gorbatov P.A. Peculiarities of the Parallel Projecting Mining Winning Machines of New Generating as an Energetically Systems of Mechatronic Grade / Mining Equipment and Electromechanics. – 2010. – No. 10. – P. 39-42.) 18. Nuttall A.J.G., Lodewijks G., Klein Breteler A.J. Optimally Suspended Pipe Conveyor // Doprava a logistika, 2006. – P. 531-535. 19. Bansevičius R.P.; Toločka R.T., Macha Ewald, Pawliczek Roland. Adaptive Mechanics: Concept and Course for Mechatronics Study Programme // Mechatronic Systems and Materials: Selected Papers. – Opole University of Technology, 2007. – P. 7-14. 20. Janocha H. Adaptronics and Smart Structures. – Berlin–Heidelberg–New-York: Springer-Verlag, 1999. 21. Оганесян А.Т. Система автоматизированного проектирования герконовых реле с оптимальными параметрами // Известия вузов. Электромеханика. – 2011. – № 2. – С. 53-55. (Oganesyan A.T. System of Automation Projecting Reed Relays with Optimal Parameters / Izvestia Vuzov. Electromechanics. – 2011. – No. 2. – P. 53-55.) 59

22. Ткалич В.Л., Лабковская Р.Я., Пирожникова О.И. Анализ присоединенных масс упругих чувствительных элементов ртутных герконов // Известия вузов. Приборостроение. – 2012. – Т. 55, № 7. – С. 32-35. (Tkalich V.L., Labkovskaya R.Ya., Pirozhnikova O.I. Analysis of attached masses of elastic sensitive elements of wet-reed relaies // Izvestia Vuzov. Instrumentation. – 2012. – Vol. 55, No. 7. – P. 32-35.) 23. Иванов А.А. Приводы систем точного позиционирования на основе обратного пьезоэффекта // Труды Нижегородского государственного технического университета им. Р.Е. Алексеева. – 2013. – № 2(99). – C.105-109. (Ivanov A.A. Drives of the systems of proper positioning on the base of inverse piezoeffect // Proceedings of R.E. Alexeev Nizhny Novgorod State Technical University. – 2013. – No. 2 (99). – P.105-109.) 24. Подураев Ю.В. Мехатроника // Большая Российская энциклопедия. В 30-ти тт. Т. 20. (Мео...-Мон...). – М.: Энциклопедия, 2012. – 978 с. (Poduraev Yu.V. Mechatronics / Bolshaya Rossiiskaya Encyclopedia. Vol. 20. Moscow: Encyclopedia. 2012. – 978 p.) 25. IFToMM: Standardization of terminology. Special issue // Mech. Mach. Theor. –2003. – Vol. 38. – P. 7-10. 26. Reference-Dictionary Book of Gearing: Russian-Englich-German-French / Editor V.E.Starzhinsy. – Gomel, 2011. – 219 p. 27. MMS-terms-2003 // [Электронный ресурс] Режим доступа: www.iftomm.3me.tudelft.nl. (MMS-terms-2003 // [Elerctronic Resource]. Access Mode www.iftomm.3me.tudelft.nl).

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ON THE THERMINOLOGICAL CONTENTS AND INTERRELATION OF THE “BIOMECHANICS” SECTION WITH TRADITIONAL (BASIC) SECTIONS OF MECHANICS Serge V. Shil'ko, Dr., V.A. Belyi Metal-Polymer Research Institute of NASB (MPRI of NASB), Gomel, Belarus, [email protected] Victor E. Starzhinsky, Prof., Dr. Sci., V.A. Belyi Metal-Polymer Research Institute of NASB (MPRI of NASB), Gomel, Belarus, [email protected] ABSTRACT The evolution of mechanics terminology taking into account the biomechanics development is traced. New interdisciplinary terms (“smart materials”, “adaptive composites”, “mechanical logics”, “compliant elements”, “moving boundaries”, “actuator”, “processor function”, “feedback”, “mesomechanics”, “hierarchical model”, etc) which have been formed on the basis of structural and functional analysis of biosystems (organs and physically non-linear biological tissues) in the course of creation of artificial materials = constructions having attributes of intelligent behaviour, are given. Key words: mechanics, biomechanics, terminology. Relevance of discussion concerning terminology on biomechanics and its relation with the basic and more traditional sections of mechanics is caused by the following fundamental and applied reasons:  raising the status of the human sciences, including the needs in the field of medicine, physical culture and sports, as well as the concept of a healthy lifestyle;  the necessity of adequate mechanical and mathematical description of biological architecture as structures, mechanisms and materials optimally "designed" due to the evolution of nature;  the modern trend of using the principles of living organisms functioning to improve the existing and developing new technologies, machines and materials (including adaptive, intelligent, and other special materials and products). 61

Indeed, the problems of the biological world mechanics, in addition to the development of ideas on the laws of life, promote innovation in all technical areas ranging from prosthetics funds and ending with the global management system and production. The very complex technical systems of artificial origin, having the sensor, actuator and even processor (mental) functions, begin to form based on natural analogues. It even causes pessimistic predictions about competitiveness of protein-based organisms, although, in our opinion, a complementary combination of biological and technical systems is progressive and fruitful, since it provides a basis for the synthesis of more sophisticated products (principle of composition and synergies). For convenience, it is advisable to note published in 2005 terminological dictionary on mechanics [1] where the authors from Metal-Polymer Research Institute of NASB and the Institute of Polymer Mechanics of the Latvian State University tried to take into account modern tendencies in the development of a number of mechanics and related disciplines, including physics, materials science, biology. So, in the dictionary, which includes about 3,500 terms in Belarusian, Russian, German and English, considerable attention is paid to the terminology of biomechanics, mechanics of composites and technology mechanics. An expert in the theory of machines and mechanisms may notice a strong terminological correlation of Section 4.05 “Biomechanics and mechanics of adaptive materials” with an absolute majority the well-known basic sections presented in dictionary and listed below: 1 Theoretical mechanics 1-01 Fundamental notions 1-02 Statics 1-03 Kinematics 1-04 Dynamics 1-05 Fundamental notions of analytical mechanics 1-06 Fundamental notions of continuum mechanics 1-07 Mechanical vibrations 2 Mechanics of deformable solids 2-01 Strength of material, theory of elasticity 2-02 State of stress 2-03 State of strain 2-04 Strain energy 2-05 Causes of deformation 2-06 Theory of strength 2-07 Material testing 2-08 Buckling 2-09 Bars 2-10 Plates and shells 2-11 Material properties influencing the deformability 62

2-12 Fatigue of materials 2-13 Fracture mechanics 3 Mechanics of fluids and gases 3-01 Ideal incompressible fluids 3-02 Fluid oscillations and wave theory 3-03 Viscous fluids 3-04 Turbulence 3-05 Rheology 3-06 Boundary layer theory 3-07 Gas dynamics 3-08 Heat and mass transfer 3-09 Applied hydrodynamics and hydraulics 3-10 Applied aerodynamics 3-11 The motion of the fluids and gases in the porous media 4 Special parts of mechanics 4-01 Mechanics of composite materials 4-02 Finite and boundary elements numerical methods in mechanics 4-03 Contact mechanics 4-04 Tribology 4-05 Biomechanics and mechanics of adaptive materials 4-06 Structural analysis 4-07 Magnetohydrodynamics 4-08 Acoustics 4-09 Dynamics of plasma 4-10 Dynamics of atmosphere and ocean 4-11 Soil mechanics 4-12 Interior dynamics of the Earth 4-13 Technological mechanics Due to the diversity of biological and technical systems, the in-depth analysis of terminology cannot be provided in the compact report; therefore focus is made only on a few aspects of the problem. Firstly, the biological and technical systems are closer in terms of complexity and functionality at the present stage of development. Moreover, the creation of engines and propellers on other physical principles (as compared to the functioning principles of biological systems) lead to a world of machinery often exceeding the human or other living organisms on individual parameters of sensor function (e.g., sensitivity to external physical actions spectrum) and propulsion function – power, speed, continuity of action, etc. 63

Nevertheless, evolutionary optimized biological systems have been and remain a source for effective design, engineering and material solutions as well as for a lot of new terms enriching the mechanics. So, the design of technical systems is determined by several criteria, such as strength, speed, material consumption, energy consumption, etc. Manufacturing (production) technical system is based on a modular principle. Item with the desired characteristics is once manufactured, and can be replaced during fabrication or operation. By virtue of the modular principle, one can extend the resource and update the technical systems. Secondly, biological structures are the result of a long process of selection in evolution, so their functioning plays a major role in heredity (the inheritance). Each individual has the biological property of encapsulation, i.e., unauthorized individuals cannot be integrated into the functioning of the individual algorithms. Polymorphism in relation to biological automates means a high level of adaptability to different conditions of operation. Human biological structures can exchange energy, substance, information with the environment in accordance with the algorithms implemented in the genome, as well as algorithms that are the result of upbringing, education, life and professional experiences. As known, modern paradigm is an object-oriented programming which is based on the principles of encapsulation, inheritance, polymorphism. Note that encapsulation in biological structures is manifested as immunity which is the main obstacle to the benefits of technical systems – their modularity. However, biomedicine in recent decades demonstrates the wonders of prosthetics which successes are largely due to depth study of the problems of human biomechanics. In this connection, predictive role of systematizations of material systems and corresponding terminology at various levels, from general principles of additivity, synergism and mobility of structure, should be noted. These include systematizations such as [2] to identify common characteristics of natural objects useful for technical systems. Adaptive, active and smart materials and constructions as artificial analogues of biological tissues. As noted above, characterized biostructures are suitable to adaptive response to changing external conditions. These reactions contribute to the achievement of extremely valuable strength, frictional, hydrodynamic characteristics (equal strength, wearlessness, self-healing, damping, ultra-low friction, etc.). It was shown that the phenomenon of autoregulation of mechanical characteristics (“mechanical logics”) may exist in thermodynamically non-equilibrium systems which include artificial material systems with feedback. Due to the fact that the vast majority of technical systems do not have the aforementioned properties, relevant research to create artificial materials with elements of autoregulation was performed. Qualitatively new property of adaptation of heterogeneous materials to external conditions can be obtained on the basis of self-organized structure and "programming" of the physical mechanisms that determine the strength and deformation at the micro- and mesoscopic levels, assuming one of the conditions, the mobility of the structure of interphase boundaries [3]. With the use of biological analogies authors 64

developed the concept of adaptive materials as structurally inhomogeneous medium with moving interphase boundaries in terms of mesomechanics[2,3]:  classification of materials based on structural and functional analysis and synergy;  the introduction of the concept of adaptive material implements automatic expedient restructuring under extreme external action, in accordance with the predetermined criterion of optimality;  the formulation of mechanism of the functioning of adaptive materials in the form of a thermodynamically open system with metastable phase composition and feedbacks;  development of the theory of the process of structural adjustment based on a solution of the problem of localization of moving boundaries;  formulation of mesomechanical models of heterogeneous materials. Adaptive materials which structure changes respectively under the effect of operating factors (mechanical stress, temperature, physical fields, environment) when their intensity reaches a threshold [2-4]. In principle, the structure of any material changes naturally under the external influence. ‘Respectively’ implies that the adaptive material structure change promotes the applicability of the article which is contained in it. In other words, new properties of the material ‘adapted’ to the changed operational conditions determine higher competitiveness and article quality. The adaptive material structure can restore its initial state when the external influence ceases [4]; otherwise the structure change becomes irreversible. An example of the adaptive material is the plastic grease which is a lubricant-like material obtained by introduction of a solid thickener (soap, paraffin, etc.) into liquid petroleum or synthetic oil. At loads below the strength limit the thickener produces a three-dimensional framework and the lubricant acquires the solid body properties. Under heavy load, it turns into an abnormally viscous lubricating fluid. After the load ceases, the framework structure restores and the lubricating material becomes solid again. Active materials perform their inherent engineering functions and influence positively the interfaced parts of the article and the environment of the physical, chemical or biological nature. The criterion of usefulness is the promoted applicability, quality and compatibility of the article. Smart (intelligent) material performs in the engineering system the operating functions relevant to its natural properties, but once the external energy reaches certain threshold, it transforms this energy into its structure changes improving the operating properties in the first place, it controls and automatically adjusts their level through the feedback by comparing the external influence and the extent of properties change [5]. This material is capable to compare the external influence energy with the extent of primary material restructuring; the result of this comparison is implemented in the feedback signal targeting the external influence energy at secondary material structure adjustment. When characterizing the smart materials, the term “capable” was commonly applied to individual features of living creatures as the subjective criterion of their successful 65

existence. The synonymous notion “properties” is used in the science of materials. The use of combination ‘smart materials capability’ is justified as the cybernetic system displays features of artificial intelligence identical to natural intelligence – the capability of thinking of living creatures. The dynamic optimality of biological tribojoints due to a number of compensatory and adaptive mechanisms is expressed in relaxation and reducing of contact stresses concentration. For example, structures shown in Fig. 1 are related to musculoskeletal system having compliant elements, namely, porous damping layers promoting effective adaptation to peak loads during walking. 1 – intervertebral disc 2 – fibrous ring 3 – core 4 – nerve

