This book is a logical continuation of Volume 1 of the series entitled "Scientific Fundamentals of Robotics" which presents all of the basic methods for computerized construction of dynamics of manipulation ro bots as well as the essential concepts of computer-aided design of their mechanics. Vol. 1 of the Series also contains the main practical re sults from the elastodynamics of manipulation robots, having in mind a need for forming a computer procedure which allows efficient checks of elastic deformations of a manipulator tip or some other of its charac teristic points. Wishing to add a highly applications-oriented dimension to the dynamic aspect of studies of manipulation robots, the authors have made a kind of a topic-based selection by leaving unconsidered some aspects of studies of robots, such as elasticity, and discussing others, more im portant in their opinion, to such an extent as suffices to make them practically applicable. The authors have decided not to treat in detail the problem of flexible manipulation robots for two reasons. The first results from the atti tude that the permissible (desired) robot elasticity may, satisfacto rily well, be tested using the method described in Vol. 1 of the Series.
This book is a logical continuation of Volume 1 of the series entitled "Scientific Fundamentals of Robotics" which presents all of the basic methods for computerized construction of dynamics of manipulation ro bots as well as the essential concepts of computer-aided design of their mechanics. Vol. 1 of the Series also contains the main practical re sults from the elastodynamics of manipulation robots, having in mind a need for forming a computer procedure which allows efficient checks of elastic deformations of a manipulator tip or some other of its charac teristic points. Wishing to add a highly applications-oriented dimension to the dynamic aspect of studies of manipulation robots, the authors have made a kind of a topic-based selection by leaving unconsidered some aspects of studies of robots, such as elasticity, and discussing others, more im portant in their opinion, to such an extent as suffices to make them practically applicable. The authors have decided not to treat in detail the problem of flexible manipulation robots for two reasons. The first results from the atti tude that the permissible (desired) robot elasticity may, satisfacto rily well, be tested using the method described in Vol. 1 of the Series.
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1: General About Manipulation Robots and Computer-Aided Design of Machines.- 1.1. General about manipulation robots.- 1.2. General remarks on up-to-date methods for design of machines.- 2: Dynamic Analysis of Manipulator Motion.- 2.1. Introduction.- 2.2. Block-scheme of the algorithm for dynamic analysis.- 2.3. Computer-aided method for the formation of manipulator dynamic model.- 2.4. Definition of manipulation task.- 2.5. Calculation of other dynamic characteristics.- 2.6. Tests of dynamic characteristics.- 2.7. Some specific features of algorithm implementation.- 2.8. Examples.- 2.9. Synthesis of nominal dynamics of manipulation movements.- 2.10. Extension of dynamic model by including friction effects.- Conclusion.- References.- Appendix:Theory of Appe’s Equations.- 3: Closed Chain Dynamics.- 3.1. Introduction.- 3.2. Review of previous results.- 3.3. Mechanisms containing a kinematic parallelogram.- 3.4. Manipulators with constraints on gripper motion.- 3.5. Impact problems.- 3.6. Practical cases of constrained gripper motion.- 3.7. Examples.- References.- 4: Computer-Aided Design of Manipulation Robots.- 4.1. Interactive procedure for computer-aided design of manipulators.- 4.2. Optimal choice of manipulator parameters.- 4.3. The choice of manipulator segments parameters based on the energy criterion.- 4.4. Optimization based on working speed criterion.- 4.5. Choice of actuators and reducers.- 4.6. Organization of the CAD program package.- References.
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