Lenarčič J., Bajd T., Stanišić M. Robot Mechanisms

Springer Science+Business Media Dordrecht, 2013. XIV, 333 p. 171 illus. — ISBN: 978-94-007-4521-6, ISBN: 978-94-007-4522-3 (eBook), DOI 10.1007/978-94-007-4522-3 — (Intelligent Systems, Control and Automation: Science and Engineering, Vol. 60).Latest results in an active field
Balance between theory and practice
Recommended supplementary course textThis 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.Content Level » Research
Keywords » Parallel Robots - Robot Grip - Robot Kinematics - Robot Mechanisms - Serial Robots
Related subjects » Applications - Classical Continuum Physics - RoboticsKinematics of Rigid Bodies
Position and Displacement of a Point
The Function arctan
Pointsin Cartesian Coordinates
Pointsin Cylindrical Coordinates
Points in Spherical Coordinates
Pose and Displacement of a Body
Pose of a Body
Finite Displacement of a Body
Continuous Displacement of a Body
Operations in Vector Space
Rotation Matrix
TranslationVector
Sequences of Translations and Rotations
Rotation Before Translation
Translation Before Rotation
Tw oRotations
Position and Orientation of a Body
Rotation Angle and Vector
The Angles Between Pairs of Coordinate Axes
Euler Orientation Angles
Orientation Angles YPR
Invariants of Rotation Matrices
Linear and Angular Velocity of a Body
Rotation Before Translation
Translation Before Rotation
Angular Velocity and Time Derivatives of the Euler Angles
Angular Velocity and Time Derivatives of the YPR Angles
Linear and Angular Acceleration of a Body
Rotation Before Translation
Translation Before Rotation
Angular Acceleration and Time Derivatives of the Euler Angles
Angular Acceleration and Time Derivatives of the YPR Angles
Homogeneous Transformations
Rotation Before Translation
Translation Before Rotation
Characteristics of a Planar MotionMechanismsJoints and Degrees of Freedom
Types of Joints
Types of Mechanisms
Degrees of Freedom in Mechanisms
Parameters and Variables of a Kinematic Pair
Cylindrical Joint in a Cartesian Space
Scalar Parameters of a Kinematic Pair
Vector Parameters of a Kinematic Pair
Parameters and Variables of a Mechanism
Denavit and Hartenberg Parameters of a Mechanism
Vector Parameters of a MechanismSerial MechanismsKinematic Equations
Orientation and Position of a Mechanism
Angular and Translational Velocities of a Mechanism
Angular and Translational Accelerations of a Mechanism
Direct Kinematics
Equations of Direct Kinematics
Jacobian Matrix
Hessian Matrix
Inverse Kinematics
Algebraic Solutions to the Inverse Kinematics Problem
Numerical Solutions to the Inverse Kinematics Problem
Serial Mechanisms with Fixed Rotational AxesEvaluation of MechanismsWorkspaces
Reachable Workspace
Determination of Reachable Workspace Based on Direct Kinematics
Determination of Reachable Workspace Based on Inverse Kinematics
Dexterous Workspace
Selection of Mechanism with a Desired Workspace
Kinematic Flexibility and Kinematic Singularity
Kinematic Flexibility
Kinematic Singularity
Manipulability and Kinematic IndexSingular Planes and Dexterous Robot MechanismsDecoupled Singularities of Robots with Spherical Wrists
Singularities of Serial Robot Arms
Singular Planes of the Articulated Arm
Singular Planes of the Spherical Arm
Singular Plane of the Cylindrical Arm
Singular Plane of the Scara Arm
Singularities of Spherical Wrists
Singularity Metrics of Industrial Robots
Pointing Singularities
Singularity Free Pointing Systems
Singularity Free Robot Wrists
Singularity Free Robot ArmsRedundant MechanismsIndependent Solution of Primary and Secondary Tasks
Combined Solution of Primary and Secondary Tasks
Equal Priorities
Primary Task with Higher Priority
Null Space of Primary Task
Best Weighting Matrix
Best Solution of Secondary Task
Use of Kinematic Redundancy
Kinematic Flexibility and Self-motion Curves of a 3R Mechanism
Examples of Kinematic Redundancy
Inverse Kinematic Solution of a Non-redundant Mechanism
HyperredundancyParallel MechanismsCharacteristics of Parallel Mechanisms
Components of Parallel Mechanisms
Stewart-Gough Platform
Delta Mechanism
Connectivity of Legs and Degrees of Freedom
Mechanisms with ν1 = ν2 = νK = λ
Mechanisms with ν1 = ν2 = νK = F
Mechanisms with ν1 = F and ν2 = ν3 == νK = λ
Mechanisms with ν1 = ν2 =νK
Kinematic Equations
Parameters and Variables of a Parallel Mechanism
Inverse Kinematics
Direct Kinematics
Kinematic Singularities
Overconstrained and Redundant Parallel Mechanisms
Some Examples of Parallel MechanismsRobot ContactScrew Systems
Basic Contacts
Contact ModelsRobot GraspRobot Grasp with Two Fingers
Robot Grasp with Multiple Fingers
GraspMatrixKinematic Model of the Human HandKinematic Model of the Finger
Inverse Kinematics of the Finger
Kinematic Model of the Thumb
Inverse Kinematics of theThumb
Thumb and Fingers Pose with Respect to Palm