Fundamentals of Robotic Mechanical Systems

Theory, Methods, and Algorithms
3., rd Auflage 2007
ISBN: 978-0-387-29412-4
Verlag: Springer Netherlands

Buch, Englisch, 550 Seiten, GB, Format (B × H): 155 mm x 235 mm, Gewicht: 2160 g

Reihe: Mechanical Engineering Series

This book deals with robots - such as remote manipulators, multifingered hands, walking machines, flight simulators, and machine tools - that rely on mechanical systems to perform their tasks. It aims to establish the foundations on which the design, control and implementation of the underlying mechanical systems are based.
The treatment assumes familiarity with some calculus, linear algebra, and elementary mechanics; however, the elements of rigid-body mechanics and of linear transformations are reviewed in the first chapters, making the presentation self-contained. An extensive set of exercises is included and this new edition incorporates numerous advances.

Zielgruppe

Graduate

Autoren/Hrsg.

Angeles, Jorge

Fachgebiete

• Technische Wissenschaften Maschinenbau | Werkstoffkunde Technische Mechanik | Werkstoffkunde Statik, Dynamik, Kinetik, Kinematik
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik

Inhaltsverzeichnis

An Overview of Robotic Mechanical Systems.- Mathematical Background.- Fundamentals of Rigid-Body Mechanics.- Geometry of Decoupled Serial Robots.- Kinetostatics of Serial Robots.- Trajectory Planning: Pick-and-Place Operations.- Dynamics of Serial Robotic Manipulators.- Special Topics in Rigid-Body Kinematics.- Geometry of General Serial Robots.- Kinematics of Alternative Robotic Mechanical Systems.- Trajectory Planning: Continuous-Path Operations.- Dynamics of Comples Robotic Mechanical Systems.