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Robot Mechanisms 2013 ed.Suurem pilt
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Püsilink: https://www.kriso.ee/db/9789400745216.html
Märksõnad:
This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.

This comprehensive introduction to robot mechanisms balances theoretical and practical aspects in the development and application of robot mechanisms, and surveys current achievements and trends. Includes coverage of industrial manipulators and humanoid arms.

Arvustused

From the reviews:

Systems of rigid bodies (links) connected by joints form kinematic chains. When chains have a link fixed to the ground, they are referred to as mechanisms, omnipresent in industrial robotics realities. Here, Lenarcic provide a self-contained, analytical study of the kinematics of these mechanisms. Topics covered in the book include kinematic analysis of serial mechanisms, kinematic singularities, kinematic redundancies, and parallel mechanisms. Summing Up: Recommended. Upper-division undergraduates and graduate students. (G. Trajkovski, Choice, Vol. 50 (7), March, 2013)

This book is an extended version of the lecture notes on robot mechanisms taught for a decade at the School of Electrical Engineering, University of Ljubljana, Slovenia. Numerous informative figures and instructive diagrams are presented and the mathematical material appears just in places where it is needed. The book is intended for postgraduate and doctoral students or young researchers in the field of robotics. (Krzysztof Tcho, Mathematical Reviews, January, 2013)