4

T

1 3 2

3 1

Moving boundaries 1 – knee 2 – cartilage 3 – acetabulum

N T

1 р(х) 3

2

Fig. 1 – Biological tribojoints with compliant elements (intervertebral disc, cartilage). This vertebrae is separated by elastic fibrous rings with viscous core – in the case of the spine; conjugation of the femoral head and the acetabulum, the intermediate layer having a quasi-elastic cartilage, filled with synovial fluid (joint). It is understood that such malleability intermediate damping elements is much higher compared with a virtually nondeformable counterbody made of high elastic modulus of bone tissue or tribojoints of machines and mechanisms. In this connection it is appropriate to mention the typical terms of biomechanics, denoting structural elements in the form of prostheses and implants. Mechanical properties of existing and emerging types of prostheses are largely determined by the structure of materials (Table). The ideal prosthesis should simulate nonlinear deformation behavior of living prototypes. Stress state of the simplest version of the damping implants made of a homogeneous material is uneven and causes inefficient use of material strength in contact 66

loading. Even the use of gradient materials allows us to provide only statically optimal structure. The most effective (in real time perspective) implant with multimodular deformation behavior [2, 3] and metastable structure shows a reversible change of local compliance. Use of similar metastable materials of porous structure also creates a basis for reversible changes of local compliance, and, thus, for creation of dynamically optimal implants. Table. Stress state of several generations of implants Structure type Characteristics of stress state Homogeneous Uniform Layered

Concentration of interface stresses

Gradient

Statically optimal

Metastable

Dynamically optimal

Study of these biological systems leads to the problems of mechanics in terms of moving boundaries. Smart behavior of human dental is realized due to a number of adaptive phenomena occurring in it [6]:1) the compensated process of wear as a result of enamel restoration by the underlying layers of dentin; 2) genesis and resorption in periodontal connective tissue in orthodontic correction of the teeth; 3) providing the optimal number of microcontacts on the occlusal surface; 4) saving contacts between adjacent teeth on equatorial surfaces; 5) load balancing on dentition due to misalignment of teeth. For example, an artificial analogue of tooth and cartilage biological tissue is adaptive multimodular material having tensosensitivity of elastic moduli. Its initial homogeneous structure when exposed to, for example, external contact load becomes inhomogeneous due to the formation of regions S with different elastic moduli (Fig. 2). The developer can specify the tensosensitivity law, providing reception uniform stress distribution in a given range of loads that will provide uniform strength design. N, T

S

Fig. 2 – Formation of the inhomogeneous structure with moving boundaries under multimodular material loading. Actuator function. The term "actuator" originated from the biomechanical studies of muscles, determining the functioning of almost all organs, especially the musculoskeletal 67

and cardiovascular systems. Currently actuators represent drives generating force and motion in various machines and appliances, including automation in the form of robots and other actuators. Let us list the known modes of transportation: bipedal walking, wheel propeller, propeller, wings, fins and screws, jet engine, solar sail. We have to admit that quite successful attempts were made to simulate relatively simple principles of motility of historically first creatures amphibians and insects. Kinematics of warm-blooded organisms is much more complicated, and no one species has such a variety of motions (degrees of freedom) as a human [7]. In this connection one can assume the design of an optimal technique of competitive exercises [8-10]. Currently, to achieve record results in elite sport it is not enough to analyze the known forms of movements and techniques necessary to develop exercises with predetermined parameters. Human movements are purposeful and, thus, they differ greatly from other natural movements. Kinematical study of a man as a self-control biomechanical system allowed us to develop mathematical models for motion in terms of support and support-free state (Fig. 3).

а b Fig. 3 – Estimated scheme of athlete motion (a) and appearance of equipment (b) to read the coordinates of the joints according to the exercise video for later analysis. Subsequent biomechanical analysis of technique of motor actions produces digital and graphical information on numerous indicators of competitive exercises. As a result, optimization of the movements of athletes may be performed subject to individual inertial characteristics and power resources. The above list shows that the terminology of human motion simulation reflects the basic concepts adopted in theoretical mechanics:  mass-inertial characteristics of the units of the modeled biosystem;  initial conditions of motion;  restrictions on kinematic structure of the synthesized exercises;  software management, which is realized at the kinematic level;  restrictions on power resources of the sportsman. 68

Thus, the results of this study can be applied to the types of human motor activity (occupational, household, sports) for which the relevant economization and rationalization of motor component of motion is needed to achieve the predetermined goals of the movement. CONCLUSIONS  New stage of mechanics development as a science is expressed in the actualization of fundamental research in mechanics of biological systems and processes.  Biomechanical analogs and thorough mathematical analysis of living structures are the source of new technical solutions and adequate terms dissemination. REFERENCES 1. Плескачевский Ю.М., Шилько С.В., Тамуж В., Цируле К. Русско-белоруссконемецко-английский словарь по механике / Под общ. ред. Ю.М. Плескачевского. – Минск: Белорусская энциклопедия, 2005. – 192 с. (in Russian) (Pleskachevsky Yu.M., Shil’ko S.V., Tamuzh V., Cirule K. Russian-Belarusian-German-English Dictionary on Mechanics / Edited by Yu.M. Pleskachevsky. – Minsk: Belorusskaya entsiklopediya, 2005. – 192 p.). 2. Пинчук Л.C., Гольдаде В.А., Шилько С.В., Неверов А.С. Введение в систематику «умных» материалов. – Минск: Беларуская навука, 2013. – 399 с. (in Russian) (Pinchuk L.S., Goldade V.A., Shilko S.V., Neverov A.S. Introduction to the Systematics of "Smart" Materials. – Minsk: Belaruskaya navuka, 2013. – 399 p.) 3. Shilko S. Adaptive Composite Materials: Bionics Principles, Abnormal Elasticity, Moving Interfaces / In Book: Advances in Composite Materials – Analysis of Natural and Man-Made Materials / Ed. P. Tesinova, InTech, 2011. – Chapter 23. – P. 497-526. 4. Шилько С.В., Плескачевский Ю.М. Умные материалы: время убирать кавычки // Наука и инновации. – 2013. – № 9. – С.26–29. (in Russian) (Shilko S.V., Pleskachevsky Yu.M. Smart Materials: Time to Remove Inverted Commas // Nauka i innovatsii. – 2013. – No. 9. – P. 26-29.) 5. Goldade V., Shil’ko S., Neverov A. Smart Materials Taxonomy / CRC Press, Taylor & Francis Group, 2015. – 277 p. 6. Шилько С.В. Адаптивность дентального аппарата и напряженное состояние зуба человека // Механика композиц. материалов и конструкций. – 1999. – Т. 5, № 1. – С. 49–59. (in Russian) (Shilko S.V. Adaptability of Dental Apparatus and Stress state of Human Tooth // Mekhanika kompozitsionnykh materialov i konstruktsii. – 1999. – Vol. 5, No. 1. – P. 49-59.)

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7. Бернштейн Н.А. Очерки по физиологии движений и физиологии активности / М.: Медицина, 1966. – 349 с. (in Russian) (Bernshtein N.A. Essays on the Motion Physiology and Activity Physiology / Moscow: Meditsina, 1966. – 349 p.) 8. Загревский В.И., Загревский О.И. Математические модели синтеза движений биомеханических систем / Изд-во Palmarium Academic Publishing, 2012. – 175 с. (in Russian) (Zagrevsky V.I., Zagrevsky O.I. Mathematical Models of Synthesis of Movements of Biomechanical Systems / Palmarium Academic Publishing, 2012. – 175 p.) 9. Загревский В.И., Загревский В.О. Планирование траектории управляющих движений спортсмена в координатах внешнего пространства // Теория и практика физической культуры. – 2010. – № 10. – С. 56–61. (in Russian) (Zagrevsky V.I., Zagrevsky O.I. Path Planning of Control Movements of Athlete in Outer Space Coordinates // Teoriya i praktika fizicheskoi kultury. – 2010. – No. 10. – P. 56-61.) 10. Grigorenko D.N., Bondarenko K.K., Shil’ko S.V. The Kinematic and Power Analysis of the Competitive Exercises at Hurdle Race // Russian Journal of Biomechanics. – 2011. – Vol. 15, No 3. – P. 55-63.

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HISTORY OF GEARING THEORY DEVELOPMENT Andrey E. Volkov, Prof., Dr. Sci., Moscow State University of Technology “STANKIN” (Moscow, Russia) [email protected] Dmitry T. Babichev, Prof., Dr. Sci., Tyumen State Oil and Gas University (Tyumen, Russia) [email protected] ABSTRACT The stages of gear meshing development are presented. The leading role of Russian scientists in evaluation of gearing theory as a Science is shown. The main perspective problems for further development are formulated. The large volume of bibliographical references is given. Key words: gears, gear meshing, gearing theory, synthesis and analysis of gearing. "Science consists in grouping facts so that general laws or conclusions may be drawn from them" Charles Darwin INTRODUCTION Mechanics as a science has evolved in two periods. The first one is empirical, pre-Newton period. It is mainly characterized by solution of various mechanical problems encountered in civil engineering, military science, etc. This is a stage of accumulation of facts, their qualitative and quantitative description, establishment of separate laws. The second Period (Research or Newton Period) starts with emergence of mechanics as an independent science. Knowledge accumulated during the first period was summarized and formalized by Newton as the system of axioms, and, owing to the works of J.L. d'Alembert, J.L. Lagrange and other prominent scientists, mechanics obtained a powerful tool to solve 71

practical problems. This was the beginning of the rapid development of mechanics, as the result of which, in particular, many branches of mechanics had emerged which later developed into independent branches of science. Hydrodynamics, aerodynamics, structural resistance, and many others, including the theory of machines and mechanisms which has evolved through similar periods, are among such sciences. Theory of mechanisms and machines also launched many of its sections, such as robotics, machine dynamics, the theory of gyroscopes and systems theory gear, etc, to develop as separate sciences. The main purpose of this article is to trace the development of the theory of gearing and to show the role of Russian scientists in the development of the theory of gearing. 1. Empirical period of development of the theory of gearing Elements of the theory of mechanisms and machines, including gear units, began to develop inseparably with the mechanics, starting with the construction of the pyramids in ancient Egypt, and may be even earlier. To realize ambitious plans of construction, unknown "engineers" of the ancient world came up with and implemented a lot of mechanical designs (wheel, helical gear, and others). Unfortunately many of them have not reached our time. Subsequently ancient enginemen created lifting mechanics and military engines, turbines, and even the simplest machines. It is sufficient to mention such names as Archimedes, Mark Vitruvius, Heron of Alexandria. M. Vitruvius, a Roman architect and engineer (1st century BC), invented godometer [1, p. 64] for measuring the covered distance and the clock which used spatial gear [1, p.181]. In his treatise "Fundamentals of Mechanics" Vitruvius gave the first known definition of a machine: "The machine is a combination of wooden parts joined together which possesses tremendous force and capable of moving great weights" [2, p. 186]. The first classification of machines is contained therein. Vitruvius classified the machines as under-bridge, air and lifting ones. Heron (1st century AD) in his book "On machines" [1, p.61] described various automatic devices invented by him, including automatic puppet theater in which all the pieces were driven automatically one after the other through a system of gears and laces. The godometer invented by Heron made use of gears with 8th and 30th teeth [1, p. 63]. The period of empirical development of more complex machines continued through the Middle Ages. For example, in the IX-X centuries in China a sand clock with engine was used. Its kinematic chain consisted of several gears with different numbers of teeth: 16, 33, 36, etc. [3, p. 102]. The description of planetary (astronomical) clock of Italian watchmaker Giovanni Dondi (1318-1387) [3, p.149] has been preserved. "The clock frame was made of bronze, and the shafts, wheels and dial were made of brass. 100 of 297 pieces of Dondi's clock were wheels and gears which were manually blanked. Teeth had triangular shape, but for a variety of 72

astronomical gears blunt teeth (rounded, with cut edges) were used. To reproduce the motion of the Moon, the wheel should have 157 teeth which slicing was very difficult task. Blanking of 365 teeth on one wheel was another challenging task". Rapid development of machine engineering during the Renaissance gave rise to gearing development. Leonardo da Vinci considered toothed mechanisms of different types in his printed works. Italian mathematician and engineer Gerolamo Cardano (1501-1576) became known for designing various mechanisms, including systems with large gear ratios that were used in tower clocks [3, p.169]. It required knowledge of the most important kinematic relations, such as "speed of the wheels and pinions with a certain amount of teeth and pinions." German mechanic of Czech origin Jacob Leipold (1674-1727) in his multivolume encyclopedia of technical knowledge "Theater of machines" gathered data on almost all the machines and tools known by the 20ies of the XVIII century. Among other issues, it included description of the gear-tooth form, elements of gear heads, etc. [4, p. 129]. Russian mathematician and mechanic Pafnuty Lvovich Chebyshev (1821-1894) is considered to be the founder of the Russian scientific school of the theory of mechanisms. He also made a substantial contribution into the theory of gearing which, unfortunately, was underestimated by the domestic specialists. In the tractate “About gears” [5, p.710] he, on the base of theory of functions deviating least of zero, solved the problem of synthesis of tooth profiles “drawn around by circular arcs whereby irregularities of gear movement reach the lowest limit”. Thus he proposed a mathematical model of tooth profile synthesis according to the criterion of minimum of deviations of gear ratio from the constant value over a period of one tooth pair meshing. Ibidem P.L. Chebyshev writes that “…in theory, usually a given tooth form is assumed at one gear wheel which is then used to find a tooth form on the other gear wheel” and then formulates the task “…it is necessary to have such technique of their drawing (i.e. synthesis – authors) which would make it simple to obtain tooth forms on both gear wheels most suitable for specific requirements of practical application”. Probably it was one of the first statements of a problem in tooth flank optimization synthesis. German scientist Franz Reuleaux (1829-1905) in the monograph [6] developed and outlined the main provisions of the structure and kinematics of mechanisms. He defined kinematic pair, suggested teaching about the mechanisms and developed methods for the synthesis of mechanisms. 2. Gear drives and the gear machining origin Mankind has been using gears for several thousand years, in ancient Egypt they were used in irrigation systems. Initially, the gears were made of wood, with plug teeth made of hardwood - they were used until the early twentieth century, in particular, in water mills. Since ancient times gears were made from copper alloys, later – from iron and steel. While 73

