Robot Mechanisms

Preface 1 Kinematics of Rigid Bodies 1.1 Position and Displacement of a Point 1.2 Pose and Displacement of a Body 1.3 Operations in Vector Space 1.4 Sequences of Translations and Rotations 1.5 Position and Orientation of a Body 1.6 Linear and Angular Velocity of a Body 1.7 Linear and Angular Acceleration of a Body 1.8 Homogenous Transformations 2 Mechanisms 2.1 Joints and Degrees of Freedom 2.2 Parameters and Variables of a Kinematic Pair 2.3 Parameters and Variables of a Mechanism 3 Serial Mechanisms 3.1 Kinematic Equations 3.2 Direct Kinematics 3.3 Inverse Kinematics 3.4 Serial Mechanisms with Fixed Rotational Axes 4 Evaluation of Mechanisms 4.1 Workspaces 4.2 Kinematic Flexibility and Kinematic Singularity 4.3 Manipulability and Kinematic Index 5 Singular Planes and Dextrous Robot Mechanisms 5.1 Decoupled Singularities of Robots with Spherical Wrists 5.2 Singularities of Serial Robot Arms 5.3 Singularities of Spherical Wrists 5.4 Singularity Metrics of Industrial Robots 5.5 Singularity Free Pointing Systems 6 Redundant Mechanisms 6.1 Independent Solution of Primary and Secondary Tasks 6.2 Combined Solution of Primary and Secondary Tasks 6.3 Use of Kinematic Redundancy 7 Parallel Mechanisms 7.1 Characteristics of Parallel Mechanisms 7.2 Connectivity of Legs and Degrees of Freedom 7.3 Kinematic Equations 7.4 Some Examples of Parallel Mechanisms 8 Robot Contact 8.1 Screw Systems 8.2 Basic Contacts 8.3 Contact Models 9 Robot Grasp 9.1 Robot Grasp with two Fingers 9.2 Robot Grasp with Multiple Fingers 9.3 Grasp Matrix 10 Kinematic Model of the Human Hand 10.1 Kinematic Model of the Finger 10.2 Inverse Kinematics of the Finger 10.3 Kinematic Model of the Thumb 10.4 Inverse Kinematics of the Thumb 10.5 Thumb and Fingers Pose with Respect to Palm Index References