LEADER 06128nam 2200481 450 001 9910558484303321 005 20221113120556.0 010 $a9783030908485$b(electronic bk.) 010 $z9783030908461 035 $a(MiAaPQ)EBC6943662 035 $a(Au-PeEL)EBL6943662 035 $a(CKB)21448755000041 035 $a(PPN)261520024 035 $a(EXLCZ)9921448755000041 100 $a20221113d2022 uy 0 101 0 $aeng 135 $aurcnu|||||||| 181 $ctxt$2rdacontent 182 $cc$2rdamedia 183 $acr$2rdacarrier 200 10$aFundamentals of mechanics of robotic manipulation /$fMarco Ceccarelli 205 $aSecond edition. 210 1$aCham, Switzerland :$cSpringer,$d[2022] 210 4$d©2022 215 $a1 online resource (398 pages) $cillustrations (black and white) 225 1 $aMechanisms and machine science$vv.112 300 $aPrevious edition: Dordrecht: Kluwer Academic Publishers, 2004 311 08$aPrint version: Ceccarelli, Marco Fundamentals of Mechanics of Robotic Manipulation Cham : Springer International Publishing AG,c2022 9783030908461 320 $aIncludes bibliographical references. 327 $aIntro -- 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. 327 $a3.8.2 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. 330 $aThe book explores the fundamental issues of robot mechanics for both the analysis and design of manipulations, manipulators and grippers, taking into account a central role of mechanics and mechanical structures in the development and use of robotic systems with mechatronic design. It examines manipulations that can be performed by robotic manipulators. The contents of the book are kept at a fairly practical level with the aim to teach how to model, simulate, and operate robotic mechanical systems. The chapters have been written and organized in a way that they can be red even separately, so that they can be used separately for different courses and purposes. The introduction illustrates motivations and historical developments of robotic mechanical systems. Chapter 2 describes the analysis and design of manipulations by automatic machinery and robots; chapter 3 deals with the mechanics of serial-chain manipulators with the aim to propose algorithms for analysis, simulation, and design purposes; chapter 4 introduces the mechanics of parallel manipulators; chapter 5 addresses the attention to mechanical grippers and related mechanics of grasping. 410 0$aMechanisms and machine science$v112. 606 $aManipulators (Mechanism) 615 0$aManipulators (Mechanism) 676 $a629.8933 700 $aCeccarelli$b Marco$0992982 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 912 $a9910558484303321 996 $aFundamentals of Mechanics of Robotic Manipulation$92824548 997 $aUNINA