Applied Dynamics of Manipulation Robots: Modelling, Analysis and Examples

ISBN-13: 9783642838682 / Angielski / Miękka / 2013 / 474 str.

Miomir Vukobratovic

Opis

During the period 1982-1985, six books of the series: Scientific Fun damentals of Robotics were published by Springer-Verlag. In chronolo gical order these were: Dynamics of Manipulation Robots: Theory and Application, by M. Vukobra tovic and V. Potkonjak, Control of Manipulation Robots: Theory and Ap plication, by M. vukobratovic and D. Stokic, Kinematics and Trajectory Synthesis of Manipulation Robots, by M. Vukobratovic and H. Kircanski, Real-Time Dynamics of Hanipulation Robots by M. Vukobratovic and N. Kircanski, Non-Adaptive and Adaptive Control of Manipulation Robots, by M. Vukobratovic, D. Stokic and N. Kircanski and Computer-Aided De sign and Applied Dynamics of Manipulation Robots, by M. Vukobratovic and V. Potkonjak. Within the series, during 1989, two monographs dealing with new sub jects will be published. So far, amongst the published monographs, Vol. 1 has been translated into Japanese, Volumes 2 and 5 into Russian, and Volumes 1-6 will appear in Chinese and Hungarian. In the author's opinion, the afore mentioned monographs, in principle, cover with sufficient breadth, the topics devoted to the design of ro bots and their control systems, at the level of post-graduate study in robotics. However, if this material was also to apply to the study of robotics at under-graduate level, it would have to be modified so as to obtain the character of a textbook. With this in mind, it must be noted that the subject matter contained in the text cannot be simpli fied but can only be elaborated in more detail."

Spis treści

1 General About Robots.- 1.1. Dedication and classification of robotic systems.- 1.2. General features of robotic mechanisms and its classification.- 1 3 Specifities of manipulation robots.- 1.3.1. Definition of position of an object in space.- 1.3.2. Structure of an industrial manipulation robot.- 1.3.3. Disposition of segments and their connections.- 1.3.4. Simple chain structure types.- 1.3.5. Mobility index and degrees of freedom of a manipulation robot.- 1.3.6. Redundancy and singularity.- 1.3.7. Degrees of freedom of a task: (d.o.f.t.).- 1.3.8. Compatibility.- 1.3.9. Decoupling the orientation and the position of the terminal device.- 1.3.10. Different minimal configurations.- 1.3.11.Workspace.- 1.3.12. Comparison of the workspaces of different minimal configurations.- References.- 2 Computer Forming of Mathematical Model of Manipulation Robots Dynamics.- 2.1. General about computer-oriented procedures for forming of mathematical models of robot dynamics.- 2.2. Complete mathematical models of manipulation robots.- 2.3. Influence of mechanical vibrations on dynamic behaviour of manipulation robots.- Example.- 2.4. Dynamics of manipulation robots with gripper constrained motion.- Example.- 2.5. Dynamic analysis of manipulation robots.- Example.- 2.6. Dynamics of flexible manipulation robots.- Approximate method for dynamic analysis of flexible manipulation robots.- 2.7. Dynamics of cooperative manipulation.- References.- 3 Computer Method for Linearization and Parameter Sensitivity of Manipulation Robots Dynamic Models.- 3.1. Introduction.- 3.2. Method of computer linearization of dynamic models based on general theorems of mechanics.- 3.3. Sensitivity analysis of manipulation robots dynamic models.- References.- Appendix 1 Connection Between the Moving and Fixed System.- References.- Appendix 2 Manipulator Kinematical Model.- Examples.- References.- Appendix 3 Determining Velocities and Accelerations.- References.- Appendix 4 Momentum of Rigid Body with Respect to a Fixed Pole.- References.- Appendix 5 Specifities of Lever-Mechanisms Dynamics.- Appendix 6 Mathematical Models of Driving Units.- Permanent-magnet DC servomotor.- AC servomotor.- Synchronous motors with permanent magnet rotor (SM).- Direct-drive motor.- Brushless DC servomotors.- Electrohydraulic actuators.- Electropneumatic actuators.- References.- Appendix 7 Automatic Forming of Dynamic Models.- Example 1: “Cylindrical” Mechanism (Basic Configuration).- Example 2: “Stanford” Manipulator (Basic Configuration).- Appendix 8 Dynamics of “ASEA” Mechanism (Basic Configuration).- Kinematics.- Dynamics.- Source file for the computation of “ASEA” mechanism driving torques.- Appendix 9 Programme Support for Dynamics Modelling of Manipulation Robots.