Synopses & Reviews
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.
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 Tchoń, Mathematical Reviews, January, 2013)
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.
Table of Contents
Preface 1 Kinematics of Rigid Bodies 1.1 Position and Displacement of a Point 1.2 Pose and Displacement of a Body 1.3 Operations in Vector Space 1.4 Sequences of Translations and Rotations 1.5 Position and Orientation of a Body 1.6 Linear and Angular Velocity of a Body 1.7 Linear and Angular Acceleration of a Body 1.8 Homogenous Transformations 2 Mechanisms 2.1 Joints and Degrees of Freedom 2.2 Parameters and Variables of a Kinematic Pair 2.3 Parameters and Variables of a Mechanism 3 Serial Mechanisms 3.1 Kinematic Equations 3.2 Direct Kinematics 3.3 Inverse Kinematics 3.4 Serial Mechanisms with Fixed Rotational Axes 4 Evaluation of Mechanisms 4.1 Workspaces 4.2 Kinematic Flexibility and Kinematic Singularity 4.3 Manipulability and Kinematic Index 5 Singular Planes and Dextrous Robot Mechanisms 5.1 Decoupled Singularities of Robots with Spherical Wrists 5.2 Singularities of Serial Robot Arms 5.3 Singularities of Spherical Wrists 5.4 Singularity Metrics of Industrial Robots 5.5 Singularity Free Pointing Systems 6 Redundant Mechanisms 6.1 Independent Solution of Primary and Secondary Tasks 6.2 Combined Solution of Primary and Secondary Tasks 6.3 Use of Kinematic Redundancy 7 Parallel Mechanisms 7.1 Characteristics of Parallel Mechanisms 7.2 Connectivity of Legs and Degrees of Freedom 7.3 Kinematic Equations 7.4 Some Examples of Parallel Mechanisms 8 Robot Contact 8.1 Screw Systems 8.2 Basic Contacts 8.3 Contact Models 9 Robot Grasp 9.1 Robot Grasp with two Fingers 9.2 Robot Grasp with Multiple Fingers 9.3 Grasp Matrix 10 Kinematic Model of the Human Hand 10.1 Kinematic Model of the Finger 10.2 Inverse Kinematics of the Finger 10.3 Kinematic Model of the Thumb 10.4 Inverse Kinematics of the Thumb 10.5 Thumb and Fingers Pose with Respect to Palm Index References