Applied Dynamics and CAD of Manipulation Robots

This book is a logical continuation of Volume 1 of the series entitled "Scientific Fundamentals of Robotics" which presents all of the basic methods for computerized construction of dynamics of manipulation ro­ bots as well as the essential concepts of computer-aided design of their mechanics. Vol. 1 of the Series also contains the main practical re­ sults from the elastodynamics of manipulation robots, having in mind a need for forming a computer procedure which allows efficient checks of elastic deformations of a manipulator tip or some other of its charac­ teristic points. Wishing to add a highly applications-oriented dimension to the dynamic aspect of studies of manipulation robots, the authors have made a kind of a topic-based selection by leaving unconsidered some aspects of studies of robots, such as elasticity, and discussing others, more im­ portant in their opinion, to such an extent as suffices to make them practically applicable. The authors have decided not to treat in detail the problem of flexible manipulation robots for two reasons. The first results from the atti­ tude that the permissible (desired) robot elasticity may, satisfacto­ rily well, be tested using the method described in Vol. 1 of the Series.

1: General About Manipulation Robots and Computer-Aided Design of Machines.- 1.1. General about manipulation robots.- 1.1.1. Introduction.- 1.1.2. Definition of position of an object in space.- 1.1.3. Structure of an industrial manipulation robot.- 1.1.4. Disposition of segments and their connections.- 1.1.5. Simple chain structure types.- 1.1.6. Mobility index and degrees of freedom of a manipulation robot.- 1.1.7. Redundancy and singularities.- 1.1.8. Degrees of freedom of a manipulation task (d.o.f.t.).- 1.1.9. Compatibility.- 1.1.10. Decoupling the orientation from the position of the terminal device.- 1.1.11. Different minimal configurations.- 1.1.12. Workspace.- 1.1.13. Comparison of the workspaces of different minimal configurations.- 1.2. General remarks on up-to-date methods for design of machines.- 1.2.1. Task specification and starting data.- 1.2.2. Design automation.- 2: Dynamic Analysis of Manipulator Motion.- 2.1. Introduction.- 2.2. Block-scheme of the algorithm for dynamic analysis.- 2.3. Computer-aided method for the formation of manipulator dynamic model.- 2.4. Definition of manipulation task.- 2.4.1. General algorithm for dynamic analysis.- 2.4.2. Practical approach to manipulation task definition.- 2.4.3. Manipulator with four degrees of freedom.- 2.4.4. Manipulator with five degrees of freedom.- 2.4.5. Manipulator with six degrees of freedom.- 2.4.6. Velocity profiles and practical realization of adapting blocks.- 2.5. Calculation of other dynamic characteristics.- 2.5.1. Diagrams of torque versus r.p.m.- 2.5.2. Calculation of the power needed and the energy consumed.- 2.5.3. Calculation of reactions in joints and stresses in segments.- 2.5.4. Calculation of elastic deformations.- 2.6. Tests of dynamic characteristics.- 2.6.1. Tests of a D.C. electromotor.- 2.6.2. Test of a hydraulic actuator.- 2.6.3. Tests of stresses and elastic deformations.- 2.7. Some specific features of algorithm implementation.- 2.8. Examples.- 2.8.1. Example 1.- 2.8.2. Example 2.- 2.8.3. Example 3.- 2.8.4. Example 4.- 2.9. Synthesis of nominal dynamics of manipulation movements.- 2.9.1. The complete dynamic model.- 2.9.2. Mathematical models of the actuator systems.- 2.9.3. Algorithm for the synthesis of nominal dynamics.- 2.10. Extension of dynamic model by including friction effects.- Conclusion.- References.- Appendix:Theory of Appe’s Equations.- 3: Closed Chain Dynamics.- 3.1. Introduction.- 3.2. Review of previous results.- 3.3. Mechanisms containing a kinematic parallelogram.- 3.4. Manipulators with constraints on gripper motion.- 3.4.1. Theory extension.- 3.4.2. Surface-type constraint.- 3.4.3. Independent parameters representation — general methodology.- 3.4.4. Gripper moving along a surface.- 3.4.5. Gripper moving along a line.- 3.4.6. Spherical joint constraint.- 3.4.7. Two degrees of freedom joint constraint.- 3.4.8. Rotational joint constraint.- 3.4.9. Linear joint constraint.- 3.4.10. Constraint permitting no relative motion.- 3.4.11. Bilateral manipulation.- 3.4.12. Extension of surface-type constraint.- 3.5. Impact problems.- 3.5.1. General methodology.- 3.5.2. Impact in the case of bilateral manipulation.- 3.5.3. Extension of surface-type constraint.- 3.5.4. Jamming problems.- 3.6. Practical cases of constrained gripper motion.- 3.6.1. Tasks with surface-type constraints.- 3.6.2. Cylindrical and rectangular assembly tasks.- 3.6.3. Constraint permitting no relative motion.- 3.6.4. Practical problems of bilateral manipulation.- 3.7. Examples.- References.- 4: Computer-Aided Design of Manipulation Robots.- 4.1. Interactive procedure for computer-aided design of manipulators.- 4.2. Optimal choice of manipulator parameters.- 4.2.1. Optimality criteria.- 4.2.2. Constraints.- 4.3. The choice of manipulator segments parameters based on the energy criterion.- 4.3.1. One-parameter optimization.- 4.3.2. Two-parameter and multi-parameter optimization.- 4.3.3. Standard form segments.- 4.4. Optimization based on working speed criterion.- 4.5. Choice of actuators and reducers.- 4.5.1. Selection of D.C. motors.- 4.5.2. Selection of hydraulic actuators.- 4.5.3. Some remarks on actuators selection procedure.- 4.5.4. Examples.- 4.6. Organization of the CAD program package.- References.