gears were usually cast, they were sometimes forged and teeth on them were sawed or ground. Since the mid-XIX century the creation of complex metal and gear-cutting machines has begun. This process ran parallel with the formation of the now world-renowned machine tool companies. [7] Reishauer Corporation was founded in 1788, but the most important period that had determined its further development was the mid-XIX century when the company was headed by Jacob Friedrich Reishauer (1812-1862). He and his father in law (father of his wife - approx. Ed.) I.G. Bodmer have developed a machine for the manufacture of threading tools, screw-cutting lathe. Swiss engineer Johann Georg Bodmer (1786-1864) was a brilliant inventor of the cutting tools, so he could design and manufacture transmission spur gear ratio to 145, as well as helical and bevel gears. The Gleason Works Company dates back to 1865 when a native of Ireland, William Gleason (1836-1922) organized a machine shop. The first innovation of The Gleason Works introduced in the industry was the invention of the planer to produce spur bevel gears in 1874. The British company David Brown was founded in 1860 by David Brown (1843-1903). Business began with the production of molds for casting gear and later expanded by casting gears themselves. In 1898 the company started production of cutting gears, and since 1915 involute worm gears. Swiss company Maag Gear AG, a global leader in the production of gearboxes, was founded in 1913 by Swiss engineer and inventor Max Maag (1883-1960). In 1908 M. Maag developed unusual geometry of involute spur and helical gears. This allows the designers to avoid undercutting of teeth and increase the thickness of the teeth only by changing the instrument relative to the wheel being processed. U.S. firm Fellows Gear Shaper Company started production of spur wheels by chiselling teeth in 1896. Method of teeth chiselling based on simulation of meshing of two gears as they rotate around parallel axes was invented and commercialized by American inventor Edwin R. Fellows (1865-1945). Machine for grinding involute profile gear cutters used for chiselling teeth of spur, helical and special wheels was designed and manufactured in 1897. 3. Origin and development of the theory of gearing In the origin and development of the theory of gearing as a science, certain periodicity can be seen: initially, new particular tasks emerge in the society; they are eventually solved, accumulated and systematized. Then comes the moment when the "quantity is transformed into quality": there is awareness of the accumulated knowledge, theoretical propositions are formulated and the foundations for the development of science and practice are laid for the next cycle. Based on theoretical foundations, new designs and technologies are created and the old ones are improved. Then the cycle repeats at a new stage of development of the 74

industry: emergence of new problems and their solution, awareness, formulation of new theoretical propositions. In our opinion, the theory of gearing goes through three such cycles: two of them are completed, while the third one is ongoing at the moment. The first cycle – creating the foundation for theory of gearing – began in antiquity, gained momentum in the XVIII century owing to works of Euler and L. Camus and was enriched in the XIX century by works of T. Olivier, R. Willis and others. Completion of the first cycle by 1890 can be roughly related to the defense and publication of the master's thesis by H.I. Hokhman (1851-1915) in 1886 in which the analytical solution of the main task of the theory of gearing – finding the mating surface and determining its properties – is given. The second cycle – creating the classical theory of gearing – lasted for about 80 years and was completed by early 70-ies of the XX century. It can be assumed that the results of the second cycle were finalized in 1968 by a monograph of F.L. Litvin [8] at Symposium on gears in Leningrad in 1973 [9]. The third cycle – laying the groundwork for an updated theory of gearing and methods of the gearing synthesis oriented at modern computer technologies. Currently, this cycle is not completed yet, although a lot of new challenges are accumulated and a number of topical issues and unresolved problems are identified. Let’s consider the features of these three cycles of creation and development of the theory of gearing. 3.1. Laying the foundations of the theory of gearing Theory of gearing, like the majority of scientific disciplines, is based on three points: * An object of study and the basic concepts of the discipline; * Methods and ways of working with the basic concepts; * Basic laws of nature and of the given science which establish relationships between the basic concepts. These laws are often identified in the course of studies - in the form of theorems, mathematical formulas, logical and computational models, etc. The objects of study of the theory of gearing are: * Higher kinematic pairs in the plane and space gear and cam mechanisms (working engagement); * Cutting tools and processes in shaping gear treatment (technological engagement). In the theory of gearing, the basic concepts and ways of working with them are taken, for the most part, from mathematics (line, surface, curvature, etc.) and mechanics (centroid, velocity, acceleration, force, etc.). Basic laws and links between fundamental notions of the theory of gearing were identified by mathematics and mechanics already in the XVIII-XIX centuries (L. Euler, L. Camus, F. Savary, E. Bobillier, R. Willis, T. Olivier, H.I. Hokhman ). Member of the Russian Academy Leonhard Euler (1707-1783) discovered unique properties 75

of involute of circle and suggested using them in the gearing. Note that currently more than 90% of all gears in the world are involute. French astronomer Felix Savary (1797-1841), by continuing the work of Euler, revealed a relationship between the radii of curvature of the tooth profiles in flat engagement with the radii of curvature of the centroid, now known as the Euler-Savary equation. This unique equation is widely used nowadays. On the basis of the Euler-Savary equation, French mathematician Etienne Bobillier (1798-1840) proposed a geometrical construction for finding the centers of curvature profiles. The first scientists who were applied the scientific approach to study of gears were R. Willis and T. Olivier. English scientist R. Willis was one of the first to apply a scientific approach to the study of gearing. He proved the fundamental theorem for plane gears – Willis [10] theorem, which in the modern interpretation reads as follows: "Common normal to the profiles drawn at the point of tangency passes through the pole of engagement". Willis invented a special tool - odontograph - to define the geometry and type of drawing the teeth and gears of different diameters and number of teeth. Scientific approach to gears formation goes back to the French mathematician and mechanics Theodore Olivier (1793-1858). He formulated two ways of forming conjugated gears which have not lost their generality and value up till now. The first Olivier method. Generating surface Σ0 (e.g. rail or flat generating wheel) forms two surfaces by rounding: Σ1 on the gear and Σ2 on the wheel. These surfaces are located at different sides of the generating surface Σ0 (e.g. Σ1 is located at the top of Σ0, and Σ2 – at the bottom of Σ0). Σ1 and Σ2 surface will be paired: a linear contact (which occurs in cylindrical and bevel gears) or touch points (e.g. helical gear). Most transmission with parallel and intersecting axes, i.e. cylindrical, conical and helical-bevel ones, are formed by this method. The first Olivier method was rarely used in gears with intersecting axes because it displays a distinct tooth contact point, which reduces the load capacity of the engagement. The second Olivier method. Surface of one of the gears - for example, Σ1 at the gear - is set almost arbitrarily, and the surface of the second gear - for example, Σ2 at the wheel – is set as an envelope to one-parameter family of surfaces Σ1. In general, contact between Σ1 and Σ2 will be linear. Basically, transmissions with intersecting axes, including the worm gears, are formed according to this method. In the XIX century cycloidal engagement becomes widespread. The work of the French mathematician Charles Etienne Louis Camus (1699-1768) has become the basis for the design of such gears. Camus’ theorem states that paths of the same point of the auxiliary centroid which is rolled along the centroids of meshing gears may be chosen as mating teeth. Chaim Iegudovich Hokhman’s [11] dissertation published in 1886 can be considered as the work that summarizes the steps of creating the foundations for the theory of gearing. He developed a framework for the analytical theory of planar and spatial gearing. Hokhman created a new method for finding the envelope surfaces and lines of contact with those surfaces which allowed to initially determine the line of contact of mutually enveloped surfaces in any system of coordinates associated with any link of working or technological 76

engagement. This simplifies finding the envelope surface as compared to classical methods in mechanics and differential geometry. By the end of the XIX century, the appearance of the fundamental principles of analytical theory of gearing, marked the end of the first cycle of development of the theory of gearing. These principles include: * Basic concepts and methods of classical mechanics, analytical and differential geometry; * Two principles of formation of mating gears proposed by Olivier; * Euler-Savary equation and Bobillier’s construction reflecting the relationship between the centroid and the curvatures of mating profiles in plane gears; * Hochman developed a method for finding the envelope profiles and surfaces, as well as points and lines of contact of mutually enveloped lines and surfaces in the plane and spatial working and technological gears. 3.2. Creation of the classical theory of gearing The framework of analytical theory of gearing developed by the end of the XIX century has become the basis for solving practical problems which were posed by the thriving industry for the science. Late XIX & early XX century had a rich history of inventions of new types of transmissions, machines, tools and machine gears. Conventionally, these inventions can be divided into two areas: machinery and tools for forming gears based on engagement of the mating surfaces, and machines and tools for forming gears with non-conjugated surfaces of teeth. The first approach is based on the Olivier principles. In the period from 1890 to 1920 the following technologies and machines for production of gears based on the form-generating method were invented and implemented: - Machines for bevel gears, including the ones circular teeth (J.E. Gleason); - Machines for grinding involute profiles of gear cutters (E. Fellows); - Machines for cutting spur and helical gears with worm milling cutters (R.H. Pfauter); - Technology for manufacturing globoid worm gear (S.I. Cohn and F.W. Lorenz); - Involute worm gear based on the application of involute helical surface as the surface of the worm mill thread (F.D. Bostock and P. Brown). These and many other inventions have set the task of generalization of the gear-forming theory based on engagement of the mating surfaces. Decisive role in complementing and developing the Olivier’s principles belongs to Russian scientists: A.F. Nikolaev (19011957), Ya.S. Davydov (1914-2003), and M.L. Erikhov (1937-2002). They used an auxiliary (generating) surface to form the mating surfaces. M.L. Novikov (1915-1957) proposed a fundamentally different principle of forming the mating gears by moving (according to a certain law) the contact point of two profiles along the line of engagement of the 77

synthesized transmission. All these principles are based on the theory of envelopes which was scientifically and methodologically completed (at that period of time) in Ya.S. Davydov’s, V.A. Shishkov’s and F.L. Litvin’s works. Almost simultaneously and independently they proposed a method for finding the kinematic envelope in which the meshing condition equation is used VN = 0 [8]. At this time, V.A. Shishkov [12] introduced a new concept - implementation speed Vn, equal to the scalar product Vn = V12·n, which became an effective tool in the study of gear cutting tools working according to the form-generating method. It became the basis of the kinematic method for the synthesis and analysis of gearing in the second half of the XX century. Ernest Wildhaber (1893-1979), a talented engineer and inventor of the company The Gleason Works, can be regarded as the founder of the second direction. In 1927, he proposed a method of forming hypoid gears and in 1930’s he patented Revacycle - the most productive method (at that time) for spur bevel gears forming [13]. Methods of forming these transmissions are not based on Olivier’s principles. E. Wildhaber introduced gears with non-conjugated tooth surfaces – transmissions with "approximate meshing". Basically, these gears cannot transmit rotation with constant gear ratio, but the degree of deviation from a constant gear ratio can be minimized by the targeted selection of values of gear treatment process parameters. Thus, Wildhaber, who abandoned the form-generating method, proved that there were possibilities of creating highly effective machining processes for gears with non-conjugated tooth surfaces, and thus initiated the theoretical study of such transmissions. Active development of the theory of approximate meshing began after the 2nd World War, both in the U.S. and the Soviet Union. As the result, the basic principle of the formation of non-conjugate surfaces was formulated independently in the works of M.L. Baxter [14] and F.L. Litvin [8]; according to the principle, the graph of deviation from the angular position of the driven wheel from its position upon engagement of strictly conjugate surfaces is a function similar to a parabola with the downward branches. At the same time it became clear that in order to meet challenges of synthesis and analysis of gearing built on non-conjugated surfaces it is required to develop new mathematical methods and models. First mathematical models for studying gearing and computer programs based on them appeared almost simultaneously in the U.S. and the USSR. In the U.S., TCA software package for the synthesis and analysis of hypoid gears [14] was created under supervision of M.L. Baxter (1914-1994), chief engineer and researcher of The Gleason Works. In the 1960’s, methods for the synthesis of approximate gearing began to develop with the advent of computers in the Soviet Union. At first, a software package for analysis and synthesis of Revacycle spur bevel gear [9, p.30-36] which included a numerical algorithm for calculating the surface as an enveloping surface without using the theory of envelopes [15] was developed at the Moscow Tooling and Machining Institute (STANKIN) under the leadership of G.I. Sheveleva (1929-2005). 78

