Topology Design of Robot Mechanisms

Topology Design of Robot Mechanisms
Title Topology Design of Robot Mechanisms PDF eBook
Author Ting-Li Yang
Publisher Springer
Pages 249
Release 2018-01-02
Genre Technology & Engineering
ISBN 9811055327

Download Topology Design of Robot Mechanisms Book in PDF, Epub and Kindle

This book focuses on the topology theory of mechanisms developed by the authors and provides a systematic method for the topology design of robot mechanisms. The main original theoretical contributions of this book include: A. Three basic concepts · The “geometrical constraint type of axes” is introduced as the third element of the topological structure of a mechanism. When it is combined with the other two elements, the kinematic pair and the connection of links, the symbolic expression of the topological structure is independent of the motion positions (except for the singularity positions) and the fixed coordinate system (Chapter 2). · The position and orientation characteristic (POC) set is used to describe the POC of the relative motion between any two links. The POC set, derived from the unit vector set of the velocity of a link, is only depend on the topological structure of a mechanism. Therefore, it is also independent of the motion positions and the fixed coordinate system (Chapter 3). · The single open chain (SOC) unit is the base unit of the topological structure used to develop the four basic equations of the mechanism topology (Chapters 2, 4–6). B. The mechanism composition principle based on the SOC units This book proposes a mechanism composition principle, based on the SOC units, to establish a systematic theory for the unified modeling of the topology, kinematics, and dynamics of mechanisms based on the SOC units (Chapter 7). C. Four basic equations • The POC equation of serial mechanisms with 10 symbolic operation rules (Chapter 4). • The POC equation of parallel mechanisms with 14 symbolic operation rules (Chapter 5). • The general DOF formula for spatial mechanisms (Chapter 6). • The coupling degree formula for the Assur kinematic chain (Chapter 7). D. One systematic method for the topology design of robot mechanisms (Chapters 8–10) Based on the three basic concepts and the four basic equations addressed above, this book puts forward a systematic method for the topology design of parallel mechanisms, which is fundamentally different from all existing methods. Its main characteristics are as follows: • The design process includes two stages: the first is structure synthesis, which derives many structure types; the second involves the performance analysis, classification and optimization of structure types derived from the first stage. • The design operation is independent of the motion positions and the fixed coordinate system. Therefore, the proposed method is essentially a geometrical method, which ensures the full-cycle DOF and the generality of geometric conditions of mechanism existence. • Each individual design step follows an explicit formula or the guidelines for design criteria, making the operation simple, feasible and reproducible. In addition, the topology design of the SCARA PMs is studied in detail to demonstrate the proposed method (Chapter 10).

Finite and Instantaneous Screw Theory in Robotic Mechanism

Finite and Instantaneous Screw Theory in Robotic Mechanism
Title Finite and Instantaneous Screw Theory in Robotic Mechanism PDF eBook
Author Tao Sun
Publisher Springer Nature
Pages 411
Release 2020-02-13
Genre Technology & Engineering
ISBN 9811519447

Download Finite and Instantaneous Screw Theory in Robotic Mechanism Book in PDF, Epub and Kindle

This book presents a finite and instantaneous screw theory for the development of robotic mechanisms. It addresses the analytical description and algebraic computation of finite motion, resulting in a generalized type synthesis approach. It then discusses the direct connection between topology and performance models, leading to an integrated performance analysis and design framework. The book then explores parameter uncertainty and multiple performance requirements for reliable, optimal design methods, and describes the error accumulation principle and parameter identification algorithm, to increase robot accuracy. It proposes a unified and generic methodology, and appliesto the invention, analysis, design, and calibration of robotic mechanisms. The book is intended for researchers, graduate students and engineers in the fields of robotic mechanism and robot design and applications./div

Mechanism Design for Robotics

Mechanism Design for Robotics
Title Mechanism Design for Robotics PDF eBook
Author Erwin-Christian Lovasz
Publisher Springer Nature
Pages 450
Release
Genre
ISBN 3031673832

Download Mechanism Design for Robotics Book in PDF, Epub and Kindle

Mechanism Design for Robotics

Mechanism Design for Robotics
Title Mechanism Design for Robotics PDF eBook
Author Alessandro Gasparetto
Publisher Springer
Pages 468
Release 2018-08-30
Genre Technology & Engineering
ISBN 3030003655

Download Mechanism Design for Robotics Book in PDF, Epub and Kindle

This volume contains the Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics, held in Udine, Italy, 11-13 September, 2018. It includes recent advances in the design of mechanisms and their robotic applications. It treats, among others, the following topics: mechanism design, mechanics of robots, parallel manipulators, actuators and their control, linkage and industrial manipulators, innovative mechanisms/robots and their applications. This book can be used by students, researchers and engineers in the relevant areas of mechanisms, machines and robotics.

Modern Robotics

Modern Robotics
Title Modern Robotics PDF eBook
Author Kevin M. Lynch
Publisher Cambridge University Press
Pages 545
Release 2017-05-25
Genre Computers
ISBN 1107156300

Download Modern Robotics Book in PDF, Epub and Kindle

A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.

Intelligent Robotics and Applications

Intelligent Robotics and Applications
Title Intelligent Robotics and Applications PDF eBook
Author Jeschke Sabina
Publisher Springer Science & Business Media
Pages 665
Release 2011-11-29
Genre Computers
ISBN 3642254853

Download Intelligent Robotics and Applications Book in PDF, Epub and Kindle

The two volume set LNAI 7101 and LNAI 7102 constitutes the refereed proceedings of the 4th International Conference on Intelligent Robotics and Applications, ICIRA 2011, held in Aachen, Germany, in November 2011. The 122 revised full papers presented were thoroughly reviewed and selected from numerous submissions. They are organized in topical sections on progress in indoor UAV, robotics intelligence, industrial robots, rehabilitation robotics, mechanisms and their applications, multi robot systems, robot mechanism and design, parallel kinematics, parallel kinematics machines and parallel robotics, handling and manipulation, tangibility in human-machine interaction, navigation and localization of mobile robot, a body for the brain: embodied intelligence in bio-inspired robotics, intelligent visual systems, self-optimising production systems, computational intelligence, robot control systems, human-robot interaction, manipulators and applications, stability, dynamics and interpolation, evolutionary robotics, bio-inspired robotics, and image-processing applications.

Microactuators, Microsensors and Micromechanisms

Microactuators, Microsensors and Micromechanisms
Title Microactuators, Microsensors and Micromechanisms PDF eBook
Author Ashok Kumar Pandey
Publisher Springer Nature
Pages 379
Release 2022-11-20
Genre Technology & Engineering
ISBN 3031203534

Download Microactuators, Microsensors and Micromechanisms Book in PDF, Epub and Kindle

This book brings together investigations which combine theoretical and experimental results related to such systems as flexure hinges and compliant mechanisms for precision applications, the non-linear analytical modeling of compliant mechanisms, mechanical systems using compliance as a bipedal robot and reconfigurable tensegrity systems and micro-electro-mechanical systems (MEMS) as energy efficient micro-robots, microscale force compensation, magnetoelectric micro-sensors, acoustical actuators and the wafer bonding as a key technology for the MEMS fabrication. The volume gathers the contributions presented at the 6th Conference on Microactuators, Microsensors and Micromechanisms (MAMM), held in Hyderabad, India in December 2022. The aim of the conference was to provide a special opportunity for a know-how exchange and collaboration in various disciplines concerning systems pertaining to micro-technology. The conference was organized under the patronage of IFToMM (International Federation for the Promotion of Mechanism and Machine Science).