图书简介

1 THE PLANAR SERIAL ROBOT-ARM; 1.1 Introduction; 1.2 Freedom of the End-effector; 1.3 The Instantaneous Centres in a Planar Robot-arm 1.3.1 The ’Inverse Velocity-problem’ Solved by Instantaneous Centres; 1.3.2 Instantaneous Kinematics and Static Equilibrium; 1.3.3 The ’Forward Velocity-problem’ Solved by Instantaneous Centres; Exercises 1A 7 1.4 Velocities by Superposition; 1.5 The Linear Sliding Joint; 1.6 Torques at the Actuated Joints; 1.7 The Assembly-configurations of a Planar Robot-arm Exercises 1B; 1.8 Foreshadowing the Spatial Serial Robot-arm 212 DESCRIBING THE SCREW; 2.1 The Screw in Mechanics; 2.1.1 The Screw in Statics; 2.1.2 The Screw in Instantaneous Kinematics; 2.1.3 Other Applications in Mechanics 2.2 The Finite Twist 30; 2.3 Freedom and Constraint of a Rigid Body; 2.4 Twists, Wrenches, and Screws Summarized; Exercises 2A; 3 ANALYSING THE SCREW; 3.1 Background; 3.2 Screw Coordinates; 3.2.1 The Coordinates; 3.2.2 Physical Interpretation of the Coordinates; 3.2.3 The Axis and Pitch of a Screw; Normalization of its Coordinates; 3.2.4 Homogeneity of Screw Coordinates; 3.3 A Line as the Join of Two Finite Points; Exercises 3A; 3.4 Homogeneous Coordinates of a Point; 3.4.1 A Point in Projective Space; 3.4.2 A Line as the Join of Two Points; fm - 2004/1/22 - page viii - #8; viii Contents; 3.5 Homogeneous Coordinates of a Plane; 3.5.1 A Line as the Meet of Two Planes; 3.6 Homogeneity, Dimensions, and Units; 3.7 Ray- and Axis-coordinate Orders for Screw Coordinates; 3.8 Duality and Lines; Exercises 3B; 4 TRANSFORMATIONS FOR COORDINATES THAT LOCATE; A RIGID BODY; 4.1 Introduction; 4.1.1 Coordinates; 4.2 Coordinate Transformations for Two Dimensions; 4.2.1 Rotational Transformations with Points; 4.2.2 General Transformations with Points on Coplanar Laminae; 4.2.3 Determining from [Aij ] the Axis and Angle of Rotation; 4.2.4 Determining [Aij ] from the Axis and Angle of Rotation; 4.2.5 Transformations with Free Vectors and Planes; 4.3 General Rotational Transformations; 4.3.1 Successive Rotations; 4.3.2 Rotational Transformations with Screws, Lines, Wrenches, and Twists; 4.4 Interpretations of a Transformation; 4.4.1 The Active Interpretation and the Active Transformation; Exercises 4A; 4.5 Coordinate Transformations for Three Dimensions; 4.5.1 The General Transformations with Points; 4.5.2 Transformations with Vectors and Planes; 4.5.3 General Transformations with Screws, Lines, Wrenches, and Twists; 4.6 The Finite Twist; 4.6.1 The Finite Twist and the Finite Screw; 4.6.2 The Pitch h and q-Pitch q of a Finite Twist or a Finite Screw; 4.6.3 Determining [Aij ] from a Finite Twist $ij (q); 4.6.4 Determining the Finite Twist $ij (q) from [Aij ] and [$$ij ]; Exercises 4B; 5 LINEAR DEPENDENCE, RECIPROCITY OF SCREWS:; LINEAR AND NON-LINEAR SCREW SYSTEMS; 5.1 Linear Dependence of Points and Planes; 5.2 The Linear Two-System of Screws; Exercises 5A; 5.3 Linear Screw Systems; 5.3.1 The One-system; 5.3.2 The Two-system; 5.3.3 The Three-system; 5.3.4 The Four-system; fm - 2004/1/22 - page ix - #9; Contents ix; 5.3.5 The Five-system; 5.3.6 The Six-system; 5.3.7 Systems that are Invariant with Finite Joint-displacements; Exercises 5B; 5.4 Reciprocity of Screws; 5.4.1 A Rotating Body Acted on by a Force; 5.4.2 A Twisting Body Acted on by a Wrench; 5.5 Reciprocity and Linear Screw Systems; Exercises 5C; 5.6 Linear and Non-linear Screw Systems; 5.7 Some Finite Displacements and Their Screw Systems; 5.7.1 The System of Finite Screws for the Twists that Displace a Point; 5.7.2 The System of Finite Screws for the Twists that Displace a Directed; Line a; 5.7.3 The System of Finite Screws for