Fundamentals of mechanics of robotic manipulation / / Marco Ceccarelli

• Record Nr.: UNINA9910558484303321
• Autore: Ceccarelli Marco
• Pubbl/distr/stampa: Cham, Switzerland : , : Springer, , [2022]; ©2022
• ISBN: 9783030908485; 9783030908461
• Edizione: [Second edition.]
• Descrizione fisica: 1 online resource (398 pages) : illustrations (black and white)
• Collana: Mechanisms and machine science ; v.112
• Disciplina: 629.8933
• Soggetti: Manipulators (Mechanism)
• Lingua di pubblicazione: Inglese
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Note generali: Previous edition: Dordrecht: Kluwer Academic Publishers, 2004
• Nota di bibliografia: Includes bibliographical references.
• Nota di contenuto: Intro -- Preface to the Second Edition -- Preface to the First Edition -- Contents -- About the Author -- 1 Introduction to Automation and Robotics -- 1.1 Automatic Systems and Robots -- 1.2 Evolution and Applications of Robots -- 1.3 Examples and Technical Characteristics of Robots -- 1.4 Evaluation of a Robotization -- 1.4.1 An Economic Estimation -- 1.5 Forum for Discussions on Robotics -- 2 Analysis of Manipulations -- 2.1 Decomposition of Manipulative Actions -- 2.2 A Procedure for Analyzing Manipulation Tasks -- 2.3 Programming for Robots -- 2.3.1 A Programming Language for Robots: VAL-II -- 2.3.2 A Programming Language for Robots: ACL -- 2.4 Illustrative Examples -- 2.4.1 Education Practices -- 2.4.2 Industrial Applications -- 3 Fundamentals of the Mechanics of Serial Manipulators -- 3.1 Kinematic Model -- 3.1.1 Transformation Matrix -- 3.1.2 Joint Variables and Actuator Pace -- 3.1.3 Workspace Analysis -- 3.1.4 Manipulator Design with Prescribed Workspace -- 3.1.5 Feasible Area for Workspace -- 3.2 Inverse Kinematics and Path Planning -- 3.2.1 A Formulation for Inverse Kinematics -- 3.2.2 Trajectory Generation in Joint Space -- 3.2.3 A Formulation for Path Planning in Cartesian Coordinates -- 3.3 Velocity and Acceleration Analysis -- 3.3.1 An Example -- 3.4 Jacobian and Singular Configurations -- 3.4.1 An Example -- 3.5 Statics of Manipulators -- 3.5.1 A Mechanical Model -- 3.5.2 Equations of Equilibrium -- 3.5.3 Jacobian Mapping of Forces ; -- 3.5.4 An Example -- 3.6 Dynamics of Manipulators -- 3.6.1 Mechanical Model and Inertia Characteristics -- 3.6.2 Newton--Euler Equations -- 3.6.3 Lagrange Formulation -- 3.6.4 An Example -- 3.7 Stiffness of Manipulators -- 3.7.1 A Mechanical Model -- 3.7.2 A Formulation for Stiffness Analysis -- 3.7.3 A Numerical Example -- 3.8 Performance Criteria for Manipulators -- 3.8.1 Accuracy and Repeatability.; 3.8.2 Dynamic Characteristics -- 3.8.3 Compliance Response -- 3.9 Concepts for Manipulator Balancing -- 3.10 Considerations on Mechanism Design for Robots -- 4 Fundamentals of the Mechanics of Parallel Manipulators -- 4.1 Designs of Parallel Manipulators -- 4.2 Kinematics of Parallel Manipulators -- 4.2.1 Workspace of Parallel Manipulators -- 4.2.2 Singularity Analysis -- 4.3 Stiffness Analysis -- 4.4 A Design Formulation -- 4.5 A Numerical Example for CaPaMan (Cassino Parallel Manipulator) -- 5 Fundamentals of the Mechanics of Grasp -- 5.1 A Short Account of History of Grasping Devices -- 5.2 Gripping Devices and Their Characteristics -- 5.3 A Mechatronic Analysis for Two-Finger Grippers -- 5.4 Design Parameters and Operation Requirements for Grippers -- 5.5 Configurations and Phases of Two-Finger Grasp -- 5.6 Model and Analysis of Two-Finger Grasp -- 5.6.1 Impacts in Grasping -- 5.7 Mechanisms for Grippers -- 5.7.1 Modeling Gripper Mechanisms -- 5.7.2 An Evaluation of Gripping Mechanisms -- 5.8 Designing Two-Finger Grippers -- 5.8.1 An Optimum Design Procedure for Gripping Mechanisms -- 5.9 Electropneumatic Actuation and Grasping Force Control -- 5.9.1 An Illustrative Example for Laboratory Practice -- 5.10 Fundamentals on Multi-finger Grasp and Articulated Fingers -- 5.10.1 Underactuated Finger Mechanisms -- 5.10.2 An Example: The LARM Hand -- Bibliography.
• Sommario/riassunto: The book explores the fundamental issues of robot mechanics for both the analysis and design of manipulations, manipulators and grippers, taking into account a central role of mechanics and mechanical structures in the development and use of robotic systems with mechatronic design. It examines manipulations that can be performed by robotic manipulators. The contents of the book are 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 purposes. The introduction illustrates motivations and historical developments of robotic mechanical systems. Chapter 2 describes the analysis and design of manipulations by automatic machinery and robots; chapter 3 deals with the mechanics of serial-chain manipulators with the aim to propose algorithms for analysis, simulation, and design purposes; chapter 4 introduces the mechanics of parallel manipulators; chapter 5 addresses the attention to mechanical grippers and related mechanics of grasping.