Proceedings of EUCOMES 08

Marco Ceccarelli was born in Rome in 1958. He received the mechanical engineer degree cum laude in 1982 at the University "La Sapienza" of Rome. At the same University he completed a Ph.D. in Applied Mechanics in 1988. In 1987 he was visiting scholar at Stanford University, U.S.A., and in 1990 he received a CNR-NATO annual grant as visiting professor at the Technical University of Valencia, Spain. Since 1990 he teaches courses on Mechanics of Machinery and Mechanisms, and Mechanics of Robots at the School ofEngineering at the University of Cassino. Since 1996 he is Director ofLARM, the Laboratory ofRobotics and Mechatronics of DiMSAT, the Department of Mechanics, Structures, Environment and Territory at the University of Cassino. Since 2001 he has been appointed Full Professor of Mechanics of Machinery and Mechanisms at the University of Cassino. From 2003 to 2005 he has been Vice Director of DiMSAT. He is member of ASME (The American Society of Mechanical Engineers), AIMETA (Italian Society for Theoretical and Applied Mechanics), AEIM (Spanish Society of Mechanical Engineers), SRI (Italian Association of Robotics and Automation), IEEE (the Institute of Electrical and Electronics Engineers), FeIbIM (Iberoamerican Federation for Mechanical Engineering). From 1998 to 2004 he has been Chairman ofthe Permanent Commission for History of Machine and Mechanism Science of IFToMM, the International Federation for the Promotion of Machine and Mechanism Science, and currently he is still a member. He is also member of the IFToMM Commission for Robotics. He is Chairman of the Commission for Mechatronics of FeIbIM, Federaciôn Iberoamericana de kigenieria Mecànica. He is Chairman of the Scientific Committee of MUSME, IFToMM-FeIblM International Conference on Mechatronics and Multibody Systems. He is member of scientific Committees for several conferences, like RAAD, Romansy, CK; he is associate editor for the journal Transactions of CSME (the CanadianSociety of Mechanical Engineers); he has served as associated editor for Mechanism and Machine Theory; he has served as reviewer for several international conferences and journals; he has served as reviewer for national and international projects for Italian and foreign agencies. He has given invited lectures and short courses in many countries. He has carried out consulting activity for companies and in industrial plants on problems regarding with Automation and Robotics. He has been Scientific Editor for the Proceedings of HMM 2000 and HMM2004, International Symposium on History of Machines and Mechanisms. He has been Chairman for HMM 2000 and 2004 that have been held in Cassino; he has been Co-Chairman for MUSME in 2002 in Mexico City and in 2005 in Uberlandia, Brazil. He has been Chairman for RAAD International Workshop on Robotics in Alpe-Adria Danube Region held in Cassino in 1997 and 2003. He has been Chairman for CK2005, IFToMM International Workshop on Computational Kinematics that has been held in Cassino in 2005. He has written the book ‘Fundamentals of Mechanics of Robotic Manipulation’ published by Kiuwer/Springer in 2004. In November 2003 he has received the Degree of Doctor Honoris Causa from UNI, National University of Lima, Peru, as recognizing his academic and scientific career, and his support to the activity of UNI in Mechatronic Engineering. He has been indicated as Coordinator of the Commission for Research of GMA, Italian National Group for Mechanics of Machinery for the period 2002-2006. He has been elected Secretary- General of IFToMM for the term 2004-2007. His research interests cover aspects of Theory of Machines and Mechanisms (TMM) and Mechanics ofRobots. Specific subjects ofhis interest are Analysis andDesign ofWorkspace and Manipulation; Mechanical Design of Manipulators, Legged Robots, and Grippers; Mechanics of Grasp; History of TMM; and Mechanism Design. He is author or co-author of more than threehundreds, which have been presented at Conferences or published in national and international journals. More information at the web page: http://webuser.unicas.it/weblarm/larmindex.htm; bitp://webuser.unics.i1/ceccarelli

