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Fundamentals of Mechanics of Robotic Manipulation : Intelligent Systems, Control and Automation: Science and Engineering - Marco Ceccarelli

Fundamentals of Mechanics of Robotic Manipulation

Intelligent Systems, Control and Automation: Science and Engineering


Published: 13th July 2004
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This book has evolved from a course on Mechanics of Robots that the author has thought for over a dozen years at the University of Cassino at Cassino, Italy. It is addressed mainly to graduate students in mechanical engineering although the course has also attracted students in electrical engineering. The purpose of the book consists of presenting robots and robotized systems in such a way that they can be used and designed for industrial and innovative non-industrial applications with no great efforts. The content of the book has been 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 readers. However, many advanced concepts are briefly explained and their use is empathized with illustrative examples. Therefore, the book is directed not only to students but also to robot users both from practical and theoretical viewpoints. In fact, topics that are treated in the book have been selected as of current interest in the field of Robotics. Some of the material presented is based upon the author's own research in the field since the late 1980's.

From the reviews of the first edition:

"It presents in a very practical manner the fundamentals of robotic mechanics ... . Hence students in computer science and artificial intelligence, to name a few, will benefit from reading this book. ... a very nice point of this book is that all theoretical concepts are systematically illustrated by examples ... . I will strongly recommend this book as initial reading for students ... . I will also recommend this book as starting point for engineers who have to deal with robotic or automated systems." (J-P. Merlet, Meccanica, Vol. 41, 2006)

Introduction to Automation and Robotics
Automatic systems and robots
Evolution and applications of robots
Examples and technical characteristics of industrial robots
Evaluation of a robotization
An economic estimation
Forum for discussions on Robotics
Analysis of Manipulations
Decomposition of manipulative actions
A procedure for analyzing manipulation tasks
Programming for robots
A programming language for robots: VAL II
A programming language for robots: ACL
Illustrative examples
Education practices
Simulation of an industrial process
Writing with a robot
An intelligent packing
Industrial applications
Designing a robotized manipulation
Optimizing a robotized manipulation
Fundamentals of Mechanics of Manipulators
Kinematic model and position analysis
Transformation Matrix
Joint variables and actuator space
Workspace analysis
A binary matrix formulation
An algebraic formulation
A Workspace evaluation
Manipulator design with prescribed workspace
Inverse kinematics and path planning
A formulation for inverse kinematics
An example
Trajectory generation in Joint Space
A formulation for path planning in Cartesian coordinates
Illustrative examples
Velocity and acceleration analysis
An example
Jacobian and singularity configurations
An example
Statics of manipulators
A mechanical model
Equations of equilibrium
Jacobian mapping of forces
An example
Dynamics of manipulators
Mechanical model and inertia characteristics
Newton-Euler equations
An example
Lagrange formulation
An example
Stiffness of manipulators
A mechanical model
A formulation for stiffness analysis
A numerical example
Performance criteria for manipulators
Accuracy and repeatability
Dynamic characteristics
Compliance response
Fundamentals of Mechanics of parallel manipulators
A numerical example for CaPaMan (Cassino Parallel Manipulator)
Fundamentals of Mechanics of Grasp
Gripping devices and their characteristics
A mechatronic analysis for two-finger grippers
Design parameters and operation requirements for grippers
Configurations and phases of two-finger grasp
Model and analysis of two-finger grasp
Mechanisms for grippers
Modeling gripper mechanisms
An evaluation of gripping mechanisms
A numerical example of index evaluation
Designing two-finger grippers
An optimum design procedure for gripping mechanisms
A numerical example of optimum design
Electropneumatic actuation and grasping force control
An illustrative example for laboratory practice
An acceleration sensored gripper
Fundamentals on multifinger grasp and articulated fingers
Table of Contents provided by Publisher. All Rights Reserved.

ISBN: 9781402018107
ISBN-10: 140201810X
Series: Intelligent Systems, Control and Automation: Science and Engineering
Audience: Tertiary; University or College
Format: Hardcover
Language: English
Number Of Pages: 312
Published: 13th July 2004
Publisher: Springer-Verlag New York Inc.
Country of Publication: US
Dimensions (cm): 27.9 x 21.0  x 1.91
Weight (kg): 1.41