the Twists that Displace a Point on; a Directed Line; 5.7.4 Commutativity and Sequential Finite Twists; Exercises 5D; 6 SPATIAL SERIAL ROBOT-ARMS; 6.1 Introduction; 6.2 Some Typical Six-actuator Arms; 6.3 A Gantry Arm; 6.3.1 Axes of the Actuated Joints and the Jacobian; 6.3.2 Det [J] and Special Configurations; 6.3.3 The Reciprocal Screw at a Special Configuration; 6.3.4 The Ubiquity of Special Configurations; 6.3.5 The Inverse of the Jacobian; 6.3.6 [J]-1 and Special Configurations; 6.3.7 The Gantry Arm with an ’Offset Roll-pitch-roll’ Wrist; 6.3.8 The ’Pitch-yaw-roll’ Wrist; 6.3.9 The Spherical ’3-Roll Wrist’; 6.3.10 Other Wrist Designs; Exercises 6A; 6.4 The CM T3-566 Arm (Elbow Manipulator); 6.4.1 The Forward and Inverse Rate-problems; 6.4.2 Special Configurations: Individual Conditions; 6.4.3 Transversals and Reciprocal Screws; 6.4.4 Special Configurations: Combinations of Conditions; 6.5 A Unimate PUMA Arm; 6.6 A Manipulator with Rotary Joints in Just Three Directions; 6.7 General Features of Special Configurations; 6.8 Workspace; 6.8.1 Geometrical Constructions; 6.8.2 Configurations of a Robot-arm when B is at the Boundary; fm - 2004/1/22 - page x - #10; x Contents; 6.8.3 Transversals and Reciprocal Screws inWorkspace Identification; 6.8.4 Influence of Excursion-limits at the Joints; 6.8.5 Subspaces within the Reachable Point-workspace; 6.8.6 Workspaces of Reference Planes and Lines on the End-effector; 6.9 Five-actuator Arms; Exercises 6B; 6.10 Control; 6.10.1 Joint Control and Cartesian Control; 6.10.2 Closing the Feedback Loop on the Task; 6.10.3 Wrench Control and Hybrid Control; 6.11 Torques (Forces) at the Joints of a Six-actuator Arm; Exercises 6C; 7 THE ASSEMBLY-CONFIGURATIONS OF SERIAL; ROBOT-ARMS; 7.1 Introduction; 7.1.1 Placement of Cartesian Coordinate Frames on Links; 7.1.2 Forward and Inverse Kinematics for Position; 7.1.3 The Scalar Equation a cos f + b sin f = c; 7.2 The Assembly-configurations of Six-actuator Robot-arms; 7.2.1 A Gantry Arm; 7.2.2 The CM T3-566 Arm (Elbow Manipulator); 7.2.3 A Unimate PUMA Arm; 7.2.4 The Inverted CM T3-566 Arm with an Equivalent Spherical Joint; 7.3 A Five-actuator Arm; Exercises 7A; 7.4 Six-actuator Robot-arms with Generally Placed Axes; 7.4.1 A Standard Placement of Cartesian Coordinate Frames on Links; 7.4.2 The Fundamental Equations; 7.4.3 Two Alternative Methods; 7.4.4 The Motoman-V6 Robot-arm; 7.4.5 Continuation Methods; 7.5 Robot-arms with Closed-form Solutions; Exercises 7B; 8 IN-PARALLEL ACTUATION I : SIMPLE AND DIRECT; 8.1 Introduction; 8.2 The 6-6 Fully In-prallel Manipulator; 8.2.1 The Bricard-Borel Phenomena; 8.2.2 Assembly Configurations; 8.2.3 Special Configurations and Other Limitations: Generalities; 8.3 The Octahedral Manipulator: Geometry; 8.3.1 Polyhedra and Cauchy’s Theorem; 8.3.2 Assembly-configurations and Concavity; Exercises 8A; fm - 2004/1/22 - page xi - #11; Contents xi; 8.4 Transitory Kinematic Equivalence: Serial versus In-parallel; 8.4.1 The General ’Canonical’ Wrench-applicator and the Unactuated; Screw-support; 8.4.2 Series-parallel Comparisons; 8.4.3 The Wrench-applicator for a Pure Couple; 8.4.4 The Wrench-applicator for a Pure Force; 8.4.5 Some Variants of Wrench-applicators; Exercises 8B; 8.5 Statics and Kinematics of Fully In-parallel Robots; 8.5.1 Charts of Analogues; 8.6 The Octahedral Manipulator: Proportions and Configurations; 8.6.1 The Datum Configuration; 8.6.2 Departures From the Datum Configuration; 8.6.3 A Substitution for the Double-spherical Joints; 8.6.4 Separation of the Double-spherical Joints; 8.6.5 Actuation of Force-applicators; 8.6.6 Other Possible Separation Arrangements for