Similar software packages were developed in Saratov (Special Design Bureau of Gear – Cutting Machines) under the leadership of M.G. Segal (1931-2000) and Leningrad (LITMO) under supervision of F.L. Litvin. The work on creation of universal programs for the computer-based studies of spatial links was held in Tyumen [9, p.36-43]. In the second half of the XX century, the USSR became a recognized leader in terms of volume and theoretical studies devoted to the study of the geometry of gears and gear cutting tools. After the end of World War II theoretical activities on creation of new methods of analysis and synthesis of the working and technological gears was booming for 25-30 years. Efforts of leading scientists (N.I. Kolchin, F.L. Litvin, V.A. Shishkov, M.L. Novikov, L.V. Korostelyov, G.I. Sheveleva, I.I. Dusev, Ya.S. Davydov, M.L. Erikhov and others) have led to creation of a new branch of science of the mechanisms - the gearing theory. The Soviet Union played the key role in creating the classical theory of gearing in early 1970’s. The most important results obtained through efforts of domestic scientists which formed the basis of the modern theory of gearing are listed below. 1. Olivier’s principles for forming conjugate gearing are supplemented and developed: A.F. Nikolaev [16], M.L. Novikov [17], Ya.S. Davydov [18], M.L. Erikhov [19]. 2. New methods for analysis of the geometry of gears are developed and the existing ones are improved: differential (N.I. Kolchin, the main publication of the year – 1957 [20]); screw (A.F. Nikolaev, 1950 [16]; K.M. Pismanik, 1950 [21]; N.I. Kolchin, 1963 [22]; V.S. Lyukshin, 1968 [23]); kinematic (Ya.S. Davydov, 1950 [24]; V.A. Shishkov, 1951 [12]; N.N. Krylov, 1953 [25]; F.L. Litvin, 1960 [26]; M.L. Erikhov, 1972 [19]); matrix (F.L. Litvin, 1968 [9]); power series (G.I. Sheveleva, 1969 [27]); non-differential (G.I. Sheveleva, 1969 [15]); tensor (I.I. Dusev, 1968 [28]). 3. Methods of solving all major problems of synthesis and analysis of gears are established: * Finding the envelope of a one-parameter and two-parameter family of surfaces (H.I. Ketov, N.I. Kolchin, F.L. Litvin, N.N. Krylov, E.G. Ginsburg, M.L. Erikhov), as well as multi-parameter envelope family of surfaces and lines in spatial gearings (I.L. Brodsky, D.T. Babichev); * Finding an wrapping family of surfaces (G.I. Sheveleva); * Identifying the geometry generation features, such as tooth undercutting, interference, and others (M.G. Segal, I.I. Dusev G.I. Sheveleva V.I. Goldfarb, B.A. Chyorny); * Synthesis of gearing geometry (local – F.L. Litvin, M.L. Erikhov, L.V. Korostelyov S.A. Lagutin, V.N. Rubtsov, B.P. Timofeev, and nonlocal – K.I. Gulyaev, B.A. Chyorny, M.G. Segal); * Computation of curvatures in gearings (N.I. Kolchin, F.L. Litvin, V.M. Vasilyev, I.I. Dusev, E.G. Ginsburg, L.V. Korostelyov, M.L. Erikhov, A. M. Pavlov, M.G. Segal); * Computation of other geometric-kinematic characteristics of the teeth contact (A.K. Georgiev, V.I. Goldfarb, S.A. Lagutin, M.F. Lenski); * Solution of the inverse problem of the gearing theory, tooth meshing analysis (K.I. Gulyaev, F.L. Litvin, M.G. Segal, B.P. Timofeev, G.I. Sheveleva); 79

* The impact of manufacturing errors and assembling on quality of engagement, synthesis of toothed meshing insensitive to errors (M.L. Erikhov, N.G. Lindtrop, L.V. Korostelyov, N.N. Krylov, L.Y. Liburkin, G.I. Sheveleva). Numerous studies of specific gears are conducted based on theoretical developments and established procedures. The most important practical problems solved during this period are: 1. Principally new types of gearing have been discovered: helical gear in which arcs of circles with radii small difference are selected as the profiles of cross-sections – NovikovWildhaber gear [17] and gears with closed contact lines where the load between teeth is transferred through the grease wedged in a closed cavity between active surfaces due to closure of the contact line (L.V. Korostelyev, S.A. Lagutin [29]). 2. Geometric problems of synthesis of cylindrical involute gears were almost exhaustively resolved and brought into engineering practice: geometric calculation (V.A. Gavrylenko, 1969 [30]); selection of the optimum addendum modification coefficients by using blocking circuits (M.B. Groman, 1957 [31]) according to the atlas compiled and published under the direction of I.A. Bolotovsky, 1967 [32]. 3. New types of gearings have been studied and introduced. In this regard various problems related to analysis and synthesis of the following common types of gears have been solved: * Bevel (N.I. Kolchin and V.V. Boldyrev, 1937; Y.S. Davydov, 1950; V.I. Bezrukov, 1963; V.M. Denisov, 1963; G.I. Sheveleva, 1966; H.F. Kabatov and G.A. Lopato, 1966; M.G. Segal, 1971; K.I. Gulyaev, 1974; V.N. Syzrantsev, 1975); * Hypoid (G.I. Apukhtin, 1952; F.L. Litvin, 1962; K.M. Pismanik, 1964; I.I. Dusev and V.M. Vasilyev, 1968; M.G. Segal, 1971); * Cylindrical gear drives with Novikov’s gear (M.L. Novikov, 1956; R.V. Fedyakin and V.A. Chesnokov, 1958; V.N. Kudryavtsev, 1959; E.G. Roslivker, 1964; N.I. Kolchin, 1968; V.N. Sevryuk, 1972 and others); * Revacycle spur bevel gear (G.I. Sheveleva, 1966); * New worm gear design: toroid (Ya.I. Dicker, 1948); globoid (P.S. Zak, 1962), worm gear drives (F.L. Litvin, 1962; I.S. Krivenko, 1967; L.V. Korostelyev and S.A. Lagutin, 1973, etc.), spiroid (S. Golubkov, 1959; A.K. Georgiev and V.I. Goldfarb, 1972 and others). Less common known types of gears have also been studied and implemented: * Hyperboloid (K.M. Pismanik, 1950); * Helical-bevel (L.Y. Liburkin, 1968); * Wave (E.G. Ginsburg, 1969); * Cylindrical with arched and spiral teeth (M.L. Erikhov and V.N. Syzrantsev, 1975). 4. Techniques of analysis and synthesis of gears with non-circular wheels are developed [33] and their production is organized. 5. A lot of works are published, including a number of classic books on theory of gearing: Ya.I. Dieker (1935), N.I. Kolchin (1937-1952), F.L. Litvin (1952-1968), Ya.S. Davydov 80

(1950), V.A. Gavrylenko (1949-1969), M.L. Novikov (1958), V.A. Zalgaller (1975), L.D. Chasovnikov (1969), I.A. Bolotovsky et. al. (1962-1967), V.N. Kudryavtsev (1949-1971), V.N. Kedrinsky (1960-1967), K.M. Pismanik (1964-1967), P.S. Zack (1962), N.F. Kabatov and G.A. Lopato (1966), V.A. Shishkov (1951) and many others. F.L. Litvin’s monograph [8] stands out among these works; it was published in 1968 and still remains a handbook for professionals in the theory of gearing. The book by V.A. Zalgaller "Envelope Theory" [34] which is not very big in volume is characterized by depth, the mathematical rigor and completeness of the argumentation. Note that the appreciation level of the activities under the second cycle is confirmed by the fact that in 1958 M.L. Novikov was awarded the Lenin Prize – the most prestigious USSR award presented to individuals for accomplishments in the professional field. The following facts also confirm that the Soviet scientists made a decisive contribution to the theory of gearing as a science, and the fact that the Soviet Union had prepared a large number of highly qualified specialists in the theory of gearing: * F.L. Litvin’s monograph "Theory of Gearing" which was written in the late 60’s is still the main handbook for gear specialists, while Litvin is regarded as the creator of the modern theory of gearing not only in CIS countries, but also around the world; * This monograph, revised and expanded, was reprinted abroad in English, co-written with F.L. Litvin’s new foreign students [35]; * Number of qualified experts in the theory of gearing (by the way, which were not widely known in the Soviet Union and the CIS back then), have emigrated to the Western countries and are writing and publishing quite significant books in English on the theory of gearing and geometry of gears (S.P. Radzevich, A.L. Kapelevich, S.V. Lunin). Summarizing the second cycle, let us quote S.A. Lagutin who most accurately reflect the essence of this bright period [36]: it was a period of "storm and pressure in the development of the gearing theory in Russia, when a whole galaxy of brilliant researchers were working in this area, headed by N.I. Kolchin and F.L. Litvin. By collaborating and competing with each other, in a few years they have built amazingly beautiful building of the new science at the junction of differential geometry and mechanics of machines". 3.3. Laying the foundations of computer-oriented theory of gearing The main purpose of such a theory is to become a basis for the methods of computer analysis, synthesis, design and manufacturing gear parts for gear engagement. By the mid-70’s theory of gearing as a science has reached adulthood: the main priority and theoretical problems of analysis and synthesis of gearing have been resolved. The number of innovative theoretical work began to decline. Studies are getting closer to the production, and the theory of gearing acts primarily as a tool for solving specific engineering problems. Since the mid 70-ies of XX century the theory of gearing, as well as the machine tool industry, has evolved concurrently in two directions: "global" and "Russian". 81

The global development of the theory of gearing has taken place against the backdrop of revolution experienced by the machine tool industry since the 80’s. First machines with semi-rigid connections, partially controlled by computer began to appear in developed countries, and then complete automatic machines (multi-axis CNC machines) appeared. At that time, for example, machines for processing bevel gears with circular teeth Phoenix (Gleason) and WNC30 (Klingelnberg) were developed. The creation of such machines occurred in parallel with the development of new mathematical models for shaping parts on multi-axis machines and testing the parts operability before their casting in the metal. At that time software systems LTCA (Gleason) and Kimos (Klingelnberg) were developed which made it possible to solve the problem of synthesis and analysis of bevel gears with circular teeth [37]. All developed countries pursue the "global" direction in the development of the theory of gearing in the same manner and using similar approaches. The following was used by the gear specialists to solve the problems of analysis and synthesis: * Methods of classical theory of gearing (with computer design of the geometry of any kind of gears); * Techniques of non-differential analysis of gear – forming processes using universal, as well as specially developed software packages; * Methods of boundary and finite elements (at the analysis of the contact interaction of acting surfaces of the teeth); * Finite element methods and integral equations (at the analysis of the stress-strain state of the teeth); * Numerical optimization methods (at the synthesis of geometry of acting and fillet surfaces of teeth); * An expanded list of quality indicators of gearings, including new ones: the design thickness of the oil film; criteria of hot and cold seizure; criteria for assessing the conditions for the formation of an oil wedge; indicators of vibration activity of the gearing, and others. Designing gear drives was regarded as a complex problem requiring an agreed solution of a group of interrelated tasks: * Selection of design scheme of a gear; * Synthesis of permissible geometry; * Geometry optimization; * Structural arrangement and evaluation of quality indicators; * Identification and addressing the weaknesses; * Designing technical processes of manufacture, selection or synthesis of tools, subsequent optimization, etc. The developed theory of gearing is known as "Theory of Real Gearing" in Russia, Ukraine and Belarus, while abroad it is called “Integrated Gear Design” (IGD) or "Integrated Design 82

of Gears". "Russian" direction in the development of the theory of gearing has several specific features attributable to the following objective circumstances. Firstly, first clear signs of stagnation appeared in the USSR industry in the late 70’s. Secondly, the number of graduate students reduced as the universities basically solved the problem of teachers which they faced in the early 60’s due to a drastic increase in the number of students being trained in engineering specialties. And finally, Russia lost the top three main theorists in the field of the theory of gearing: F.L. Litvin was forced to emigrate to the USA; L.V. Korostelyov died in a car crash; Ya.S. Davydov departed from active research, and subsequently left for the USA. And, nevertheless, in 15-20 years preceding the collapse of the USSR in 1991, the theory and geometry of gearing in the Soviet Union was continuing to develop. At that time new centers specializing in different aspects of the theory of gearing were established. Let us list the most interesting, in our opinion, research topics at the end of the last century: - Issues of strength and solution of the tooth contact problem (E.L. Airapetov, V.N. Syzrantsev, G.I. Sheveleva); - Research on gear bending, bending stresses calculation (G.I. Sheveleva, V.I. Medvedev); - Non-differential methods for the determination of the contact surfaces, characteristics (V.I. Goldfarb, G.I. Sheveleva, A.E. Volkov); - Issues of design, synthesis, analysis and manufacturing spiroid gear drives (A.K. Georgiev, V.I. Goldfarb); - Issues of design, synthesis, analysis and manufacturing worm gear drives (S.A. Lagutin, A.I. Sandler); - Research of hypoid bevel gear drives with circular teeth (M.G. Segal, G.I. Sheveleva, V.N. Syzrantsev); - Research of gear drives with intermediate bodies (A.E. Belyaev); - Research of helical-bevel gear drives (B.A. Lopatin); - Development of methods for the synthesis of gear drives (M.G. Segal, S.A. Lagutin, G.I. Sheveleva, V.I. Medvedev, V.N. Syzrantsev); - Forming a theoretical framework for the development of universal programs for the analysis of spatial working and technological meshings and the creation of corresponding programs (D.T. Babichev). As a result of these studies, software systems were developed in the Soviet Union, which were aimed at solving the problems of synthesis and analysis, primarily, for bevel gears with circular teeth. The best known ones include PC "Volga5" made under the direction of M.G. Segal [38], and PC "Expert" created under the direction of G.I. Sheveleva [39]. The fact that M.G. Segal was the main developer of the PC "Kimos" (firm Klingelnberg) in the 90’s confirms the high level of those developments. It should also be noted that a work on the selection of optimal schemes for multi-axis CNC 83

machines for processing gear was carried out in 1990 in Saratov (M.G. Segal, L.I. Shejko [40]). These developments have also been used by Klingelnberg. The researches (above all, theoretical ones) continued after the collapse of the USSR: in Russia, Ukraine and Belarus. At that time, the development of the theory of gearing was distinguished by a high level of theoretical studies based on the introduction of new geometric, geometric-kinematic and other concepts, and development (on their basis) of new mathematical models, methods and algorithms for analysis and synthesis of the working and technological gear engagements. These works were performed, mostly at their own initiative, by highly qualified specialiststheorists in the field of theory and geometry of working and technological gear meshing. Usually they were elderly university professors who were practically deprived of relations with the machine-building industry after its stagnation during the collapse of the USSR. It should be noted that it is very difficult to distinguish the most important areas of research in the modern theory of gearing. As the poet said, "Great things are better seen from a distance." Therefore we will list the most interesting, in our view, theoretical works on the development of the theory of gearing, with greater focus on the Russian line of research. However, we practically do not consider the works on gear geometry – they are too numerous. A fairly complete picture of the theoretical works of this period can be obtained from the proceedings of symposia and conferences held in: Kurgan (KMI), Izhevsk (IzhSTU) and Sevastopol (KhPI, Kharkov). The main directions in the development of the theory of gearing and the most important theoretical results after 1970s include the following. 1. Introduction and use of new concepts such as: * Meshing Space (S.A. Lagutin [41]); * Wrapping surface (G.I. Sheveleva [39]); * Fan, wedge and normal beam; accelerating of implantation (D.T. Babichev [42]). 2. Development of methods for analyzing processes of generation. A new method of finding a singularity in the flat gearing (S.A. Lagutin), based on the situation [43]: return point at the gear profile occurs at the point in the line of engagement, in which the normal to this line intersects the axis of rotation of the pinion. The method was extended to the spatial gearing (A.E. Volkov [44]). 3. Development of methods of synthesis: * Based on the new concept of "space of engagement" and its properties. This approach was used during the synthesis of both spatial transmission (S.A. Lagutin [45]) and the cylindrical (D.T. Babichev [46]); * By using, as objective function, new criteria of load capacity - permissible contact pressure(V.I. Medvedev [47]), the specific work of working surfaces of teeth (D.T. Babichev [48]) and others; * For bevel gears with small cross-axis angle (S.A. Lagutin [49], V.I. Medvedev [50]); * Synthesis of gears, considering technological limitations of the given production processes 84

