Applied Dynamics of Manipulation Robots: Modelling, Analysis and Examples - Brossura

Vukobratovic, Miomir

Brossura

ISBN 10: 3642838685 ISBN 13: 9783642838682

Casa editrice: Springer, 2013

Riassunto

During the period 1982-1985, six books of the series: Scientific Fun­ damentals of Robotics were published by Springer-Verlag. In chronolo­ gical order these were: Dynamics of Manipulation Robots: Theory and Application, by M. Vukobra­ tovic and V. Potkonjak, Control of Manipulation Robots: Theory and Ap­ plication, by M. vukobratovic and D. Stokic, Kinematics and Trajectory Synthesis of Manipulation Robots, by M. Vukobratovic and H. Kircanski, Real-Time Dynamics of Hanipulation Robots by M. Vukobratovic and N. Kircanski, Non-Adaptive and Adaptive Control of Manipulation Robots, by M. Vukobratovic, D. Stokic and N. Kircanski and Computer-Aided De­ sign and Applied Dynamics of Manipulation Robots, by M. Vukobratovic and V. Potkonjak. Within the series, during 1989, two monographs dealing with new sub­ jects will be published. So far, amongst the published monographs, Vol. 1 has been translated into Japanese, Volumes 2 and 5 into Russian, and Volumes 1-6 will appear in Chinese and Hungarian. In the author's opinion, the afore mentioned monographs, in principle, cover with sufficient breadth, the topics devoted to the design of ro­ bots and their control systems, at the level of post-graduate study in robotics. However, if this material was also to apply to the study of robotics at under-graduate level, it would have to be modified so as to obtain the character of a textbook. With this in mind, it must be noted that the subject matter contained in the text cannot be simpli­ fied but can only be elaborated in more detail.

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Contenuti

1 General About Robots.- 1.1. Dedication and classification of robotic systems.- 1.2. General features of robotic mechanisms and its classification.- 1 3 Specifities of manipulation robots.- 1.3.1. Definition of position of an object in space.- 1.3.2. Structure of an industrial manipulation robot.- 1.3.3. Disposition of segments and their connections.- 1.3.4. Simple chain structure types.- 1.3.5. Mobility index and degrees of freedom of a manipulation robot.- 1.3.6. Redundancy and singularity.- 1.3.7. Degrees of freedom of a task: (d.o.f.t.).- 1.3.8. Compatibility.- 1.3.9. Decoupling the orientation and the position of the terminal device.- 1.3.10. Different minimal configurations.- 1.3.11.Workspace.- 1.3.12. Comparison of the workspaces of different minimal configurations.- References.- 2 Computer Forming of Mathematical Model of Manipulation Robots Dynamics.- 2.1. General about computer-oriented procedures for forming of mathematical models of robot dynamics.- 2.2. Complete mathematical models of manipulation robots.- 2.3. Influence of mechanical vibrations on dynamic behaviour of manipulation robots.- Example.- 2.4. Dynamics of manipulation robots with gripper constrained motion.- Example.- 2.5. Dynamic analysis of manipulation robots.- Example.- 2.6. Dynamics of flexible manipulation robots.- Approximate method for dynamic analysis of flexible manipulation robots.- 2.7. Dynamics of cooperative manipulation.- References.- 3 Computer Method for Linearization and Parameter Sensitivity of Manipulation Robots Dynamic Models.- 3.1. Introduction.- 3.2. Method of computer linearization of dynamic models based on general theorems of mechanics.- 3.3. Sensitivity analysis of manipulation robots dynamic models.- References.- Appendix 1 Connection Between the Moving and Fixed System.- References.- Appendix 2 Manipulator Kinematical Model.- Examples.- References.- Appendix 3 Determining Velocities and Accelerations.- References.- Appendix 4 Momentum of Rigid Body with Respect to a Fixed Pole.- References.- Appendix 5 Specifities of Lever-Mechanisms Dynamics.- Appendix 6 Mathematical Models of Driving Units.- Permanent-magnet DC servomotor.- AC servomotor.- Synchronous motors with permanent magnet rotor (SM).- Direct-drive motor.- Brushless DC servomotors.- Electrohydraulic actuators.- Electropneumatic actuators.- References.- Appendix 7 Automatic Forming of Dynamic Models.- Example 1: “Cylindrical” Mechanism (Basic Configuration).- Example 2: “Stanford” Manipulator (Basic Configuration).- Appendix 8 Dynamics of “ASEA” Mechanism (Basic Configuration).- Kinematics.- Dynamics.- Source file for the computation of “ASEA” mechanism driving torques.- Appendix 9 Programme Support for Dynamics Modelling of Manipulation Robots.

Dettagli dell'edizione

• Editore: Springer
• Data di pubblicazione: 2013
• Lingua: Inglese
• ISBN 10: 3642838685
• ISBN 13: 9783642838682
• Rilegatura: Copertina flessibile
• Numero di pagine: 492
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