Advanced Mechanics in Robotic Systems

Advanced Mechanics in Robotic Systems
Author: Nestor Eduardo Nava Rodríguez
Publisher: Springer Science & Business Media
Total Pages: 110
Release: 2011-07-22
Genre: Technology & Engineering
ISBN: 0857295888

Humans have always been fascinated with the concept of artificial life and the construction of machines that look and behave like people. As the field of robotics evolves, it demands continuous development of successful systems with high-performance characteristics for practical applications. Advanced Mechanics in Robotic Systems illustrates original and ambitious mechanical designs and techniques for developing new robot prototypes with successful mechanical operational skills. Case studies are focused on projects in mechatronics that have high growth expectations: humanoid robots, robotics hands, mobile robots, parallel manipulators, and human-centred robots. A good control strategy requires good mechanical design, so a chapter has also been devoted to the description of suitable methods for control architecture design. Readers of Advanced Mechanics in Robotic Systems will discover novel designs for relevant applications in robotic fields, that will be of particular interest to academic and industry-based researchers.

Advanced Dynamics Modeling, Duality and Control of Robotic Systems

Advanced Dynamics Modeling, Duality and Control of Robotic Systems
Author: Edward Y.L. Gu
Publisher: CRC Press
Total Pages: 321
Release: 2021-09-23
Genre: Technology & Engineering
ISBN: 100045486X

This book provides detailed fundamental theoretical reviews and preparations necessary for developing advanced dynamics modeling and control strategies for various types of robotic systems. This research book specifically addresses and discusses the uniqueness issue of representing orientation or rotation, and further proposes an innovative isometric embedding approach. The novel approach can not only reduce the dynamic formulation for robotic systems into a compact form, but it also offers a new way to realize the orientational trajectory-tracking control procedures. In addition, the book gives a comprehensive introduction to fundamentals of mathematics and physics that are required for modeling robot dynamics and developing effective control algorithms. Many computer simulations and realistic 3D animations to verify the new theories and algorithms are included in the book as well. It also presents and discusses the principle of duality involved in robot kinematics, statics, and dynamics. The duality principle can guide the dynamics modeling and analysis into a right direction for a variety of robotic systems in different types from open serial-chain to closed parallel-chain mechanisms. It intends to serve as a diversified research reference to a wide range of audience, including undergraduate juniors and seniors, graduate students, researchers, and engineers interested in the areas of robotics, control and applications.

Modern Robotics

Modern Robotics
Author: Kevin M. Lynch
Publisher: Cambridge University Press
Total Pages: 545
Release: 2017-05-25
Genre: Computers
ISBN: 1107156300

A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.

Fundamentals of Mechanics of Robotic Manipulation

Fundamentals of Mechanics of Robotic Manipulation
Author: Marco Ceccarelli
Publisher: Springer Nature
Total Pages: 398
Release: 2022-03-30
Genre: Technology & Engineering
ISBN: 3030908488

The book explores the fundamental issues of robot mechanics for both the analysis and design of manipulations, manipulators and grippers, taking into account a central role of mechanics and mechanical structures in the development and use of robotic systems with mechatronic design. It examines manipulations that can be performed by robotic manipulators. The contents of the book are 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 red even separately, so that they can be used separately for different courses and purposes. The introduction 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 serial-chain manipulators with the aim to propose algorithms for analysis, simulation, and design purposes; chapter 4 introduces the mechanics of parallel manipulators; chapter 5 addresses the attention to mechanical grippers and related mechanics of grasping.

Dynamics and Control of Robotic Systems

Dynamics and Control of Robotic Systems
Author: Andrew J. Kurdila
Publisher: John Wiley & Sons
Total Pages: 518
Release: 2019-08-29
Genre: Technology & Engineering
ISBN: 1119524903

A comprehensive review of the principles and dynamics of robotic systems Dynamics and Control of Robotic Systems offers a systematic and thorough theoretical background for the study of the dynamics and control of robotic systems. The authors—noted experts in the field—highlight the underlying principles of dynamics and control that can be employed in a variety of contemporary applications. The book contains a detailed presentation of the precepts of robotics and provides methodologies that are relevant to realistic robotic systems. The robotic systems represented include wide range examples from classical industrial manipulators, humanoid robots to robotic surgical assistants, space vehicles, and computer controlled milling machines. The book puts the emphasis on the systematic application of the underlying principles and show how the computational and analytical tools such as MATLAB, Mathematica, and Maple enable students to focus on robotics’ principles and theory. Dynamics and Control of Robotic Systems contains an extensive collection of examples and problems and: Puts the focus on the fundamentals of kinematics and dynamics as applied to robotic systems Presents the techniques of analytical mechanics of robotics Includes a review of advanced topics such as the recursive order N formulation Contains a wide array of design and analysis problems for robotic systems Written for students of robotics, Dynamics and Control of Robotic Systems offers a comprehensive review of the underlying principles and methods of the science of robotics.