(V.I. Medvedev [51], V.N. Syzrantsev [52]); * By using and developing a method of synthesis of gears in generalizing parameters originally proposed by E.B. Vulgakov for involute gears. The method was modified by V.L. Dorofeev - for involute and O.N. Tsukanov and B.A. Lopatin – for non-involute gears (including cylinder-conical ones) [53]; * By using variational methods of synthesis, when the equation of an optimal surface of the tooth and its coefficients are determined. This approach was first applied, apparently, by Alan Lebec [54] in the United States; it was used in Ukraine [55] and being developed in Russia where equal strength gears have been synthesized by using the method (by Hertz contact strength) [46, 56] and the method of synthesis of bevel gear with circular teeth according to the criteria of minimal contact pressure and bending stresses while maintaining the overall dimensions of the gear has been developed which is important for aviation, where the weight of the structure is crucial [57]; * Increasing the bending strength of circular tooth bevel gears by optimizing the shape of the tool [58]; * Increasing the load-bearing capacity of high-speed heavy-duty cylindrical involute gears. Note that E.B. Vulgakov, V.L. Dorofeev and A.L. Kapelevich have made a significant contribution to the development of synthesis aviation gear in recent decades [59]. 4. Development of methods of analysis of loaded gears, considering multipairness of contact: * For bevel gears with circular teeth [60]; * For spiroid gears [61]. 5. Significant progress has been made in the methods of analysis, synthesis, design and manufacture of worm gear transmissions. The main input in this field of gearing has been made by two groups of researchers under the leadership of V.I. Goldfarb and S.A. Lagutin. The techniques of minimizing meshing errors and worm hob errors that appear when regrinding and relieving works are fulfilled have been developed by S.A. Lagutin and A.I. Sandler. The techniques of synthesis and production of gears with localized contact were drilled: worm gears (S.A. Lagutin, A.I. Sandler [62]) and spiroid ones (V.I. Goldfarb, E.S. Trubachyov [63]): The drives with the increased load capacity were designed based on a study of meshing space of non-orthogonal gears: spiroid (E.S. Trubachyov [63]) and worm ones (V.Yu. Puzanov). Designing of spiroid transmissions is carried out using CAD “SPDIAL+” developed by a group headed by V.I. Goldfarb. Configurator of gearbox systems for optimization structural synthesis of their structures is being created (O.V. Malina et.al.). Unified worm hob cutters, cutting gears for the drives with localized contact were designed. It became possible to cut the gear wheels in engagement with multiple-thread worm by a single-pass mill (V.I. Goldfarb and his disciples). In the Institute of Mechanics IzhSTU, a group led by V.I. Goldfarb essentially laid the foundation for a new Russian machine building sub-industry – construction of gearboxes for 85

isolation and control valves for pipelines: - Theoretical studies of spiroid and worm gears are at a high scientific level; - A modern design process is applied: synthesis of perfect engagement, synthesis of localized contact, simulation of the stress strain state, analysis of real engagement under load, forecasting the state of transmission; - Three generations of dimension-type series of quarter-turn and multi-turn spiroid gear drives are developed; their production with modern quality control and acceptance tests is organized. 6. Application of unconventional gears and gearing: helical-bevel gears (B.A. Lopatin [65]), transmissions with intermediate rolling bodies (A.E. Belyaev [66]); hydraulic and pneumatic machines with non-circular gears (An-I-Kahn [67]); precessing transmissions (I.A. Bostan [68], E.I. Tesker [69], V.N. Syzrantsev, B.A. Lopatin) and other. 7. Development of kinematic analysis methods of working and technological meshings. Note that modern designing is the computer designing. This factor imposes high requirements to the theory of gearing as the main mathematical basis for such designing. We have to admit that the classical theory of gearing does not fully comply with these demanding requirements. Thus, according to Prof. M.G. Segal, who was working with Klingelnberg in the last years of his life, the head of the company prohibited to use differential methods – the basis of the classical theory of gearing – in the programs being created. The reason for the ban was inadequacy of the results of computer simulation as compared to real processes of formation. Theoretical research, aimed at creating computational models that are adequate to the real processes of formation and contact of moving bodies were developed by A.E. Volkov and V.I. Medvedev (Moscow) and D.T. Babichev (Tyumen). * To eliminate the phenomenon D.T. Babichev elaborated a unified kinematic method for analysis of the processes of formation [70] based on the “triad”: ruptures + envelopes + new concepts of curvilinear coordinates. As the result, the cause of inadequacy between the classical methods of the theory of gearing and real-life processes of formation was established and rectified. The developed kinematic method: * Allows to find all the surfaces formed on the item at gear machining: formed by smooth surfaces and inflections of bodies, including: at advance/retraction of machine tool and in secondary cutting areas. * Has the reliability of non-differential methods, but is superior to them in speed of operation by two orders of magnitude which is confirmed by its partial use in CAD “SPDIAL +”; * Also allows to define the curvatures in gearing. 8. Development of the system for assigning real ITS (Initial Tool Surfaces) and construction of mathematical models for them [71]. Real ITS is the set of all forming tools (pieces of surfaces, cutting and boundary edges and corners) for which uniform curvilinear coordinates are introduced. 9. By using the concept of “the acceleration of installation”, new techniques for solving 86

multitude of tasks are created: calculating the radii of curvature in the gearing, identifying cutting areas and thickness of the layers being cut by tool cutting edges and others (D.T. Babichev [48]). For example, based on the concept of the "acceleration of installation" a new basic formula for calculating the reduced curvature in any normal sections at the contact point of two moving bodies in contact along the line, is created: 1/Rnp=where ɷrol is angular velocity of rolling bodies in the plane of the section in which the curvature is calculated; aB is the acceleration of installation. The fundamental nature of the obtained formula is that: 1) in its generality it is commensurate with the kinematic formulas of Rodrigues and Freinet known in differential geometry, but it is intended for a different class of surfaces produced in the process of formation by the rounding methods; 2) curvature in any normal section of all surfaces formed by the rounding methods is determined by only two scalar parameters, and one of them (acceleration of installation) does not depend on the direction of the section. It was also established that the sign of the acceleration of installation allow to make an unambiguous judgement on the nature of the contact of bodies. For example, if aВ> 0 then the envelope is formed inside the body of the generating element. Acceleration of installation allows to determine (“incidentally”) the value of the radii of curvature and faceting value across the whole surface formed by rounding at band- and flake-type roughness. Thus, over the past decade a substantial volume of theoretical knowledge to complete the third cycle (creation of a computer-oriented theory of gearing) was accumulated: * A lot of new notions are introduced and used in theory of gearing; * Based on these new notions, methods for analysis and synthesis of gear drives and cutter tool meshings oriented at computer technologies have been developed and continue to be improved; * Intensive investigations to improve methods of optimization synthesis of gearing and to develop methodologies of computer design and construction of gear boxes are performed. 4. Problems and expected directions of the theory of gearing Let us list the main problems in the gearing theory which, in our opinion, are the most important. Problem 1. Creation of the theory of optimization synthesis of structures and parameters of higher pairs of kinematic elements transmitting the motion and load at the preset and optimal correlation of normal and friction forces. At the present time, theory of higher pairs is being developed only as a pure geometrical science. 87

Problem 2. Elaboration of methods of tooth optimal geometry synthesis oriented at the modern processing technologies instead of traditional ones. In this case a designer will have to solve the variation problem with limitations providing for maximum possible load capacity of gear drive in accordance with preselected criteria of performance efficiency. Problem 3. Development of methods for analysis of the process of the tooth preset surfaces changeover taking into account the values of load, tooth displacement, manufacturing errors of drive elements, errors of relative position of engaging links, dynamics of changeover process. Problem 4. Creation of a unique interrelated complex of application software packages to enable the designers and manufactures of gear drives to: carry out optimization designing, engineering design, preparation for production of various drives by meshing. Possible directions of development of the theory of gearing naturally follow from the aforedescribed problems. CONCLUSIONS In the second half of the XIX century, the number and complexity of technical inventions of various machines and mechanisms using the gear drives reached a critical mass, and by around 1890 the scientists had created the scientific basis of the theory of gearing. And the modern theory of gearing was formed by the beginning of the 1970’s. The third cycle of the gearing theory development which is oriented at computer technology is underway. In our opinion, the prospects for the development of theory of gearing, as a part of the theory of mechanisms and machines, are higher as compared, for example, with the "linkages". Firstly, gears are more commonly used in cars than linkages. Secondly, the theory of gearing is not only the theory of higher kinematic pairs - it is also the basis for the theory of gear machining design. It is necessary to note that the current version of the paper is based on the paper published in the first edition of the given Proceedings [72], but is as close as possible to the paper [73] by the same authors. This version of the article has been prepared by V.E. Starzhinsky. REFERENCES 1. Дильс Г.А. Античная техника. Москва-Ленинград: ОНТИ - Гос. техн.-теор. изд-во. – 1934. – 215 с. (Diels G.A. Antique appliances. - Moscow-Leningrad: ONTI - Gos. tehn.teor. Publ., 1934. – 215 p.). 2. Витрувий. Десять книг об архитектуре. – Москва: «Архитектура-С», 2006. – 328 с. (Vitruvius. Ten Books on Architecture. – Moscov: "Architecture-C.", 2006. – 328 p.) 3. Пипуныров В.Н. История часов с древнейших времен до наших дней. - Москва: 88

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под общ. ред. С.А. Лагутина. – М.: Машиностроение, 2008. – 272 с. (Sandler A.I., Lagutin S.A., Verkhovsky A.V. Production of Worm Gear Drives / Edited by S.A. Lagutin. Moscow: Mashinostroenie, 2008. – 272 p.). 63. Гольдфарб В.И., Трубачев Е.С. Об осях зацепления в спироидной передаче // Пространство зацеплений. Сборник докладов научного семинара Учебно-научного центра зубчатых передач и редукторостроения, Ижевск – Электросталь, 2001. – С. 7176 (Goldfarb V.I., Trubachyev E.S. About Axes of Meshing in Spiroid Gear Drive / Meshing Space. Proceedings of Scientific Seminar. Izhevsk – Elektrostal, 2001. – P. 71-76). 64. Трубачев Е.С. Метод расчета параметров станочного зацепления с геликоидальной производящей поверхностью // Современные информационные технологии. Проблемы исследования, проектирования и производства зубчатых передач, Сборник докладов международного научного семинара, Ижевск, 2001. – С. 163-169 (Trubachyev E.S. Method of Calculation of Cutter Tool Meshing with Cross-Axis Helical Generating Surface / Modern Information Technologies. Proceedings of International Scientific Seminar. Izhevsk, 2001. – P. 163-169). 65. Лопатин Б.А. Разработка теоретических основ проектирования, изготовления и испытания цилиндро-конических зубчатых передач с малыми межосевыми углами: Автореф. дис... докт. техн.наук. – Челябинск, 1999. – 46 с. (Lopatin B.A. Development of Theoretical Basics of Design, Manufacturing and Testing Bevel-Cylindrical Gear Drives with Small Cross-Axes Angles / Thesis … of Dr.Sci.(Eng.) Chelyabinsk, 1999. – 46 p.). 66. Беляев А.Е. Механические передачи с шариковыми промежуточными телами. – Томск, Изд. ЦНТИ, 1992. – 231 с. (Belyaev A.E. Mechanical Drives with Ball Intermediate Bodies / Tomsk: Publicsher TsNTI, 1992. – 231 p.). 67. Ан И-Кан., Беляев А.Е. Синтез планетарных передач применительно к роторным гидромашинам. Новоуральск: НПИ МИФИ, 2001. – 90 с. (An I-Kahn, Belgaev A.E. Synthesis of Planetary Gear Drives Relating to Rotor Hydraulic Machines. Novouralsk NPI MIFI, 2001. – 90 p.). 68. Бостан И.А. Прецессионные передачи с многопарным зацеплением / Под ред. С.А. Шувалова // Кишинев: Штпинца, 1991. – 342 с. (Bostan I.A. Precessional Gear Frives with Multipair Meshing / Edited by S.A. Shuvalov, Kishinew: Shtipnitsa, 1991. – 342 p.). 69. Кислов С.Ю., Тескер Е.И., Тимофеев Б.П. Прецессирующие конические передачи внутреннего зацепления // Теория и практика зубчатых передач. Труды международной конференции, Ижевск, 1996. – С.387-392 (Kislov S.Yu., Tesker E.I., Timofeev B.F. Precessing Bevel Gear Drives of Internal Meshing / Proceeding of International Conference “Theory and Practice of Gearing”. Izhevsk, 1996. – P. 387-392). 70. Бабичев Д.Т. Основы альтернативной теории формообразования, базирующейся на новых геометрических понятиях. Международная конференция "Техника проводов 03": докл. I-58, – Болгария, София, 2003. – С.270-275 (Babichev D.T. Foundations of Alternative Theory of Forming, Based on New Geometrical Notions. Proceedings of International Conference “Techniques of Power Transmissions-03” Paper 1-58. Bulgarua. Sofia, 2003. – P. 270-275). 71. Бабичев Д.Т. О применении многопараметрических огибаний при компьютерном 94