Double-spherical Joints; 8.6.7 An Actuated Reciprocal Connection; 8.6.8 Cognate Octahedral Manipulators; Exercises 8C; 8.7 Special Configurations: Further Observations; 8.7.1 A Case Study; 8.7.2 Series-parallel Comparisons; Exercises 8D; 9 IN-PARALLEL ACTUATION I I : COMBINATIONS WITH; SERIAL DEVICES; 9.1 Introduction; 9.2 Two Composite Robots; 9.3 The Force-applicator: Some Variants in Six-actuator Robots; 9.4 Mobility, Connectivity, and Over-constraint; 9.4.1 The General Mobility Criterion; 9.4.2 Connectivity Cij; 9.4.3 One Class of Over-constrained Devices; Exercises 9A; 9.5 The Adjustable Tripod as a Manipulator; 9.5.1 Structure, Mobility, and Kinematic Substitutions; 9.5.2 Performance and Proportions of the Tripod; Exercises 9B; 9.6 Generalized Reciprocal Connections: Some Derived Robots; 9.6.1 Three-freedom Planar-motion Robots; 9.6.2 Homokinetic Shaft Couplings for Parallel Shafts; 9.7 Two Planar In-parallel Robots; 9.7.1 The Planar In-parallel Robot with Three Linear Actuators; 9.7.2 A Planar In-parallel Robot with Three Rotary Actuators; fm - 2004/1/22 - page xii - #12; xii Contents; Exercises 9C; 9.8 Homokinetic Coupling Robots and Derivative; 9.8.1 A Translatory Robot Based on a Homokinetic Coupling; 9.8.2 The Three Translatory Freedoms of the DELTA Robot; 9.9 The Inverse Kinematics for Position of Composite and Planar In-parallel; Robots; 9.9.1 The Planar In-parallel Robot with Three Linear Actuators; 9.9.2 A Planar In-parallel Robot with Three Rotary Actuators; 9.9.3 A Coupling Robot and the Translatory Freedoms of the DELTA Robot; 9.10 Two Over-constrained Translatory Manipulators; Exercises 9D; 10 REDUNDANT ROBOTIC SYSTEMS; 10.1 Introduction; 10.1.1 Kinematic Redundancy; 10.2 Pseudoinverse Control; 10.2.1 The Coordinates of a Screw and the Jacobian [J]; 10.2.2 The Pseudoinverse of [J] and Other Solutions to eqns (10.3); 10.2.3 Solutions to eqns (10.3) by Augmenting [J]; 10.2.4 Comparison of [J]# to [J]-1; 10.3 The Control of a Four-axis Spherical Wrist; 10.3.1 Overspeeding in the Three-axis Orthogonal Spherical Wrist; 10.3.2 Pseudoinverse Control of the Four-axis Orthogonal Spherical Wrist; 10.3.3 Redundant Serial Arms with Rotary Joints in Just Four Directions; 10.4 Actuator-torques (Forces) at the Joints of Redundant Serial Arms; Exercises 10A; 10.5 Statically Redundant Robots and Manipulators; 10.5.1 Screw Systems at Localized Contacts; 10.5.2 The Equilibrating and Interacting Force Fields; 10.5.3 Frictional Contacts; 10.5.4 The Jacobian of Force-components for Frictional Contacts; 10.5.5 The Pseudoinverse Solution and the Equilibrating System; 10.5.6 The Frictional Grasp of a Disc; 10.5.7 Optimization of a Grasp Using Interacting Systems of Forces; Exercises 10B; 11 STATIC STABILITY IN LEGGED VEHICLES; 11.1 Introduction; 11.2 Wheeled and Legged Vehicles; 11.3 Margin of Static Stability; 11.3.1 The Principle of Normalized Virtual Power; 11.3.2 Other Measures for Margin of Stability; 11.4 Application to General Locations of the Contacts; 11.4.1 Four Contacts with the Ground; 11.4.2 Three Contacts with the Ground; 11.4.3 Comparison with a Horizontal Projection; Contents xiii; 11.5 Virtual Power Used in Control; 11.6 A Display for Margin of Static Stability; 11.6.1 The Rectangular Display; 11.6.2 Three Contacts with the Ground; 11.7 Conclusion; Exercises 11A; A APPENDIX A SOME USEFUL EXPRESSIONS FOR LINES; B APPENDIX B THE SCREW AS A POINT IN PROJECTIVE FIVE-SPACE; C APPENDIX C THE FINITE TWIST AND EDUARD STUDY’S COORDINATES; D APPENDIX D COMPUTER FILE FOR CHAPTER 10; ANSWERS TO EXERCISES; REFERENCES; INDEX; D The Screw Axis for a Finite Displacement

Trade Policy 买家须知