1 Kinematics of Rigid Bodies
1(60)
1.1 Position and Displacement of a Point
1(7)
1.1.1 The Function arctan2
1(1)
1.1.2 Points in Cartesian Coordinates
2(1)
1.1.3 Points in Cylindrical Coordinates
3(2)
1.1.4 Points in Spherical Coordinates
5(3)
1.2 Pose and Displacement of a Body
8(5)
1.2.1 Pose of a Body
8(1)
1.2.2 Finite Displacement of a Body
9(3)
1.2.3 Continuous Displacement of a Body
12(1)
1.3 Operations in Vector Space
13(13)
1.3.1 Rotation Matrix
18(7)
1.3.2 Translation Vector
25(1)
1.4 Sequences of Translations and Rotations
26(3)
1.4.1 Rotation Before Translation
26(1)
1.4.2 Translation Before Rotation
27(1)
1.4.3 Two Rotations
28(1)
1.5 Position and Orientation of a Body
29(9)
1.5.1 Rotation Angle and Vector
29(2)
1.5.2 The Angles Between Pairs of Coordinate Axes
31(1)
1.5.3 Euler Orientation Angles
32(2)
1.5.4 Orientation Angles YPR
34(2)
1.5.5 Invariants of Rotation Matrices
36(2)
1.6 Linear and Angular Velocity of a Body
38(8)
1.6.1 Rotation Before Translation
38(2)
1.6.2 Translation Before Rotation
40(2)
1.6.3 Angular Velocity and Time Derivatives of the Euler Angles
42(2)
1.6.4 Angular Velocity and Time Derivatives of the YPR Angles
44(2)
1.7 Linear and Angular Acceleration of a Body
46(5)
1.7.1 Rotation Before Translation
46(2)
1.7.2 Translation Before Rotation
48(1)
1.7.3 Angular Acceleration and Time Derivatives of the Euler Angles
49(1)
1.7.4 Angular Acceleration and Time Derivatives of the YPR Angles
50(1)
1.8 Homogeneous Transformations
51(10)
1.8.1 Rotation Before Translation
52(3)
1.8.2 Translation Before Rotation
55(2)
1.8.3 Characteristics of a Planar Motion
57(4)
2 Mechanisms
61(30)
2.1 Joints and Degrees of Freedom
62(12)
2.1.1 Types of Joints
62(3)
2.1.2 Types of Mechanisms
65(6)
2.1.3 Degrees of Freedom in Mechanisms
71(3)
2.2 Parameters and Variables of a Kinematic Pair
74(7)
2.2.1 Cylindrical Joint in a Cartesian Space
75(1)
2.2.2 Scalar Parameters of a Kinematic Pair
76(2)
2.2.3 Vector Parameters of a Kinematic Pair
78(3)
2.3 Parameters and Variables of a Mechanism
81(10)
2.3.1 Denavit and Hartenberg Parameters of a Mechanism
82(3)
2.3.2 Vector Parameters of a Mechanism
85(6)
3 Serial Mechanisms
91(60)
3.1 Kinematic Equations
92(29)
3.1.1 Orientation and Position of a Mechanism
92(8)
3.1.2 Angular and Translational Velocities of a Mechanism
100(10)
3.1.3 Angular and Translational Accelerations of a Mechanism
110(11)
3.2 Direct Kinematics
121(9)
3.2.1 Equations of Direct Kinematics
122(1)
3.2.2 Jacobian Matrix
123(5)
3.2.3 Hessian Matrix
128(2)
3.3 Inverse Kinematics
130(18)
3.3.1 Algebraic Solutions to the Inverse Kinematics Problem
137(4)
3.3.2 Numerical Solutions to the Inverse Kinematics Problem
141(7)
3.4 Serial Mechanisms with Fixed Rotational Axes
148(3)
4 Evaluation of Mechanisms
151(34)
4.1 Workspaces
151(17)
4.1.1 Reachable Workspace
152(4)
4.1.2 Determination of Reachable Workspace Based on Direct Kinematics
156(2)
4.1.3 Determination of Reachable Workspace Based on Inverse Kinematics
158(4)
4.1.4 Dexterous Workspace
162(2)
4.1.5 Selection of Mechanism with a Desired Workspace
164(4)
4.2 Kinematic Flexibility and Kinematic Singularity
168(10)
4.2.1 Kinematic Flexibility
169(2)
4.2.2 Kinematic Singularity
171(7)
4.3 Manipulability and Kinematic Index
178(7)
5 Singular Planes and Dexterous Robot Mechanisms
185(22)
5.1 Decoupled Singularities of Robots with Spherical Wrists
186(1)
5.2 Singularities of Serial Robot Arms
187(13)
5.2.1 Singular Planes of the Articulated Arm
187(5)
5.2.2 Singular Planes of the Spherical Arm
192(3)
5.2.3 Singular Plane of the Cylindrical Arm
195(4)
5.2.4 Singular Plane of the Scara Arm
199(1)
5.3 Singularities of Spherical Wrists
200(1)
5.4 Singularity Metrics of Industrial Robots
201(1)
5.4.1 Pointing Singularities
201(1)
5.5 Singularity Free Pointing Systems
202(5)
5.5.1 Singularity Free Robot Wrists
205(1)
5.5.2 Singularity Free Robot Arms
205(2)
6 Redundant Mechanisms
207(32)
6.1 Independent Solution of Primary and Secondary Tasks
210(4)
6.2 Combined Solution of Primary and Secondary Tasks
214(10)
6.2.1 Equal Priorities
214(1)
6.2.2 Primary Task with Higher Priority
215(3)
6.2.3 Null Space of Primary Task
218(1)
6.2.4 Best Weighting Matrix
219(3)
6.2.5 Best Solution of Secondary Task
222(2)
6.3 Use of Kinematic Redundancy
224(15)
6.3.1 Kinematic Flexibility and Self-motion Curves of a 3R Mechanism
224(4)
6.3.2 Examples of Kinematic Redundancy
228(3)
6.3.3 Inverse Kinematic Solution of a Non-redundant Mechanism
231(2)
6.3.4 Hyperredundancy
233(6)
7 Parallel Mechanisms
239(34)
7.1 Characteristics of Parallel Mechanisms
240(5)
7.1.1 Components of Parallel Mechanisms
241(2)
7.1.2 Stewart-Gough Platform
243(1)
7.1.3 Delta Mechanism
243(2)
7.2 Connectivity of Legs and Degrees of Freedom
245(5)
7.2.1 Mechanisms with v1 = v2 = ... = vK = λ
247(1)
7.2.2 Mechanisms with v1 = v2 = ... = vK = F
248(1)
7.2.3 Mechanisms with v1 = F and v2 = v3 = ... = vK = λ
249(1)
7.2.4 Mechanisms with v1 = v2 = ... = vK
249(1)
7.3 Kinematic Equations
250(17)
7.3.1 Parameters and Variables of a Parallel Mechanism
251(1)
7.3.2 Inverse Kinematics
252(6)
7.3.3 Direct Kinematics
258(5)
7.3.4 Kinematic Singularities
263(3)
7.3.5 Overconstrained and Redundant Parallel Mechanisms
266(1)
7.4 Some Examples of Parallel Mechanisms
267(6)
8 Robot Contact
273(18)
8.1 Screw Systems
275(5)
8.2 Basic Contacts
280(6)
8.3 Contact Models
286(5)
9 Robot Grasp
291(22)
9.1 Robot Grasp with Two Fingers
292(5)
9.2 Robot Grasp with Multiple Fingers
297(5)
9.3 Grasp Matrix
302(11)
10 Kinematic Model of the Human Hand
313(14)
10.1 Kinematic Model of the Finger
314(3)
10.2 Inverse Kinematics of the Finger
317(2)
10.3 Kinematic Model of the Thumb
319(3)
10.4 Inverse Kinematics of the Thumb
322(2)
10.5 Thumb and Fingers Pose with Respect to Palm
324(3)
References 327(4)
Index 331