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Applied dynamic and CAD of manipulation robots

Author: Miomir Vukobratović; V Potkonjak
Publisher: Berlin ; New York : Springer-Verlag, ©1985.
Series: Scientific fundamentals of robotics, 6.; Communications and control engineering series.
Edition/Format:   Print book : EnglishView all editions and formats
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Additional Physical Format: Online version:
Vukobratović, Miomir.
Applied dynamic and CAD of manipulation robots.
Berlin ; New York : Springer-Verlag, ©1985
(OCoLC)565337460
Online version:
Vukobratović, Miomir.
Applied dynamic and CAD of manipulation robots.
Berlin ; New York : Springer-Verlag, ©1985
(OCoLC)610266503
Document Type: Book
All Authors / Contributors: Miomir Vukobratović; V Potkonjak
ISBN: 0387130748 9780387130743 3540130748 9783540130741
OCLC Number: 12022000
Notes: Cataloging based on CIP information.
Description: xii, 305 pages : illustrations ; 25 cm.
Contents: 1: General About Manipulation Robots and Computer-Aided Design of Machines.- 1.1. General about manipulation robots.- 1.1.1. Introduction.- 1.1.2. Definition of position of an object in space.- 1.1.3. Structure of an industrial manipulation robot.- 1.1.4. Disposition of segments and their connections.- 1.1.5. Simple chain structure types.- 1.1.6. Mobility index and degrees of freedom of a manipulation robot.- 1.1.7. Redundancy and singularities.- 1.1.8. Degrees of freedom of a manipulation task (d.o.f.t.).- 1.1.9. Compatibility.- 1.1.10. Decoupling the orientation from the position of the terminal device.- 1.1.11. Different minimal configurations.- 1.1.12. Workspace.- 1.1.13. Comparison of the workspaces of different minimal configurations.- 1.2. General remarks on up-to-date methods for design of machines.- 1.2.1. Task specification and starting data.- 1.2.2. Design automation.- 2: Dynamic Analysis of Manipulator Motion.- 2.1. Introduction.- 2.2. Block-scheme of the algorithm for dynamic analysis.- 2.3. Computer-aided method for the formation of manipulator dynamic model.- 2.4. Definition of manipulation task.- 2.4.1. General algorithm for dynamic analysis.- 2.4.2. Practical approach to manipulation task definition.- 2.4.3. Manipulator with four degrees of freedom.- 2.4.4. Manipulator with five degrees of freedom.- 2.4.5. Manipulator with six degrees of freedom.- 2.4.6. Velocity profiles and practical realization of adapting blocks.- 2.5. Calculation of other dynamic characteristics.- 2.5.1. Diagrams of torque versus r.p.m.- 2.5.2. Calculation of the power needed and the energy consumed.- 2.5.3. Calculation of reactions in joints and stresses in segments.- 2.5.4. Calculation of elastic deformations.- 2.6. Tests of dynamic characteristics.- 2.6.1. Tests of a D.C. electromotor.- 2.6.2. Test of a hydraulic actuator.- 2.6.3. Tests of stresses and elastic deformations.- 2.7. Some specific features of algorithm implementation.- 2.8. Examples.- 2.8.1. Example 1.- 2.8.2. Example 2.- 2.8.3. Example 3.- 2.8.4. Example 4.- 2.9. Synthesis of nominal dynamics of manipulation movements.- 2.9.1. The complete dynamic model.- 2.9.2. Mathematical models of the actuator systems.- 2.9.3. Algorithm for the synthesis of nominal dynamics.- 2.10. Extension of dynamic model by including friction effects.- Conclusion.- References.- Appendix:Theory of Appe's Equations.- 3: Closed Chain Dynamics.- 3.1. Introduction.- 3.2. Review of previous results.- 3.3. Mechanisms containing a kinematic parallelogram.- 3.4. Manipulators with constraints on gripper motion.- 3.4.1. Theory extension.- 3.4.2. Surface-type constraint.- 3.4.3. Independent parameters representation -1: General About Manipulation Robots and Computer-Aided Design of Machines.- 1.1. General about manipulation robots.- 1.1.1. Introduction.- 1.1.2. Definition of position of an object in space.- 1.1.3. Structure of an industrial manipulation robot.- 1.1.4. Disposition of segments and their connections.- 1.1.5. Simple chain structure types.- 1.1.6. Mobility index and degrees of freedom of a manipulation robot.