Robot Analysis

Robot Analysis
Author: Lung-Wen Tsai
Publisher: John Wiley & Sons
Total Pages: 526
Release: 1999-02-22
Genre: Technology & Engineering
ISBN: 9780471325932

Complete, state-of-the-art coverage of robot analysis This unique book provides the fundamental knowledge needed for understanding the mechanics of both serial and parallel manipulators. Presenting fresh and authoritative material on parallel manipulators that is not available in any other resource, it offers an in-depth treatment of position analysis, Jacobian analysis, statics and stiffness analysis, and dynamical analysis of both types of manipulators, including a discussion of industrial and research applications. It also features: * The homotopy continuation method and dialytic elimination method for solving polynomial systems that apply to robot kinematics * Numerous worked examples and problems to reinforce learning * An extensive bibliography offering many resources for more advanced study Drawing on Dr. Lung-Wen Tsai's vast experience in the field as well as recent research publications, Robot Analysis is a first-rate text for upper-level undergraduate and graduate students in mechanical engineering, electrical engineering, and computer studies, as well as an excellent desktop reference for robotics researchers working in industry or in government.

Parallel Robots

Parallel Robots
Author: Hamid D. Taghirad
Publisher: CRC Press
Total Pages: 537
Release: 2013-02-20
Genre: Technology & Engineering
ISBN: 1466599286

Parallel structures are more effective than serial ones for industrial automation applications that require high precision and stiffness, or a high load capacity relative to robot weight. Although many industrial applications have adopted parallel structures for their design, few textbooks introduce the analysis of such robots in terms of dynamics

Advanced Mechanical Science and Technology for the Industrial Revolution 4.0

Advanced Mechanical Science and Technology for the Industrial Revolution 4.0
Author: Ligang Yao
Publisher: Springer
Total Pages: 333
Release: 2017-10-30
Genre: Technology & Engineering
ISBN: 9811041091

This book includes more than 30 papers from the first FZU-OPU-NTOU Joint Symposium on Advanced Mechanical Science and Technology for the Industrial Revolution 4.0, held at Fuzhou University, China, in December 2016. The symposium was organized by Fuzhou University (FZU), Osaka Prefecture University (OPU) and National Taiwan Ocean University (NTOU). The authors include several professors from universities in China, Japan, and Taiwan as well as four distinguished invited professors from Canada, Korea, Japan, and Taiwan. The book covers all important aspects related to the 4.0 industrial revolution: robotics and mechatronics; sensors, measurements, and instrumentation; mechanical dynamics and controls; mechanical design; vehicle systems and technologies; fluid mechanics; monitoring and diagnosis, prognosis, and health management; advanced signal processing; and big data; all of which are subjects with great potential in the field of mechanical engineering.

Introduction to Humanoid Robotics

Introduction to Humanoid Robotics
Author: Shuuji Kajita
Publisher: Springer
Total Pages: 232
Release: 2014-07-15
Genre: Technology & Engineering
ISBN: 364254536X

This book is for researchers, engineers, and students who are willing to understand how humanoid robots move and be controlled. The book starts with an overview of the humanoid robotics research history and state of the art. Then it explains the required mathematics and physics such as kinematics of multi-body system, Zero-Moment Point (ZMP) and its relationship with body motion. Biped walking control is discussed in depth, since it is one of the main interests of humanoid robotics. Various topics of the whole body motion generation are also discussed. Finally multi-body dynamics is presented to simulate the complete dynamic behavior of a humanoid robot. Throughout the book, Matlab codes are shown to test the algorithms and to help the reader ́s understanding.

Fundamentals of Robotic Mechanical Systems

Fundamentals of Robotic Mechanical Systems
Author: Jorge Angeles
Publisher: Springer
Total Pages: 528
Release: 2013-03-09
Genre: Technology & Engineering
ISBN: 1475727089

Mechanical engineering, an engineering discipline borne of the needs of the industrial revolution, is once again asked to do its substantial share in the call for industrial renewal. The general call is urgent as we face profound is sues of productivity and competitiveness that require engineering solutions, among others. The Mechanical Engineering Series features graduate texts and research monographs intended to address the need for information in contemporary areas of mechanical engineering. The series is conceived as a comprehensive one that covers a broad range of concentrations important to mechanical engineering graduate education and research. We are fortunate to have a distinguished rost er of consulting editors on the advisory board, each an expert in one the areas of concentra tion. The names of the consulting editors are listed on the next page of this volume. The areas of concentration are: applied mechanics; biome chan ics; computational mechanics; dynamic systems and control; energetics; mechanics of materials; processing; thermal science; and tribology.