Fundamentals of Mechanics of Robotic Manipulation

Marco Ceccarelli

Springer Science & Business Media, Jul 13, 2004 - Technology & Engineering - 312 pages

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.

Contents

• Introduction to Automation and Robotics: 1
• 12 Evolution and applications of robots: 6
• 13 Examples and technical characteristics of industrial robots: 18
• 14 Evaluation of a robotization: 23
• 141 An economic estimation: 25
• 15 Forum for discussions on robotics: 27
• Analysis of manipulations: 29
• 22 A procedure for analyzing manipulation tasks: 30
• 23 Programming for robots: 34
• VALII: 37
• ACL: 40
• 24 Illustrative examples: 42
• 2412 Writing with a robot: 47
• 2413 Intelligent packing: 53
• 242 Industrial applications: 57
• 2421 Designing a robotized manipulation: 58
• 2422 Optimizing a robotized manipulation: 65
• Fundamentals of the mechanics of robots: 73
• 311 Transformation matrix: 79
• 312 Joint variables and Actuator Space: 85
• 313 Workspace analysis: 87
• 3131 A binary matrix formulation: 95
• 3132 An algebraic formulation: 98
• 3133 A workspace evaluation: 105
• 314 Manipulator design with prescribed workspace: 108
• 32 Inverse kinematics and path planning: 121
• 3211 An example: 123
• 322 Trajectory generation in Joint Space: 127
• 323 A formulation for path planning in Cartesian coordinates: 129
• 3231 Illustrative examples: 134
• 33 Velocity and acceleration analysis: 137
• 331 An example: 141
• 34 Jacobian and singular configurations: 143
• 341 An example: 146
• 35 Statics of manipulators: 147
• 352 Equations of equilibrium: 149
• 353 Jacobian mapping of forces: 150
• 354 An example: 151
• 36 Dynamics of manipulators: 152
• 361 Mechanical model and inertia characteristics: 153
• 362 NewtonEuler equations: 156
• 3621 An example: 160
• 363 Lagrange formulation: 160
• 363 An example: 163
• 37 Stiffness of manipulators: 165
• 371 A mechanical model: 166
• 372 A formulation for stiffness analysis: 167
• 373 A numerical example: 169
• 38 Performance criteria for manipulators: 171
• 381 Accuracy and repeatability: 172
• 382 Dynamic characteristics: 175
• 383 Compliance response: 176
• 39 Fundamentals of mechanics of parallel manipulators: 177
• 391 A numerical example for CaPaMan Cassino Parallel Manipulator: 198
• Fundamentals of the mechanics of grasp: 237
• 42 A mechatronic analysis for twofinger grippers: 244
• 43 Design parameters and operation requirements for grippers: 247
• 44 Configurations and phases of twofinger grasp: 250
• 45 Model and analysis of twofinger grasp: 252
• 46 Mechanisms for grippers: 257
• 461 Modeling gripper mechanisms: 259
• 462 An evaluation of gripping mechanisms: 262
• 4621 A numerical example of index evaluation: 271
• 47 Designing twofinger grippers: 274
• 471 An optimum design procedure for gripping mechanisms: 277
• 4711 A numerical example of optimum design: 280
• 48 Electropneumatic actuation and grasping force control: 282
• 481 An illustrative example for laboratory practice: 288
• 4811 An acceleration sensored gripper: 291
• 49 Fundamentals on multifinger grasp and articulated fingers: 294
• Bibliography: 301
• Index: 303
• Biographical Notes: 305

Bibliographic information

• Title: Fundamentals of Mechanics of Robotic Manipulation; Volume 27 of Intelligent Systems, Control and Automation: Science and Engineering
• Author: Marco Ceccarelli
• Edition: illustrated
• Publisher: Springer Science & Business Media, 2004
• ISBN: 140201810X, 9781402018107
• Length: 312 pages
• Subjects: Science / Mechanics / Dynamics; Technology & Engineering / Automation; Technology & Engineering / Industrial Design / General; Technology & Engineering / Industrial Design / Product; Technology & Engineering / Manufacturing; Technology & Engineering / Mechanical; Technology & Engineering / Robotics