- 1.1.7. Redundancy and singularities.- 1.1.8. Degrees of freedom of a manipulation task (d.o.f.t.).- 1.1.9. Compatibility.- 1.1.10. Decoupling the orientation from the position of the terminal device.- 1.1.11. Different minimal configurations.- 1.1.12. Workspace.- 1.1.13. Comparison of the workspaces of different minimal configurations.- 1.2. General remarks on up-to-date methods for design of machines.- 1.2.1. Task specification and starting data.- 1.2.2. Design automation.- 2: Dynamic Analysis of Manipulator Motion.- 2.1. Introduction.- 2.2. Block-scheme of the algorithm for dynamic analysis.- 2.3. Computer-aided method for the formation of manipulator dynamic model.- 2.4. Definition of manipulation task.- 2.4.1. General algorithm for dynamic analysis.- 2.4.2. Practical approach to manipulation task definition.- 2.4.3. Manipulator with four degrees of freedom.- 2.4.4. Manipulator with five degrees of freedom.- 2.4.5. Manipulator with six degrees of freedom.- 2.4.6. Velocity profiles and practical realization of adapting blocks.- 2.5. Calculation of other dynamic characteristics.- 2.5.1. Diagrams of torque versus r.p.m.- 2.5.2. Calculation of the power needed and the energy consumed.- 2.5.3. Calculation of reactions in joints and stresses in segments.- 2.5.4. Calculation of elastic deformations.- 2.6. Tests of dynamic characteristics.- 2.6.1. Tests of a D.C. electromotor.- 2.6.2. Test of a hydraulic actuator.- 2.6.3. Tests of stresses and elastic deformations.- 2.7. Some specific features of algorithm implementation.- 2.8. Examples.- 2.8.1. Example 1.- 2.8.2. Example 2.- 2.8.3. Example 3.- 2.8.4. Example 4.- 2.9. Synthesis of nominal dynamics of manipulation movements.- 2.9.1. The complete dynamic model.- 2.9.2. Mathematical models of the actuator systems.- 2.9.3. Algorithm for the synthesis of nominal dynamics.- 2.10. Extension of dynamic model by including friction effects.- Conclusion.- References.- Appendix:Theory of Appe's Equations.- 3: Closed Chain Dynamics.- 3.1. Introduction.- 3.2. Review of previous results.- 3.3. Mechanisms containing a kinematic parallelogram.- 3.4. Manipulators with constraints on gripper motion.- 3.4.1. Theory extension.- 3.4.2. Surface-type constraint.- 3.4.3. Independent parameters representation - general methodology.- 3.4.4. Gripper moving along a surface.- 3.4.5. Gripper moving along a line.- 3.4.6. Spherical joint constraint.- 3.4.7. Two degrees of freedom joint constraint.- 3.4.8. Rotational joint constraint.- 3.4.9. Linear joint constraint.- 3.4.10. Constraint permitting no relative motion.- 3.4.11. Bilateral manipulation.- 3.4.12. Extension of surface-type constraint.- 3.5. Impact problems.- 3.5.1. General methodology.- 3.5.2. Impact in the case of bilateral manipulation.- 3.5.3. Extension of surface-type constraint.- 3.5.4. Jamming problems.- 3.6. Practical cases of constrained gripper motion.- 3.6.1. Tasks with surface-type constraints.- 3.6.2. Cylindrical and rectangular assembly tasks.- 3.6.3. Constraint permitting no relative motion.- 3.6.4. Practical problems of bilateral manipulation.- 3.7. Examples.- References.- 4: Computer-Aided Design of Manipulation Robots.- 4.1. Interactive procedure for computer-aided design of manipulators.- 4.2. Optimal choice of manipulator parameters.- 4.2.1. Optimality criteria.- 4.2.2. Constraints.- 4.3. The choice of manipulator segments parameters based on the energy criterion.- 4.3.1. One-parameter optimization.- 4.3.2. Two-parameter and multi-parameter optimization.- 4.3.3. Standard form segments.- 4.4. Optimization based on working speed criterion.- 4.5. Choice of actuators and reducers.- 4.5.1. Selection of D.C. motors.- 4.5.2. Selection of hydraulic actuators.- 4.5.3. Some remarks on actuators selection procedure.- 4.5.4. Examples.- 4.6. Organization of the CAD program package.- References.
Series Title: Scientific fundamentals of robotics, 6.; Communications and control engineering series.
Responsibility: M. Vukobratović, Vv. Potkonjak.

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