Fundamentals of Mechanics of Robotic Manipulation
(Sprache: Englisch)
This book has evolved from a course on Mechanics of Robots that the author has thought for over a dozen years at the University of Cassino at Cassino, Italy. It is addressed mainly to graduate students in mechanical engineering although the course has also...
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Klappentext zu „Fundamentals of Mechanics of Robotic Manipulation “
This book has evolved from a course on Mechanics of Robots that the author has thought for over a dozen years at the University of Cassino at Cassino, Italy. It is addressed mainly to graduate students in mechanical engineering although the course has also attracted students in electrical engineering. The purpose of the book consists of presenting robots and robotized systems in such a way that they can be used and designed for industrial and innovative non-industrial applications with no great efforts. The content of the book has been kept at a fairly practical level with the aim to teach how to model, simulate, and operate robotic mechanical systems. The chapters have been written and organized in a way that they can be red even separately, so that they can be used separately for different courses and readers. However, many advanced concepts are briefly explained and their use is empathized with illustrative examples. Therefore, the book is directed not only to students but also to robot users both from practical and theoretical viewpoints. In fact, topics that are treated in the book have been selected as of current interest in the field of Robotics. Some of the material presented is based upon the author's own research in the field since the late 1980's.
Inhaltsverzeichnis zu „Fundamentals of Mechanics of Robotic Manipulation “
Preface1: Introduction to Automation and Robotics1.1 Automatic systems and robots1.2 Evolution and applications of robots1.3 Examples and technical characteristics of industrial robots1.4 Evaluation of a robotization1.4.1 An economic estimation1.5 Forum for discussions on Robotics 2: Analysis of Manipulations2.1 Decomposition of manipulative actions2.2 A procedure for analyzing manipulation tasks2.3 Programming for robots2.3.1 A programming language for robots: VAL II2.3.2 A programming language for robots: ACL2.4 Illustrative examples2.4.1 Education practices2.4.1.1 Simulation of an industrial process2.4.1.2 Writing with a robot2.4.1.3 An intelligent packing2.4.2 Industrial applications2.4.2.1 Designing a robotized manipulation2.4.2.2 Optimizing a robotized manipulation 3: Fundamentals of Mechanics of Manipulators3.1 Kinematic model and position analysis3.1.1 Transformation Matrix3.1.2 Joint variables and actuator space3.1.3 Workspace analysis3.1.3.1 A binary matrix formulation3.1.3.2 An algebraic formulation3.1.3.3 A Workspace evaluation3.1.4 Manipulator design with prescribed workspace3.2 Inverse kinematics and path planning3.2.1 A formulation for inverse kinematics3.2.1.1 An example3.2.2 Trajectory generation in Joint Space3.2.3 A formulation for path planning in Cartesian coordinates3.2.3.1 Illustrative examples3.3 Velocity and acceleration analysis3.3.1 An example3.4 Jacobian and singularity configurations3.4.1 An example3.5 Statics of manipulators3.5.1A mechanical model3.5.2 Equations of equilibrium3.5.3 Jacobian mapping of forces3.5.4 An example3.6 Dynamics of manipulators3.6.1 Mechanical model and inertia characteristics3.6.2 Newton-Euler equations3.6.2.1 An example3.6.3 Lagrange formulation3.6.3.1An example3.7 Stiffness of manipulators3.7.1 A mechanical model3.7.2 A formulation for stiffness analysis3.7.3 A numerical example3.8 Performance criteria for manipulators3.8.1 Accuracy and repeatability3.8.2 Dynamic characteristics3.8.3 Compliance response3.9
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Fundamentals of Mechanics of parallel manipulators3.9.1 A numerical example for CaPaMan (Cassino Parallel Manipulator) 4: Fundamentals of Mechanics of Grasp4.1 Gripping devices and their characteristics4.2 A mechatronic analysis for two-finger grippers4.3 Design parameters and operation requirements for grippers4.4 Configurations and phases of two-finger grasp4.5 Model and analysis of two-finger grasp4.6 Mechanisms for grippers4.6.1 Modeling gripper mechanisms4.6.2 An evaluation of gripping mechanisms4.6.2.1 A numerical example of index evaluation4.7 Designing two-finger grippers4.7.1 An optimum design procedure for gripping mechanisms4.7.1.1 A numerical example of optimum design4.8 Electropneumatic actuation and grasping force control4.8.1 An illustrative example for laboratory practice4.8.1.1 An acceleration sensored gripper4.9 Fundamentals on multifinger grasp and articulated fingers BibliographyIndexBiographical Notes
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Bibliographische Angaben
- Autor: Marco Ceccarelli
- 2004, XII, 312 Seiten, Maße: 16 x 24,1 cm, Gebunden, Englisch
- Verlag: Springer Netherlands
- ISBN-10: 140201810X
- ISBN-13: 9781402018107
Sprache:
Englisch
Pressezitat
From the reviews of the first edition: "It presents in a very practical manner the fundamentals of robotic mechanics ... . Hence students in computer science and artificial intelligence, to name a few, will benefit from reading this book. ... a very nice point of this book is that all theoretical concepts are systematically illustrated by examples ... . I will strongly recommend this book as initial reading for students ... . I will also recommend this book as starting point for engineers who have to deal with robotic or automated systems." (J-P. Merlet, Meccanica, Vol. 41, 2006)
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