моделировании процессов формообразования в рабочих и технологических зацеплениях // Теория и практика зубчатых передач: Ижевск, 2004. – С. 302-315 (Babichev D.T. About Application of Parametric at Computer Simulation of Forming Processes in Working and Technological Gearing’s / Proc. of International Conference “Theory and Practice of Gearing”. Izhevsk, 2004. – P. 302-315). 72. Terminology for the Mechanism and Machine Science. Proceedings of the Scientific Seminar, 25th Working Meeting of IFToMM Permanent Commission for Standardization of Terminology on MMS (Saint-Petersburg, Russia, June 23-29, 2014), Saint-Petersburg– Gomel: SPbITMO University, 2014. – 138 p. 73. Бабичев Д.Т., Волков А.Э. История развития теории зубчатых передач / Вестник научно-технического развития, 2015, № 5 (93). – С. 25-42 (http://www.vntr.ru) (Babichev D.T., Volkov A.E. History of the Development of the Gears Theory / Bulletin of Scientific and Engineering Evaluation, 2015, No 5(93). – Pp. 25-42 (http://www.vntr.ru). Comments of Editors The paper written by the authors Prof. Andre E. Volkov and Prof. Dmitry T. Babichev is one of the raw analytical studies at the moment allowing us to estimate the role of scientists of CIS countries in the development of theory of machines and mechanisms (TMM) and theory of toothed engagements. Taking into account the refinement aspect, one can say that Tula State University which was performing under leadership of Profs. P. G. Sidorov [1] and V.Ya. Raspopov [2] together with “Progress” plant (Michurinsk) under the corresponding grant of Ministry of Education and Science of Russian Federation, became the second center in the industry with respect to manufacturing of gearboxes for pipeline valves. The organizers of the International Conference which was devoted to the problems of gearboxes for pipeline valves make an attempt to find the common idea in the work mentioned above. In the field of gearbox manufacturing, on the whole, as well as in particular directions, it is necessary to develop and extend the ideas of Prof. Snesarev G.A. [3]; such attempts were carried out by Prof. V.I. Goldfarb [4], Prof. E.V. Shalobaev [5] and in reports of leaders of some specialized plants in Russia which organized the First Russian conference on this subject in 2002 [6] that continues to be relevant till now. It is important to analyze the studies of plastic gears which became widespread not only in device manufacturing [7-10] but in the machine building too [11]. One must consider the so-called “device” gears and gearboxes, as well as microelectromechanical systems (MEMS) which are the issues of micromechatronics. The particularities of using such gears in mechatronics, including micromechatronics, are discussed in the works [10, 12]. New technologies for production and provision for gears quality [11] are needed too. We must add here the review on a theory of gear engagement by using the data related to the precision of gears as well as normalization of gear parameters (the studies of Prof. B.A. 95

Taits [13, 14], Prof. M.P. Kozlov [15], Dr. V.A. Kutsokon [16], Prof. B.P. Timofeev [17-19], Prof. E.V. Shalobaev [17, 19-21], Prof. P.K. Popov [22], Prof. L.O. Shtripling [22], Prof. I.P. Nezhurin [23], Prof. E.I. Tesker [24, 25], etc.). After Russia has become a member of WТО, it is necessary to harmonize the normative documentation according to international and national standards of other countries [26]. To complete the picture, in conclusion let us present the main publications on gearing edited over the recent years. We already referred to the papers from the Proceedings of the International Symposium [27]. It should be added that in its plenary, sectional and poster sessions more than 80 reports have been presented by the scientists from 12 countries (Belarus, Bulgaria, China, Germany, Italy, Japan, Poland, Russia, Serbia, Spain, Ukraine, USA). Part of selected papers has been published in the special edition [28] dedicated to the 100th anniversary of Prof. Faydor L. Litvin, the famous scientist, founder of the modern theory of gearing. Expansive informative material has been presented at the 2015 IFToMM Workshop on History of Mechanism and Machine Science (May 26-28, 2015, St-Petersburg, Russia). Contributors from the Russia, Italy, China, Japan, Belarus, Taiwan and other countries participated in more than 60 proceedings on different aspects of MMS. Workshop has been organized under auspices of the IFToMM by Department of Robotics and Complex Automation (Moscow Bauman State Technical University, Prof. Olga V. Egorova) and Department of Theory of Mechanisms and Machines (Peter the Great St-Petersburg Polytechnic University, Prof. Alexander N. Evgrafov). Inter alia papers regarding the different sphere of gearing and gear drives history [29, 30], terminology [311], multistage and multipath mechanisms [32], gear drive quality [33], design automation [34], improving serviceability [35], standardization [36], vibrating monitoring [37] and muscle type actuators [38] can be found on http://hmms2015.ru site. It should be noted that the paper [39] concerning the history of Russian Gearing School development has been published (together with other papers on the MMS History) in Special Issue of the Journal “Frontiers of Mechanical Engineering”. Besides, it is necessary to consider the latest publications on design of gear drives in the “System of Generalized Parameters”. Generalization of information for involute gears has been fulfilled by Dr. A.L. Kapelevich (the high-flyer pupil and follower of Prof. Edgar B. Vulgakov, founder of this conception) under trademark brand “Direct Gear Design” [40]. Analogous direction for gears with asymmetric teeth called “Direct Synthesis” was developed by Prof. V.L. Dorofeev with coauthors (see, for example [40-43]). Their investigations show that optimal correlation between the profile angle αnd forming the tooth drive flank (according to V.L. Dorofeev “basic angle”) and the profile angle α nc forming the tooth coast flank (“directing angle”) should be those: αnd = 33o; αnc = 20o. Alongside with the indicated topics it is necessary to mention another sphere of interest of the abovementioned authors: Software Complex “AEROFLANK” providing design aircraft gear drives with reduced level of wear and vibration; design gears with optimal geometry, stress, stiffness and vibration for aircraft; theoretical and experimental investigations of gears with presence 96

of profile errors and runout, etc. The basics of non-involute gearing in “Generalized Parameters System” have been developed by O.N. Tsukanov; mathematical, methodological and software support is presented in the monograph [44]. In the given context it is appropriate to mention the books dedicated to designing and production of different types of gear drives, and results of their investigations. The problems of development of spiroid gearboxes and the main design procedure when developing their layout have been given in monograph [45]. Theory and practice of production of worm gear drives are considered in [46]. The basic types and tendencies in development of worm gear drives in the modern mechanisms and machines are considered. Recently the new direction regarding to processional gearboxes has been developed in Belarus (Belorussko-Rossiiskii University, Mogilev, Belarus). Results of theoretical and experimental investigations of epicyclical precessional pairs and structures of different drives elaborated on the base of this sort gear pairs have been referred in [47]. Technological processes of manufacturing, different structures of machining attachment for generation of gear tooth working surfaces of mentioned drives were described in [48]. Results of investigations of dynamical processes in gear drives, developing the methods of their vibration diagnostics and unique technic of accelerated tests were carried out in [49]. Ibidem on-board systems of vibration monitoring of technical state of transmissions of mobile motor-cars were described. In conclusion it makes sense to give information about Interstate Standard GOST 137552015 [50] elaborated by the Russian Federal State Unitary Enterprise “Central Institute for Aviation Motor Development named after P. I. Baranov” (development engineer Prof. V.L. Dorofeev) instead of GOST 13755-81. Parameters of the Standard basic rack tooth profile (A) and other ones (B, C, D) with different bottom clearance, whole tooth depth and radius of curvature of a basic rack tooth profile fillet as well as modified basic rack tooth profiles with different profile modification parameters (I, Г, L, K, C, D) were established. REFERENCES 1. Сидоров П.Г., Пашин А.А., Плясов А.В. Многопоточные зубчатые трансмиссии. Теория и методология проектирования. – М.: Машиностроение, 2011. – 340 с. (Sidorov P.G., Pashin A.A., Plyasov A.V. Multipath Gear Transmissions. Theory and Metodology of Design. – Moscow: Mashinostroenie, 2011. – 340 p.). 2. Грязев М.В., Дмитриев А.Д., Иванов Ю.В. и др. Многооборотный электропривод трубопроводной арматуры. Под редакцией В.Я. Распопов. – Тула: Изд-во ТулГУ, 2011. – 322 с. (Gryazev M.V., Dmitriev A.V., Ivanov Yu.V. et al. Multipath Electrodrive of Pipeline Accessories / Editor V. Ya. Raspopov. – Tula: Publishing House of Tula State Technical University, 2011. – 322 p.). 3. Снесарев Г.А. Генеральные задачи редукторостроения // Передачи и трансмиссии. – 1991. №1. – с. 5-7. (Snesarev G.A. General Task of Development of Gear Boxes Manufacturing // Gearing and Transmissions. – 1991. – No. 1. – P. 5-7). 4. Гольдфарб В.И. Российская программа «Прогрессивные зубчатые передачи» // 97

Зубчатые передачи и трансмиссии.1998. - №2. – с.30-41. (Goldfarb V.I. Russian Program “Progressive Gear Boxes “/ Gearing and Transmissions. 1998. – No. 2 – P. 30-41). 5. Шалобаев Е.В. Модернизированные редукторы отечественного производства // Фундаментальные и прикладные проблемы техники и технологии. 2010. - №6-2. – с.105-111. (Shalobaev E.V. Modernized Gear Boxes of Native Production / Fundamental and Application problems of Engineering and Technologies.2010. – No. 6/2. – P. 105-115). 6. Молчанов С.М., Парубец В.И., Пшизов Ш.П. О состоянии и задачах редукторостроения России // Материалы Всероссийской конференции: Редукторостроение России: Состояние. Проблемы. Перспективы. Под редакцией Е.В. Шалобаева. – СПб.: ЦЦП «Светоч».2003. – с.27-29. (Molchanov S.M., Parubets V.I., Pshizov Sh.P. About the State and Tasks of Gear Boxes Manufacturing of Russia / Proceeding at All-Russian Conference: Gear Boxes Manufacturing of Russia: State Problems and Perspectives / Editor E.V. Shalobaev. – Saint Petersburg: Publishing House “Svetoch”, 2003. – P. 27-29). 7. Пластмассовые зубчатые колеса в механизмах приборов / Под ред. В.Е. Старжинского и Е.В. Шалобаева. – Санкт-Петербург. – Гомель; ИММС НАНБ.1998. – 528с. (Plastic Gears in Instrument Drives/ Edited by V.E. Starzhinsky and E.V. Shalobaev. – Saint Petersburg – Gomel: MPRI NAS of Belarus, 1998. – 528 p.). 8. Старжинский В.Е., Осипенко С.А. Передачи с зубчатыми колесами из термопластов: Проектирование и технология производства // Передачи и трансмиссии. 2001. – №1. – C. 57-70. (Starzhinsky V.E., Ossipenko S.A. Drives with Gears from Thermoplastic: Design and Technology. Review // Gearing and Transmissions. – 2001. – No. 1 – P. 57-70.) 9. Шалобаев Е.В., Старжинский В.Е., Шилько С.В. и др. Обеспечение качественных показателей зубчатых колес, венцы которых выполнены из пластмасс и композитов. Известия Тульского государственного университета. 2012. - № 12,ч.1. – с.142-149. (Shalobaev E.V., Starzhinsky V.E., Shil'ko S.V. Providing Quality Parameters of Gears with Polymer Composite Toothed Ring / Bulletin of Tula State Technical University. – 2012 – No. 23. – P. 142-149). 10. Старжинский В.Е., Шалобаев Е.В., Шилько С.В. Элементы приводов приборов. Под ред. Ю.М. Плескачевского. Минск: Белорусская навука.2012. – 769с. (Starzhinsky V.E., Shalobaev E.V., Shil'ko S.V., et al. Elements of Instrument Drives / Editor Yu.M. Pleskachevsky. – Minsk: Publishing House “Belaruskaya Navuka”, 2012. – 769 p.). 11. Технология производства и методы обеспечения качества зубчатых колес и передач / Под ред. В.Е. Старжинского и М.М. Кане. Санкт-Петербург: Профессия.2007. – 832с. (Technology and Methods of Providing Quality of Gears and Gear Drives/ Edited by V.E. Starzhinsky and M.M. Kane. Second Issue, corrected and extended – Saint Petersburg: Publishing House “Professija”, 2007. – 832 p.). 12. Олексюк В. Роль зубчатых передач в мехатронных устройствах // Передачи и трансмиссии.2001. - №1. – с.44-57. (Oleksuk V. Role of Gear Drives in Mechatronic Device // Gearing and Transmissions. – 2001. – No. 1. – P. 44-57.). 13. Производство зубчатых передач. Справочник / Под ред. Б.А. Тайца М.: 98

