Fundamentals of mechanics of robotic manipulation

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Fundamentals of mechanics of robotic manipulation / by Marco Ceccarelli

資料種別:: 図書
出版情報:: Dordrecht : Kluwer Academic Publishers, c2004
形態:: xi, 310 p. ; 25 cm
シリーズ名:: International series on microprocessor-based and intelligent systems engineering ; v. 27 <BA18178902>
著者名:: Ceccarelli, Marco <DA14534397>
ISBN:: 9781402018107 [140201810X] (: hb)
書誌ID:: BA70269128

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注記:

Includes bibliographical references (p. 305-306) and index

主題:

Manipulators (Mechanism); Robotics

言語:

英語

目次情報:

Preface

Introduction to Automation and Robotics / 1：

Automatic systems and robots / 1.1：

Evolution and applications of robots / 1.2：

Examples and technical characteristics of industrial robots / 1.3：

Evaluation of a robotization / 1.4：

An economic estimation / 1.4.1：

Forum for discussions on Robotics / 1.5：

Analysis of Manipulations / 2：

Decomposition of manipulative actions / 2.1：

A procedure for analyzing manipulation tasks / 2.2：

Programming for robots / 2.3：

A programming language for robots: VAL II / 2.3.1：

A programming language for robots: ACL / 2.3.2：

Illustrative examples / 2.4：

Education practices / 2.4.1：

Simulation of an industrial process / 2.4.1.1：

Writing with a robot / 2.4.1.2：

An intelligent packing / 2.4.1.3：

Industrial applications / 2.4.2：

Designing a robotized manipulation / 2.4.2.1：

Optimizing a robotized manipulation / 2.4.2.2：

Fundamentals of Mechanics of Manipulators / 3：

Kinematic model and position analysis / 3.1：

Transformation Matrix / 3.1.1：

Joint variables and actuator space / 3.1.2：

Workspace analysis / 3.1.3：

A binary matrix formulation / 3.1.3.1：

An algebraic formulation / 3.1.3.2：

A Workspace evaluation / 3.1.3.3：

Manipulator design with prescribed workspace / 3.1.4：

Inverse kinematics and path planning / 3.2：

A formulation for inverse kinematics / 3.2.1：

An example / 3.2.1.1：

Trajectory generation in Joint Space / 3.2.2：

A formulation for path planning in Cartesian coordinates / 3.2.3：

Velocity and acceleration analysis / 3.2.3.1：

Jacobian and singularity configurations / 3.3.1：

Statics of manipulators / 3.4.1：

A mechanical model / 3.5.1：

Equations of equilibrium / 3.5.2：

Jacobian mapping of forces / 3.5.3：

Dynamics of manipulators / 3.5.4：

Mechanical model and inertia characteristics / 3.6.1：

Newton-Euler equations / 3.6.2：

Lagrange formulation / 3.6.2.1：

Stiffness of manipulators / 3.6.3.1：

A formulation for stiffness analysis / 3.7.1：

A numerical example / 3.7.3：

Performance criteria for manipulators / 3.8：

Accuracy and repeatability / 3.8.1：

Dynamic characteristics / 3.8.2：

Compliance response / 3.8.3：

Fundamentals of Mechanics of parallel manipulators / 3.9：

A numerical example for CaPaMan (Cassino Parallel Manipulator) / 3.9.1：

Fundamentals of Mechanics of Grasp / 4：

Gripping devices and their characteristics / 4.1：

A mechatronic analysis for two-finger grippers / 4.2：

Design parameters and operation requirements for grippers / 4.3：

Configurations and phases of two-finger grasp / 4.4：

Model and analysis of two-finger grasp / 4.5：

Mechanisms for grippers / 4.6：

Modeling gripper mechanisms / 4.6.1：

An evaluation of gripping mechanisms / 4.6.2：

A numerical example of index evaluation / 4.6.2.1：

Designing two-finger grippers / 4.7：

An optimum design procedure for gripping mechanisms / 4.7.1：

A numerical example of optimum design / 4.7.1.1：

Electropneumatic actuation and grasping force control / 4.8：

An illustrative example for laboratory practice / 4.8.1：

An acceleration sensored gripper / 4.8.1.1：

Fundamentals on multifinger grasp and articulated fingers / 4.9：

Bibliography

Index

Biographical

Notes

Preface

Introduction to Automation and Robotics / 1：

Automatic systems and robots / 1.1：

Evolution and applications of robots / 1.2：

Examples and technical characteristics of industrial robots / 1.3：

Evaluation of a robotization / 1.4：

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