Applied Dynamics and CAD of Manipulation Robots

Abstract

1: General About Manipulation Robots and Computer-Aided Design of Machines.- 1.1. General about manipulation robots.- 1.1.1. Introduction.- 1.1.2. Definition of position of an object in space.- 1.1.3. Structure of an industrial manipulation robot.- 1.1.4. Disposition of segments and their connections.- 1.1.5. Simple chain structure types.- 1.1.6. Mobility index and degrees of freedom of a manipulation robot.- 1.1.7. Redundancy and singularities.- 1.1.8. Degrees of freedom of a manipulation task (d.o.f.t.).- 1.1.9. Compatibility.- 1.1.10. Decoupling the orientation from the position of the terminal device.- 1.1.11. Different minimal configurations.- 1.1.12. Workspace.- 1.1.13. Comparison of the workspaces of different minimal configurations.- 1.2. General remarks on up-to-date methods for design of machines.- 1.2.1. Task specification and starting data.- 1.2.2. Design automation.- 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.- 2.4.1. General algorithm for dynamic analysis.- 2.4.2. Practical approach to manipulation task definition.- 2.4.3. Manipulator with four degrees of freedom.- 2.4.4. Manipulator with five degrees of freedom.- 2.4.5. Manipulator with six degrees of freedom.- 2.4.6. Velocity profiles and practical realization of adapting blocks.- 2.5. Calculation of other dynamic characteristics.- 2.5.1. Diagrams of torque versus r.p.m.- 2.5.2. Calculation of the power needed and the energy consumed.- 2.5.3. Calculation of reactions in joints and stresses in segments.- 2.5.4. Calculation of elastic deformations.- 2.6. Tests of dynamic characteristics.- 2.6.1. Tests of a D.C. electromotor.- 2.6.2. Test of a hydraulic actuator.- 2.6.3. Tests of stresses and elastic deformations.- 2.7. Some specific features of algorithm implementation.- 2.8. Examples.- 2.8.1. Example 1.- 2.8.2. Example 2.- 2.8.3. Example 3.- 2.8.4. Example 4.- 2.9. Synthesis of nominal dynamics of manipulation movements.- 2.9.1. The complete dynamic model.- 2.9.2. Mathematical models of the actuator systems.- 2.9.3. Algorithm for the synthesis of nominal dynamics.- 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.- 3.4.1. Theory extension.- 3.4.2. Surface-type constraint.- 3.4.3. Independent parameters representation -1: General About Manipulation Robots and Computer-Aided Design of Machines.- 1.1. General about manipulation robots.- 1.1.1. Introduction.- 1.1.2. Definition of position of an object in space.- 1.1.3. Structure of an industrial manipulation robot.- 1.1.4. Disposition of segments and their connections.- 1.1.5. Simple chain structure types.- 1.1.6. Mobility index and degrees of freedom of a manipulation robot.- 1.1.7. Redundancy and singularities.- 1.1.8. Degrees of freedom of a manipulation task (d.o.f.t.).- 1.1.9. Compatibility.- 1.1.10. Decoupling the orientation from the position of the terminal device.- 1.1.11. Different minimal configurations.- 1.1.12. Workspace.- 1.1.13. Comparison of the workspaces of different minimal configurations.- 1.2. General remarks on up-to-date methods for design of machines.- 1.2.1. Task specification and starting data.- 1.2.2. Design automation.- 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.- 2.4.1. General algorithm for dynamic analysis.- 2.4.2. Practical approach to manipulation task definition.- 2.4.3. Manipulator with four degrees of freedom.- 2.4.4. Manipulator with five