Машиностроение.1972. – 368с. (Production of Gears. Reference Book / Editor B.A. Taits – Moscow: Mashinostroenie, 1972. – 368 p.). 14. Тайц Б.А. Точность и контроль зубчатых передач. Москва: Машиностроение. 1972. – 368с. (Taits B.A. Accuracy and Control of Gears. – Moscow: Mashinostroenie, 1972 – 368 p.). 15. Козлов М.П. Зубчатые передачи точного приборостроения.2-е изд. – М.: Машиностроение, 1969. – 400с. (Kozlov M.P. Gear Drives of Precision Instrument Making. – Moscow: Oborongiz, 1958. – 393 p.). 16. Куцоконь В.А. Точность кинематических цепей приборов – Л.-М.: Машиностроение,1980. – 220с. (Kutsоkon V.A. Accuracy of Gear Drives and Kinematic Chains of Devices. – Leningrad: Mashinostroenie, 1980. – 220 p.). 17. Тимофеев Б.П., Шалобаев Е.В. Состояние и перспективы нормирования зубчатых колес и передач // Вестник машиностроения.1990. - №12. – с.33-39. (Timofeev B.P., Shalobaev E.V. State and Perspectives of Development of Accuracy Normalization of Gears and Gear Drives // Vestnik Mashinostroenia. 1990. – No. 12. – P. 33-39). 18. Тимофеев Б.П. Точность зубчатых передач и кинематических цепей // В кн.: Механика машин. М.: Высшая школа. 1989. – с.204-224 (Timofeev B.P. Accuracy of Gear Drives and Kinematic Chains // Mechanics of Machines. – Moscow: Vysshaya Shkola, 1989. – P. 204-224). 19. Тимофеев Б.П., Шалобаев Е.В. Расчет точности зубчатых передач и кинематических цепей.1998. – с.296-346. (Timofeev B.P., Shalobaev E.V. Calculation of Gear Drives and Kinematic Chains / Plastic Gears and Mechanisms of Devices. – Saint Petersburg–Gomel: MRPI NAS of Belarus, 1998. – P. 296-346). 20. Шалобаев Е.В. Конструкторско-технологическое обеспечение качества приборных зубчатых передач / В кн.: Технология производства и методы обеспечения качества зубчатых колес и передач (Shalobaev E.V. Design Technology Providing Accuracy of Instrument Drives / Technology and Methods of Providing Quality of Gears and Gear Drives / Edited by V.E. Starzhinsky and M.M.Kane. – Saint Petersburg, Publishing House: Professiya, 2007. – P. 527-535). 21. Шалобаев Е.В. Методика определения степени точности зубчатых колес в передаче по нормам кинематической точности с учетом погрешностей изготовления и монтажа / В кн.: Технология производства и методы обеспечения качества зубчатых колес и передач. – с.794-801. (Shalobaev E.V. Technique of definition of Accuracy Grade of Gears in the Gear Drives in according the Norms of Kinematic Accuracy Taken into Account Errors of Manufacturing and Assembling of Parts – P. 794-801). 22. Попов П.К., Штриплинг Л.О. Предпосылки пересмотра нормативной документации по расчету точности зубчатых передач // Вестник машиностроения.1998. - №6. – с.59-62. (P.K. Popov, L.O. Shtripling Background of Revision of Normative Documents on Calculation of Gear Drive Accuracy // Vestnik Mashinostroenia.1998. – No. 6. – P. 59-62.). 23. Нежурин И.П. Точность зубчатых передач // В кн.: Производство зубчатых колес газотурбинных двигателей / под ред. Ю.С. Елисеева. М.: Высшая школа. 2001. – с.4487. (Nezhurin I.P. Accuracy of Gear Drives Tolerances/ Production of Gear Drives of GasTurbine Engines / Editor Yu.S. Eliseev. – Moscow: Vysshaya Shkola, 2001. – P. 44-87.). 99

24. Tesker E, Tesker S. Modern methods of calculation and increasing the load- carrying capacity of surface-hardened gears of transmissions and drives. Theory and Practice of Gearing and Transmissions. In Honor of Professor Faydor L. Litvin. Editors Veniamin Goldfarb, Natalya Barmina. Mechanism and Machine Science. Vol. 34. Series editor: Marco Ceccarelli. Springer. – 2016. – Pp. 233-261. 25. Тескер Е.И. Современные методы расчета и повышения несущей способности поверхностно-упрочненных зубчатых передач трансмиссий и приводов. Москва: Машиностроение. 2011. – 433 с. (Tesker E.I. Modern Methods of Design and Increasing Load-Carrying Capasity of Case-Hardened Gear Drives and Transmissions. Moscow: Mashinostroenie. 2011. – 433 p.). 26. Шалобаев Е.В. Проблема гармонизации отечественных стандартов с системой международных и национальных стандартов / Сборник докладов научно-технической конференции «Теория и практика зубчатых передач». Ижевск.2004. – с.44-48. (Shalobaev E.V. Problems of Harmonization of Native Standards with the System of International and National Standards // Proceedings of the International Conference with International Participation “Theory and Practice of Gear Drives”, Izhevsk – 2004. – P.44-48.). 27. Теория и практика зубчатых передач. Сборник трудов Международного симпозиума (21-23 января 2014 г., Россия, Ижевск). Ижевск: Изд-во ИжГТУ. 2013. – 580 с. (Theory and Practice of Gearing. Proceedings of the International Symposium. January 21-23, 2014, Russia, Izhevsk. Publisher: IzSTU. 2013. – 580 p.). 28. Theory and Practice of Gearing and Transmissions. In Honor of Professor Faydor L. Litvin. Editors Veniamin Goldfarb, Natalya Barmina. Mechanism and Machine Science. Vol. 34. Series editor: Marco Ceccarelli. Springer. – 2016. – 450 p. (www.springer.com/series/8779). 29. Babichev D., Lagutin S., Barmina N. Review of the Russian school in the theory and geometry of gearing. Part 1. Origins of the theory of gearing and its Golden period of 19351975. Proceedings of 2015 IFToMM Workshop on History of Mechanism and Machine Science. May 26-28, 2015, St-Petersburg, Russia. http://hmms2015.ru. 30. Algin V.B. History and State of Art of Belarussian Scientific School in the Field of Computation and Designing Mobile Machine Transmission. Proceedings of 2015 IFToMM Workshop on History of Mechanism and Machine Science. May 26-28, 2015, St-Petersburg, Russia. http://hmms2015.ru. 31. Starzhinsky V.E., Antonyuk V.E., Kane M.M., Shilko 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. May 26-28, 2015, StPetersburg, Russia. http://hmms2015.ru. 32. Starzhinsky V.E., Basiniuk U.L., Mardasevich A.I., Lobkova M.P. Optimization Computation of Multistage and Multi-Path Instrument Toothed Mechanisms. Proceedings of 2015 IFToMM Workshop on History of Mechanism and Machine Science. May 26-28, 2015, St-Petersburg, Russia. http://hmms2015.ru. 33. Kane M.M., Starzhinsky V.E. Quality Rise of High-Loaded Cylindrical Gear Drives in 100

Design and Manufacture. Proceedings of 2015 IFToMM Workshop on History of Mechanism and Machine Science. May 26-28, 2015, St-Petersburg, Russia. http://hmms2015.ru. 34. Supin V.V., Starzhinsky V.E., Antonyuk V.E. Design automation of Gear Drive and Gear Forming Tool. Proceedings of 2015 IFToMM Workshop on History of Mechanism and Machine Science. May 26-28, 2015, St-Petersburg, Russia. http://hmms2015.ru. 35. Antonyuk V.E., Goman A.M., Ishin N.N., Starzhinsky V.E., Supin V.V. Methods of Increasing Gear Drive Serviceability. Proceedings of 2015 IFToMM Workshop on History of Mechanism and Machine Science. May 26-28, 2015, St-Petersburg, Russia. http://hmms2015.ru. 36. Antonyuk V.E., Starzhinsky V.E., Kane M.M., Sosnovskiy L.A., Komissarov V.V. Actual Problems of Standardization in the Field of Gear Drives. Proceedings of 2015 IFToMM Workshop on History of Mechanism and Machine Science. May 26-28, 2015, St-Petersburg, Russia. http://hmms2015.ru. 37. Shil’ko S.V., Starzhinsky V.E., Basinyuk V.L., Chernous D.A. Mesomechanical modeling of muscle type actuator elements for controlled electric drive. Proceedings of 2015 IFToMM Workshop on History of Mechanism and Machine Science. May 26-28, 2015, St-Petersburg, Russia. http://hmms2015.ru. 38. Ishin N.N., Goman A.M., Skorokhodov A.S. Vibrating monitoring technical condition of the transmission systems of mobile machines. Proceedings of 2015 IFToMM Workshop on History of Mechanism and Machine Science. May 26-28, 2015, St-Petersburg, Russia. http://hmms2015.ru. 39. Babichev D., Lagutin S., Barmina N. Russian school of the theory and geometry of gearing: Its origin and golden period (1935--1975) [J]. Frontiers of Mechanical Engineering, Guest Editor: Marco Ceccarelli. 2016. Vol. 11, No1. – Pp. 44-59. http://link.springer.com/article/10.1007/s11465-015-0360-z, http://journal.hep.com.cn/fme/EN/10.1007/s11465-015-0360-z 40. Kapelevich A.A. Direct Gear Design. CRC Press. (http://www.taylorandfrancis.com; http://www.crcpress.com).

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41. Arnaudov K.B., Golovanov V.V., Dorofeev V.L., Dorofeev D.V. Selection of optimal geometry and stress calculation on wheel teeth with asymmetrical tooth profile. International Conference on Gears Europe invites the world (October 7-9, 2013). Garching near Munich Germany. Technical University of Munich: VDI – Berichte 2199.2. 2013. – Pp.1341-1353 42. Дорофеев В.Л., Дорофеев Д.В., Голованов В.В., Гукасян С.Г. Метод полного прямого синтеза авиационных зубчатых передач. Научно-технический конгресс по двигателестроению (НТКД-2014). Сборник тезисов (15-17 апреля 2014 г, Москва, Россия). Москва: Изд-во АССАД, 2014. С.104-108. (Dorofeev V.L., Dorofeev D.V., Golovanov V.V. [et al.] Method of the Full Direct Synthesis of Aircraft Gear Drives. Proceedings of Scientific and Technical Congress on Engine-Building NTKD-2014 (april 15-17, 2014, Moscow, Russia). Moscow: Publisher ASSAD. 2014. – Pp. 108-110). 43. Novikov A., Golovanov V., Dorofeev V. Terminology and Disign of Asymmetrical Gears 101

for Aircraft. Theory and Practice of Gearing and Transmissions: In Honor of Professor Faydor L. Litvin. Editors V. Goldfarb, N. Barmina. Spriger. 2016. – Pp. 381-392. 44. Цуканов О.Н. Основы синтеза неэвольвентных зубчатых зацеплений в обобщающих параметрах. Челябинск: Издательский центр ЮУрГУ. 2011. – 140 с. (Tsukanov O.N. Basics of Noninvolute Gearing Synthesis in Generalized Parameters. Chelyabinsk: Publishing Center of South Ural State University. 2011. – 140 p.). 45. Гольдфарб В.И., Главатских Д.В., Трубачев Е.С. и др. Спироидные редукторы трубопроводной арматуры. Под ред. В.И. Гольдфарба. Москва: Вече, 2011. – 222 с. (Goldfarb V.I., Glavatskich D.V., Trubachyov E.S. [et al.] Spiroid Gearboxes for Pipeline Valves. Edited by V.I. Goldfarb. Moskow: Publisher “Veche”. 2011. – 222 p.). 46. Сандлер А.И. Лагутин С.А., Гудов Е.А. Теория и практика производства червячных передач общего вида. Издательство «Инфо-Инженерия». 2016. – 346 c. (Sandler A.I., Lagutin S.A., Gudov E.A. Theory and Practice of Manufacturing Worm Gear Drives of General Arrangement. Publisher: Infa-Engineering. 2016. – 346 p.). 47. Громыко П.Н., Макаревич Д.М., Доконов Л.Г. и др. Прецессионные редуцирующие механизмы различного назначения. Могилев: Белорусско-Российский университет. 2013. – 273 с. (Gromyko P.N., Makaryevich D.M., Dokonov L.G. [et al.] Precessional Reducing Mechanisms of Different Dedication. Mogilev: Publisher “Byelorussko-Rossiiskii University”. 2013. – 273 p.). 48. Громыко П.Н. Лустенков М.Е., Хатетовский С.Н. и др. Технологические аспекты создания рабочих поверхностей передач новых типов. Могилев: ГУВПО «БелорусскоРоссийский университет. 2012. – 209 с. (Gromyko P.N., Lustenkov M.E., Khatetovsky S.N. [et al.] Technological Aspects of Generating Tooth Flanks for Drives of the New Types. Mogilev: Publisher “Byelorussko-Rossiiskii University”. 2012. – 209 p.). 49. Ишин Н.Н. Динамика и вибромониторинг зубчатых передач. Минск: Беларуская навука. 2013. – 432 с. (Ishin N.N. Dynamics and Vibration Monitoring of Gear Drives. Minsk: Publisher: “Belaruskaya Navuka”. 2013. – 432 p.). 50. ГОСТ 13755-2015 Передачи зубчатые цилиндрические эвольвентные. Исходные контуры. (ISO 53:1998, Cylindrical gears for general and heavy engineering – Standard basic rack tooth profile, MOD).

