This book treats analysis and design of manipulations, manipulators and grippers by discussing basic concepts and fundamental formulation. It is a novel book dealing with manipulations that can be performed by robotic manipulators. The content of the book has been 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 read even separately, so that they can be used separately for different courses and readers. An Introductory Chapter 1 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 manipulators with the aim to propose algorithms for analysis, simulation and design purposes. Chapter 4 addresses the attention to mechanical two-finger grippers and related Mechanics of Grasping.
From the reviews of the first edition: "It presents in a very practical manner the fundamentals of robotic mechanics ... . Hence students in computer science and artificial intelligence, to name a few, will benefit from reading this book. ... a very nice point of this book is that all theoretical concepts are systematically illustrated by examples ... . I will strongly recommend this book as initial reading for students ... . I will also recommend this book as starting point for engineers who have to deal with robotic or automated systems." (J-P. Merlet, Meccanica, Vol. 41, 2006)
Preface
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 industrial 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
2.4.1.1 Simulation of an industrial process
2.4.1.2 Writing with a robot
2.4.1.3 An intelligent packing
2.4.2 Industrial applications
2.4.2.1 Designing a robotized manipulation
2.4.2.2 Optimizing a robotized manipulation
3: Fundamentals of Mechanics of Manipulators
3.1 Kinematic model and position analysis
3.1.1 Transformation Matrix
3.1.2 Joint variables and actuator space
3.1.3 Workspace analysis
3.1.3.1 A binary matrix formulation
3.1.3.2 An algebraic formulation
3.1.3.3 A Workspace evaluation
3.1.4 Manipulator design with prescribed workspace
3.2 Inverse kinematics and path planning
3.2.1 A formulation for inverse kinematics
3.2.1.1 An example
3.2.2 Trajectory generation in Joint Space
3.2.3 A formulation for path planning in Cartesian coordinates
3.2.3.1 Illustrative examples
3.3 Velocity and acceleration analysis
3.3.1 An example
3.4 Jacobian and singularity configurations
3.4.1 An example
3.5 Statics of manipulators
3.5.1A 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
3.6.2.1 An example
3.6.3 Lagrange formulation
3.6.3.1 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
3.8.2 Dynamic characteristics
3.8.3 Compliance response
3.9 Fundamentals of Mechanics of parallel manipulators
3.9.1 A numerical example for CaPaMan (Cassino Parallel Manipulator)
4: Fundamentals of Mechanics of Grasp
4.1 Gripping devices and their characteristics
4.2 A mechatronic analysis for two-finger grippers
4.3 Design parameters and operation requirements for grippers
4.4 Configurations and phases of two-finger grasp
4.5 Model and analysis of two-finger grasp
4.6 Mechanisms for grippers
4.6.1 Modeling gripper mechanisms
4.6.2 An evaluation of gripping mechanisms
4.6.2.1 A numerical example of index evaluation
4.7 Designing two-finger grippers
4.7.1 An optimum design procedure for gripping mechanisms
4.7.1.1 A numerical example of optimum design
4.8 Electropneumatic actuation and grasping force control
4.8.1 An illustrative example for laboratory practice
4.8.1.1 An acceleration sensored gripper
4.9 Fundamentals on multifinger grasp and articulated fingers
Bibliography
Index
Biographical Notes