Robot Design: From Theory to Service Applications

Preface
Contents
About the Editors
Fundamentals
1 Historical Backgrounds on Robot Mechanism Design
	1.1 Introduction
	1.2 Robot Structure and Mechanism Role
	1.3 A Short Account of a History of Robot
	1.4 Illustrative Examples
	1.5 Conclusions
	References
2 Mathematical Formulations for Robot Modelling: Serial Versus Parallel Structures
	2.1 Introduction
	2.2 Modelling of Serial Manipulators
	2.3 Parallel Manipulators
	2.4 Discussion
	2.5 Conclusion
	References
3 Simulating Vibrations of Two-Wheeled Self-balanced Robots with Road Excitations by MATLAB
	3.1 Introduction
	3.2 The Quarter Car Model and Simplification for the Two-Wheeled Self-balanced Robots
	3.3 The Road Excitation Profiles
	3.4 Numeric Solutions to the Simplified Model
	3.5 Simulating Vertical Movement of Slow-Motion Tow-Wheeled Self-balanced Robots
		3.5.1 Slow Motion Over Narrow Bumps or Dips (L = 0.5 m and a = 0.1 m)
		3.5.2 Slow Motion Over Shallow Bumps or Dips (L = 1 m, a = 0.1 m)
	3.6 Summary
	References
4 Path Planning for Special Robotic Operations
	4.1 Path Planning for General-Purpose Applications
		4.1.1 Classical Methods
		4.1.2 Heuristic and Meta-heuristic Methods
	4.2 Application-Specific Path Planning
		4.2.1 Path Planning for Automated Guided Vehicles
		4.2.2 Path Planning for Medical Applications
		4.2.3 Path Planning for Robotic Welding
	4.3 Path Planning for Spray Painting Robots
		4.3.1 The Problem of Tool Path Generation
		4.3.2 Spray Painting Modeling
		4.3.3 Path Planning Approaches
	4.4 Conclusions
	References
5 Robot Design: Optimization Methods and Task-Based Design
	5.1 Introduction
	5.2 Problem Statement and It’s Formulation
	5.3 Optimality Criteria
		5.3.1 Workspace
		5.3.2 Dexterity
		5.3.3 Safety
	5.4 Task Specification
		5.4.1 Task Description
		5.4.2 Task Modelling
	5.5 Illustrative Example
		5.5.1 Analysis of Medical Gestures by Motion Capture
		5.5.2 Data Analysis
		5.5.3 Robot Architecture and Kinematic Model
		5.5.4 Optimal Design
	References
Applications
6 Review: Robots for Inspection and Maintenance of Power Transmission Lines
	6.1 Introduction
	6.2 Robots for Power Lines Inspection
	6.3 Robots for Power Lines Maintenance
		6.3.1 Installation of Aircraft Warning Spheres on Overhead Ground Wire
		6.3.2 Cleaning High Voltage Cables and Insulator Chains
		6.3.3 Installation of Vibration Dampers
		6.3.4 Installation of Spacers at High Voltage Cables
		6.3.5 Electromagnetic Interference in the Robots Applied to Inspection/Maintenance of Power Transmission
	6.4 Discussion
	6.5 Conclusions
	References
7 Towards Human Activity Recognition Enhanced Robot Assisted Surgery
	7.1 Recap of the Development of Medical Robots
	7.2 Development and Challenges in Surgical Robots
	7.3 Theoretical Potentials for Surgical Robot Development
		7.3.1 Advancement of Control Technology in Surgical Robots
		7.3.2 Advancement of Sensor Technology in Surgical Robots
	7.4 Current Limitations of RAMIS
	7.5 Human Activity Recognition Enhanced Robot-Assisted Minimally Invasive Surgery (HAR-RAMIS)
	7.6 Conclusions
	References
8 Metamorphic Manipulators
	8.1 Introduction
		8.1.1 The Application of the Metamorphosis Paradigm to Manipulators
		8.1.2 The Beginning—The Notion of Modularity and Reconfigurability
		8.1.3 The Need for a Metamorphic Manipulator
		8.1.4 The Concept of Metamorphosis on Manipulators
		8.1.5 Modelling Metamorphic Manipulators
	8.2 Metamorphic Robot Kinematics
		8.2.1 A Modular Parametric Analytical Solution for the Kinematics of Metamorphic Serial Manipulators
	8.3 Metamorphic Manipulator Dynamics
		8.3.1 Lagrange Formulation of the Dynamic Model for a Serial Metamorphic Manipulator
	8.4 Design of a Metamorphic Structure
		8.4.1 General Design Conditions for Simple Dynamics of Fixed Structure Robots
		8.4.2 Dynamic Isotropy Investigation
		8.4.3 Evaluation and Synthesis of a Serial Metamorphic Structure
	8.5 Conclusions
	References
9 Analysis of Redundancy and Elasticity of Actuators in Hopping Control of Bipedal Robot CARL Based on SLIP Model
	9.1 Introduction
	9.2 Literature Review
		9.2.1 Virtual Spring in Robotics
		9.2.2 Biomechanics of Human Leg
	9.3 Compliant Robotic Leg CARL
		9.3.1 Series Elastic Actuators in CARL
		9.3.2 Actuation Control
	9.4 Hopping Control
		9.4.1 Joint Stiffness Calculations
	9.5 Hopping Experiment
	9.6 Experimental Results
		9.6.1 Investigation of Landing Phase
		9.6.2 Investigation of Take-Off Phase
	9.7 Discussion and Conclusion
	References
10 Dynamic Modeling of an Asbestos Removal Mobile Manipulator for Stability Evaluation
	10.1 Stability Indices for Mobile Manipulators
		10.1.1 Distance Based Indices
		10.1.2 Angle Based Indices
		10.1.3 Energy Based Indices
		10.1.4 Moment Based Indices
		10.1.5 Force Based Indices
	10.2 Dynamic Modeling of the Asbestos Removal Environment
		10.2.1 Need of Dynamic Modeling
		10.2.2 Cleaning Environment
		10.2.3 Description of Representative Frames
	10.3 Modeling of Asbestos Removal Use Case
		10.3.1 Evaluation of Reaction Wrench
		10.3.2 Cleaning of Frontal Wall
		10.3.3 Cleaning of ceiling
		10.3.4 Cleaning of Ground
		10.3.5 Stability Criteria Based on Zero Moment Point
	10.4 Numerical Evaluation of Stability
	10.5 Stability Evaluation Using Co-Simulation
		10.5.1 Development of Cosimulation Model
		10.5.2 Validation of Stability Evaluation Approaches
	10.6 Conclusion
	References