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IFToMM Permanent Commission (A) for Standardization of Terminology on MMS (2012-2014) Chairmen: Prof. Torsten Brix (Germany) Members: Prof. Dr. Păun Antonescu (Romania) Dr. Ovidiu Antonescu (Romania) Prof. Dr. István Bíró (Hungary) Prof. Dr. Burkhard Corves (Germany) Dr. Ulf Döring (observer) (Germany) Prof. Raffaele Di Gregorio (Italy) Prof. Dr. Antoni Gronowicz (Poland) Prof. Dr. Mikio Horie (Japan) Dr. Eng. Theodor G. Ionescu (Romania) Prof. Dr. Mark M. Kane (Belarus) Prof. Dr. Antonius J. Klein Breteler (The Netherlands) Prof. Dr. Zhaohui Lan (China) Prof. Tatu Leinonen (Finland) Dr.-Ing Nenad T. Pavlovic (Serbia) Gordon R. Pennock (USA) Prof. Dr. Didier Remond (France) Prof. Dr. Yuri L. Sarkissyan (Armenia) Prof. Dr. Stefan Segla (Czech Republic) Prof. Eugeni Shalobaev (Russia) Prof. Dr. Victor E. Starzhinsky (Belarus) Prof. Dr. Rymantas T. Tolocka (Lithuania) Prof. Dr.-Ing. Shyi-Jeng Tsai (China) Prof. Dr. Hab. Eng. Jozef Wojnarowski (Poland) Prof. Dr. Yue-Qing Yu (China)

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Members who attended the meeting Prof. Dr. István Bíró (Hungary) Prof. Eugeni Shalobaev (Russia) Prof. Dr. Victor E. Starzhinsky (Belarus) Invited guests who attended the meeting Dr. Serge V. Shilko (MPRI NASB, Belarus) Dr. Yevsej I. Gutman (MTS System Corporation, Minneapolis, USA) Dr. R.R. Magdiev (ITMO University, Russia) Dr. N.N. Dmitriev (Saint-Petersburg State University, Russia) Dr. I.I. Komarov (ITMO University, Russia) Dipl. Eng. O.D. Kozyreva (ITMO University, Russia) Dipl. Eng. R.A. Yurieva (ITMO University, Russia) D.G. Surikov (ITMO University, Russia)

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ПОВЕСТКА ДНЯ ЗАСЕДАНИЯ AGENDA 1. Открытие заседания (23 июня 09.00) и согласование повестки дня. Opening of the meeting (June 23, 09.00 a.m.) and agreement of the agenda. 2. Уведомление об участии и принесение извинений за неучастие. Apologize for absence and acknowledgements. 3. Проблемы членства. Membership issues. 4. Протокол 24го рабочего заседания (24-30 июня, 2012, ТУ Ильменау, германия). Обсуждение и утверждение. Minutes of the 24th Working Meeting (June 24-30, 2012, TU Ilmenau, Germany). Discussion and approval. 5. Доклады председателей комиссии: Годовой доклад – июль, 2012 – июнь, 2013 Годовой доклад – июль, 2013 – июнь, 2014 Reports of the chairmen’s: Annual report July, 2012 – June, 2013 Annual report July, 2013 – June, 2014 6. Доклады подкомиссий. Reports of the subcommissions. 7. Терминология IFToMM. Обсуждение глав 15 и 16. IFToMM terminology. Discussion of Chapters 15 and 16. 8. Информация о контактах с Постоянными комиссиями и техническими комитетами IFToMM, другими родственными организациями. Information about the contacts with IFToMM PCs / TCs and with other affiliates. 9. Другие вопросы (при необходимости). Other issues and problems (as needed). 10. Научный семинар по терминологии. Symposium on terminology: scientific papers and lecture. 11. Закрытие заседания. Closure of the meeting.

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Dr. S. Shil’ko’s Presentation

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APPENDIX 1 Dr. Serge V. Shil’ko’s Presentation

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APPENDIX 2 Compliant Mechanisms. Diagrams and Drawings  Compliant joint (flexure, flexure hinge) Податливое соединение (гибкий шарнир)

 Notch flexure hinge Гибкий шарнир с вырезом

 Leaf spring flexure hinge Листовой пружинный гибкий шарнир типа «дверной створки»

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 Compliant beam joint Податливое соединение типа балка

 Compliant axis Податливая ось

 Axis drift Осевой дрейф Change of the position of rotation axis of the compliant revolute joint, that is, deviation of movement direction of rigid segment with compliant joints for the realization of translation.

 Ratio of off-axis stiffness to axial stiffness Отношение внеосевой жесткости к осевой жесткости Ratio of the stiffnes in the planes being different of the desired deformation plane, to the stiffnes in the desired deformation plane. 118

 Corner-filleted flexure hinge Гибкий шарнир с прямоугольным вырезом и скругленными углами

 Circular flexure hinge Гибкий шарнир с круговым вырезом

 Elliptical flexure hinge Гибкий шарнир с эллиптическим вырезом

 Parabolic flexure hinge Гибкий шарнир с параболическим вырезом

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 Hyperbolic flexure hinge Гибкий шарнир с гиперболическим вырезом

 Spline flexure hinge Гибкий шарнир со сплайновым вырезом

 Polinomials flexure hinge Гибкий шарнир с полиноминальным вырезом

 Small-length flexural pivot Короткий гибкий свободно поворачивающийся стержень

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 Living hinge Биоморфный шарнир Special case of the small-length flexural pivots with extremely small joint size

 Fixed-pinned hinge Искривленный защемленный шарнир Cantilever beam, being clamped on the first end and being loaded on the other end

 Functionally binary pinned-pinned segment Функционально дважды искривленный сегмент Elastic segment being loaded by the forces at the joints located at the segment ends Упругий сегмент нагруженный силами в соединениях, расположенных на концах сегмента

 Cross-strip joint, Kreuzfedergelenk 121

Перекрестное соединение с узкими полосками Joint consisting of two orthogonal leaf springs Соединение, состоящее из двух ортогонально расположенных плоских пружин

 Cross-axis flexural pivot Перекрестный гибкий качающийся шарнир

 Cartwheel Hinge Круговой поворотный шарнир Joint consisting of a pair of leaf springs intersecting at right angle along the line representing rotation axis of the joints Соединение, состоящее из пары плоских пружин, пересекающихся под прямым углом по линии, представляющей ось соединений

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 Monolithic butterfly flexure pivot Монолитный гибкий поворачивающийся шарнир типа бабочка

 Angled Leaf Spring Изогнутая плоская пружина

 Crossed compliant joint with leaf springs Перекрестное податливое соединение с плоскими пружинами

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rigid segment

rigid segment

 Compliant rolling-contact joints Податливые соединения с контактом качения Joint with thin compliant leaf structure coated with leaf spring in order to increase the rigidity Соединение с тонкой податливой плоской полоской, усиленной плоской пружиной для увеличения жесткости

 Split Tube Flexure Гибкий элемент с разрезной трубкой Joints being shaped as a tube, with very small thickness and relatively small length, being cut along its length. At the end of the tube there are two sticked rigid segments, being rotated due to torsional deformation of the tube

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 Rotationally Symmetric Leaf Type Hinge Вращательно-симметричный шарнир плоского типа

 Disc Coupling Дисковые муфты Joint with three degrees of freedom, being able to transfer the motion from one to another rigid segment Соединение с тремя степенями свободы, способные передавать движение от одного жесткого сегмента другому

 Segmented cross type revolute joint Поворотное соединение перекрестного типа с упругим и жестким сегментами Joint with elastic cross type segment, which torsional deformation enables relative rotation of a rigid segment relative to another one

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 Spherical compliant joint Сферическое податливое соединение Compliant joint with three degrees of freedom, designed by combination of segmented cross type revolute joint with two degrees of freedom and segmented cross type revolute joint with leaf springs

 Flexible continuum Гибкая (эластичная) сплошная среда  Mobility of compliant joint Мобильное податливое соединение Constraint positions of the link with compliant joint, that is, the limits of its displacement (mobility) determined by maximal permissible bending stress  Pseudo rigid-body model Модель псевдо-жесткого тела

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approximation by pseudo rigidbody model

rotation angle by pseudo rigid-body model



y

rotational joint

l 2

M x

torsional spring

L

l

 Compliant micro- and nano-positioning stage Податливая плита с микро- и нано-позиционированием

 Piezoelectric actuator Пьезоэлектрический привод

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 Bistable compliant mechanism Двухпозиционный податливый механизм Compliant mechanism which tends toward one of its two stable equilibrium positions.

 Compliant microgripper mechanism Податливый механизм с микрозахватами

 Compliant frame structure - Nachgiebige Rahmenstruktur Податливая конструкция, заключенная в рамку Closed-form structure, being made of elastic coherent material, which frames an area or volume

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 Complex compliant polymer structure Комплексная податливая полимерная конструкция Polymer structure consisting of fluid driven actuator and mechanism parts, being combined in monolith compliant entity  Complex compliant system Комплексная податливая система, с встроенными приводами и датчиками Adaptive and controllable compliant system with embedded actuators and sensors  Adaptive gripper compliant system Адаптивная захватывающая податливая система Compliant structure with embedded actuators and sensors with tactile surfaces being able to adapt to unknown gripping object form, that is, being able to adapt to different gripping object forms

Conventional gripper mechanism

Compliant gripper mechanism

Adaptive gripper compliant system

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APPENDIX 3 Gift to the 25 Working Meeting from talent person th

Portrait of Leonard Euler, famous scicntist, proposed to use involute for toothed meshing. Portrait is prodused by Anna Biro, attended the 25th Working Meeting of Permanent Commission A together with her parents Prof. Istvan Biro and Eva Biro.

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Saint-Petersburg. Hotel “Penguin”. The Meeting is finished. Left to right: Dr. S. Shil’ko, Prof. V. Starzhinsky, Dipl. Eng. O. Kozyreva, Dr. N. Dmitriev, Prof. E. Shalobaev, Anna Biro, Prof. I. Bíro

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APPENDIX 4 Contents of Russian authors publications in the Jornal “Frontiers of Mechanical Engineering”, Guest Editor: Prof. Marco Ceccarelli, Publisher Higher Education Press Vol. 11, No. 1, 2016 Special Issue on the 2015 Workshop on History of Mechanism and Machine Science (Saint-Petersburg, Russia, May 26–28, 2015) 1.

2.

3.

4.

5.

6.

Dmitry BABICHEV, Sergey LAGUTIN, Natalya BARMINA. Russian school of the theory and geometry of gearing: Its origin and golden period (1935--1975) [J]. Frontiers of Mechanical Engineering, 2016, 11(1): pp. 44-59. http://link.springer.com/article/10.1007/s11465-015-0360-z http://journal.hep.com.cn/fme/EN/10.1007/s11465-015-0360-z Mikhail MALENKOV. Self-propelled automatic chassis of Lunokhod-1: History of creation in episodes [J]. Frontiers of Mechanical Engineering, 2016, 11(1): pp. 60-86. http://link.springer.com/article/10.1007/s11465-016-0370-5 http://journal.hep.com.cn/fme/EN/10.1007/s11465-016-0370-5 Vera CHINENOVA. Goryachkin’s agricultural mechanics [J]. Frontiers of Mechanical Engineering, 2016, 11(1): pp. 87-94. http://link.springer.com/article/10.1007/s11465-016-0378-x http://journal.hep.com.cn/fme/EN/10.1007/s11465-016-0378-x Alexander BELYAEV, Alexander SUKHANOV, Alexander TSVETKOV. Gushing metal chain [J]. Frontiers of Mechanical Engineering, 2016, 11(1): pp. 95-100. http://link.springer.com/article/10.1007/s11465-016-0377-y http://journal.hep.com.cn/fme/EN/10.1007/s11465-016-0377-y Vladimir A. GODLEVSKIY. Technological lubricating means: Evolution of materials and ideas [J]. Frontiers of Mechanical Engineering, 2016, 11(1): pp. 101-107. http://link.springer.com/article/10.1007/s11465-016-0369-y http://journal.hep.com.cn/fme/EN/10.1007/s11465-016-0369-y Olga EGOROVA, Dmitry SHCHERBININ. Creating technical heritage object replicas in a virtual environment [J]. Frontiers of Mechanical Engineering, 2016, 11(1): pp. 108-115. http://link.springer.com/article/10.1007/s11465-016-0363-4 http://journal.hep.com.cn/fme/EN/10.1007/s11465-016-0363-4 132

Saint-Petersburg. Excursion to Pushkino. At the entry to Catherine Palace. Biros’ family: Anna, Eva, Istvan.

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APPENDIX 5

IFToMM Permanent Commission for the Standardization of Terminology Meeting during the 14th IFToMM World Congress Agenda th

Date:

26

Place:

Taipei International Convention Center, Room 201 F

Time:

17.00 – 19.00

October 2015

1. Overview about the activities and the progress of the commission work Torsten Brix 2. Multilingualism and DMG-Lib – Results of the EU Project thinkMOTION Jean-Christoph Fauroux 3. Integration of the MMS terminology within DMG-Lib and work environment for the web-based maintenance of the IFToMM dictionary for PC members Ulf Döring 4. Discussion and determination of time and place for the next PC Working Meeting 5. Further discussions , open issues and decisions on future activities

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Scientific publication TERMINOLOGY FOR THE MECHANISM AND MACHINE SCIENCE ISBN 978-985-6477-45-7 Proceedings of the Scientific Seminar in the framework of the 25th Working Meeting of IFToMM Permanent Commission “Standardization of Terminology for MMS” – June 23-29, 2014, Saint-Petersburg, Russia

Realizer – V.E. Starzhinsky Design and Proofs – T.A. Isaueva Translation from the Russian – L.S. Pushkina Covering Design – V.V. Domasik

Paper size 60×84/8. Offset paper. New Times Roman typeface. Risograph print. Contingently – Printer’s sheets – 15,8. Publisher signature – 10,5. Number of copies – 10. Printed in Belarus.

N.A. Belyi Metal – Polymer Research Institute of National Academy of Science of Belarus License No 2330/0494358 of 16.03.2009 246050, Gomel, Kirov St. 32 – A

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