• Preface Russo F., Rossi C., Russo F.: Automatic weapons of the Roman empire Tsakoumaki M.C., Chondros T.G.: “Deus ex-machina” in Phlius theatreChondros T.G.: Archimedes and the origins of Mechanisms designPapadogiannis A. S., Papadogianni N.S., Carabelas ?., Tsitomeneas S., Kyraggelos ?., Chondros T. G.: The mirror weapon in Archimedes eraVitiukov T., Tarabarin V.: The creation of the site about the historical part of collection of mechanisms BAUMAN MSTUSöylemez E.: Using computer spreadsheets in teaching mechanismsKovalev M.: Hinged frameworks with unusual geometrical propertiesHuang C.: A comparison between line geometries of point and line displacementsDiez M., Petuya V., Ur?zar M., Hernández A.: A kinematic approach to calculate protein motion pathsBonandrini G., Mimmi G., Rottenbacher C.: Solutions of the equation of meshing for planar gear profilesFernández de Bustos I., Agirrebeitia J., Avilés R.: A numerical method for the second order mobility análisis of mechanismsUaliyev I., À , À . Jomartov A.: Mathematical models of mechanisms with essentially elastic linksCastelliG., Ottaviano E.: Design and Simulation of a New Hybrid Mobile Robot for Overpassing ObstaclesSchröcker H.-P., Jüttler B., Aigner M.: Evolving four-bars for optimal synthesis Pfurner M.: A new family of overconstrained 6R-mechanismsG. Lonij G., Hüsing M., Choi S.W., Corves B.: Development of a spherical linkage mechanisms with the aid of the dynamic spatial geometry program GECKOStroe I.: Elastic and safety clutch with radial disposed elastic lamellasCastejón C., Carbone G., García Prada J.C., Ceccarelli M.: Computational Multi-objective Optimization to Design Service Robot Structures.Yao S., Marco Ceccarelli M., Carbone G., Lu Z.: An optimal designfor a new underactuated fingermechanismDavitashvili N., Gelashvili O.: Synthesis of a spatial five-link mechanism with two degrees of freedom according to the given laws of motionCabrera J.A., Castillo J.J, Nadal F., Ortiz A., Simon A.: Synthesis of mechanism with evolutionary techniques.De-Juan A., Sancibrian R., Viadero F.: Optimal synthesis of steering mechanisms including transmission anglesKecskemethy A., Masi I., Täandl M.: Workspace fitting and control for a serial-robot motion simulatorHernandez-Martinez E., Carbone G., Lopez-Cajun C.: Operation features of milli-CATRASYSPugi L., Rindi A., Allotta B., Gori G.: Design of an actuation system for a fatigue test rigPisla D., Itul T.: The influence of motion mode and friction on the dynamics of a paralle robot used for orientation applications Echávarri Otero J, Lafont Morgado P., Sánchez-Peñuela J.B., Muñoz J.L.: Elastohydrodynamics models for predicting friction in point contacts lubricated with polyalphaolefins Alonso F. J., Cuadrado J., Pintado P.: An integrated differentiation-projection approach for the kinematic data consistency of biomechanical systemsZielinska T., Mianowski K., Kryczka P.: Design of simple humanoid dedicated to the research on the gait synthesisRubio F., Valero F., SuñerJ.L., Mata V.: A comparison of algorithms for path planning of industrial robotsSales Gonçalves R., Mendes Carvalho J.C.:Stiffness analysis of parallel manipulator using matrix structural analysis Jatsun S., Vyacheslav D., Yatsun A., Malchikov A.: Modelling of robot’s motion by use of vibration of internal massesRaparelli T., Beomonte Zobel P., Durante F.: Mechanical design of a 3-DOF parallel robot actuated by smart wiresIriarte X., Miguel Diaz-Rodriguez M., Vicente Mata V.: A multicriteriaapproach for optimal trajectories in dynamic parameter identification of parallel robotsAllotta B., Pugi L., Bertolini F.: Reinforcement neural network for