Mechanical Engineering Handbook - Robotics

Robotics......Page 2
Contents......Page 0
14.1 Introduction......Page 3
Manipulator Performance Characteristics......Page 4
Type I SCARA......Page 5
Cartesian Coordinate Robots......Page 8
Spherical and Cylindrical Coordinate Robots......Page 9
Basic Performance Specifications......Page 10
Drive Types of Commerical Robots......Page 11
Motion/Process Integration......Page 14
Information Integration......Page 15
Fundamentals and Design Issues......Page 16
Forward (Direct) Kinematics......Page 17
Inverse Kinematics......Page 18
Example 14.3.3......Page 19
Velocity Kinematics: The Manipulator Jacobian......Page 20
Singularities......Page 21
Redundant Manipulator Kinematics......Page 22
Example 14.3.6......Page 23
Summary......Page 24
Passive End Effectors......Page 25
Active End Effectors and Hands......Page 28
End Effector Design Issues......Page 30
Compound End Effectors......Page 31
Redesigned Parts and Fixtures......Page 32
Summary......Page 33
Tactile and Proximity Sensors......Page 34
Resistive and Conductive Transduction......Page 35
Magnetoelastic Transduction......Page 36
Piezoelectric/Pyroelectric Effect......Page 37
Other Force Sensors......Page 38
Vision......Page 39
Flexible Integrated Vision System Hardware......Page 40
Flexible Integrated Vision System Imbedded Softwar.........Page 41
Illumination Source......Page 42
Vision Algorithms for Robotic Applications......Page 43
Direct-Drive Joint Motor......Page 44
Spherical Induction Motor......Page 46
Variable-Reluctance (VR) Spherical Motor......Page 47
Multi-DOF Microactuators......Page 48
System Control......Page 49
Program Execution......Page 50
Off-Line Programming and Simulation......Page 51
Robot Dynamics and Properties......Page 52
State Variable Representations and Computer Simula.........Page 53
Actuator Dynamics......Page 54
Computed-Torque (CT) Control and Feedback Lineariz.........Page 55
PID CT Control......Page 56
Classical PD Controller......Page 58
Adaptive and Robust Control......Page 60
Robust Saturation Controller......Page 63
Adaptive Control......Page 64
Learning Control......Page 65
Flexible-Joint Robots......Page 66
Force Control......Page 67
Teleoperation......Page 68
Path Planning......Page 70
Road Map Approach Based on Voronoi Diagram......Page 71
Potential Field Approach......Page 72
Error Detection and Recovery......Page 74
Two-Arm Coordination......Page 75
Planning and Artificial Intelligence......Page 76
Man-Machine Interface......Page 77
Number of Part Types......Page 78
Electronic Product Assembly......Page 79
Subassembly of Electrical and Mechanical Component.........Page 80
Part-Feeding and Transfers......Page 81
Vibratory Bowl Feeders......Page 82
Vision-Based Flexible Part-Feeding......Page 83
Product Design for Robot Automation......Page 85
Economic Analysis......Page 86
Cost Justification for Robots......Page 87
Part Feeding and Presentation......Page 89
Combining Process......Page 90
Manipulation Capability of Process Robots......Page 91
Palletizing and Depalletizing......Page 92
Machine Tending: Loading and Unloading......Page 93
Resistance Spot Welding......Page 94
Inspection......Page 96
Compound Dispensing......Page 97
Router......Page 98
Arc Welding......Page 99
Finish Machining......Page 100
Legged Mobile Robots......Page 103
Sensors and Measurements......Page 104
Navigation......Page 105
Modeling of Flexible-Link Robots......Page 106
Parallel-Link Robots......Page 107
The Stewart Platform......Page 108
Advantages and Problems of the Stewart Platform......Page 109
Manufacturing Applications of the Stewart Platform.........Page 110
Defining Terms......Page 112
References......Page 114
Additional Reading......Page 116