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E-raamat: Fundamentals Of Robotic Grasping And Fixturing

(Huazhong Univ Of Science & Technology, China), (Huazhong Univ Of Science & Technology, China), (Huazhong University Of Science & Technology, China)
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This book provides a fundamental knowledge of robotic grasping and fixturing (RGF) manipulation. For RGF manipulation to become a science rather than an art, the content of the book is uniquely designed for a thorough understanding of the RGF from the multifingered robot hand grasp, basic fixture design principle, and evaluating and planning of robotic grasping/fixturing, and focuses on the modeling and applications of the RGF. Compared with existing publications, this volume concentrates more on abstract formulation, i.e. mathematical modeling of robotic grasping and fixturing. Thus, it will be a good reference text for academic researchers, manufacturing and industrial engineers and a textbook for engineering graduate students.The book provides readers an overall picture and scientific basis of RGF, the comprehensive information and mathematic models of developing and applying RGF in industry, and presents long term valuable information which is essential and can be used by technical professions as a good reference.
Preface
Chapter 1 Robotic Grasp and Workpiece-Fixture Systems
1.1 Introduction
1
1.2 Robotic Manipulation and Multifingered Robotic Hands
1
1.3 AMT and Fixtures
4
1.4 Comparison between Grasping and Fixturing
8
1.5 Bibliography
8
Chapter 2 Qualitative Analysis and Quantitative Evaluation of Form-Closure Grasping/Fixturing
2.1 Introduction
11
2.2 Qualitative Analysis
13
2.2.1 Kinematic Characteristics of Grasping/Fixturing
13
2.2.2 Discriminances of Form-Closure Grasping/Fixturing
16
2.2.3 Minimum Number of Contacts with Frictionless
17
2.3 Quantitative Evaluation
21
2.3.1 Evaluation Criteria
21
2.3.2 Numerical Example
22
2.4 Summary
26
2.5 Bibliography
26
Chapter 3 Stability Index and Contact Configuration Planning of Force-Closure Grasping,/Fixturing
3.1 Introduction
30
3.2 Description of Contacts with Friction
31
3.3 Conditions of Force Closure Grasp
33
3.4 Grasp Stability Index
34
3.4.1 Definition of the Grasp Stability Index
34
3.4.2 Some Properties of the Index
36
3.4.3 Contact Configuration Planning
38
3.5 Examples
39
3.6 Summary
43
3.7 Bibliography
43
Chapter 4 Active Grasp Force Planning
4.1 Introduction
45
4.2 Nonlinear Programming in Grasp
47
4.3 Force Planning Using Neural Networks
49
4.4 Simulation
58
4.5 Summary
61
4.6 Bibliography
61
Chapter 5 Grasp Capability Analysis
5.1 Introduction
64
5.2 Evaluation of Multifingered Grasp Capability
66
5.3 Numerical Example
68
5.4 Summary
76
5.5 Bibliography
76
Chapter 6 Compliant Grasping with Passive Forces
6.1 Introduction
79
6.2 The Model of Compliant Grasping/Fixturing
82
6.3 Local Elastic Contact Model
85
6.4 Deformation Compatible Constraints for All Contacts
88
6.5 Stability of Grasping/Fixturing Systems
89
6.6 Passive Force Closure Prediction
93
6.7 Numerical Example
97
6.8 Summary
101
6.9 Bibliography
102
Chapter 7 Kinematics of Contacts and Rolling Manipulation
7.1 Introduction
105
7.2 Kinematics of Pure Rolling Contact
106
7.3 Kinematics of Manipulation with Rolling Contact
113
7.4 Coordinating Manipulation of Multifingered Robotic Hands
116
7.4.1 Classification of Grasp Phases
116
7.4.2 Coordinating Manipulation Strategy
116
7.5 Adjustment of Fingertip Contact Forces
117
7.6 Experimental Results
123
7.7 Summary
125
7.8 Bibliography
126
Chapter 8 Dynamic Stability of Grasping/Fixturing
8.1 Introduction
129
8.2 Dynamic Equations of Motion for a Grasped/Fixtured Object
130
8.3 Dynamic Stability Conditions and Quality Measure
135
8.4 Summary
142
8.5 Bibliography
143
Chapter 9 Locating Error Analysis and Configuration Planning of Fixtures
9.1 Introduction
146
9.2 Error Mapping Model
150
9.2.1 Fully Constrained Localization
154
9.2.2 Over Constrained Localization
154
9.2.3 Under Constrained Localization
154
9.3 Locator and Clamp Configuration Characteristics
159
9.3.1 Locator Configuration Characteristics
159
9.3.2 Clamp Configuration Characteristics
159
9.4 Evaluation Indexes of Fixturing
166
9.4.1 Evaluation Index of Locator Configurations
166
9.4.2 Stability Index of Fixturing
168
9.4.3 Fixturing Resultant Index
169
9.5 Configuration Planning of Fixturing
169
9.5.1 Constraints
169
9.5.2 Planning Methods
171
9.6 Summary
180
9.7 Bibliography I
I81
Chapter 10 Clamping Planning in Workpiece-Fixture Systems
10.1 Introduction
185
10.2 Planning of Magnitudes and Positions of Clamping Forces
188
10.2.1 Objective Function
188
10.2.2 Kinematic Conditions
189
10.2.3 Solution of Optimal Clamping Forces
191
10.3 Verification of Force Constraints
193
10.4 Numerical Example
195
10.5 Summary
209
10.6 Bibliography
210
Index 215


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