Keywords
Citation
Rigelsford, J. (2003), "Fundamentals of Robotic Mechanical Systems", Industrial Robot, Vol. 30 No. 6. https://doi.org/10.1108/ir.2003.04930fae.003
Publisher
:Emerald Group Publishing Limited
Copyright © 2003, MCB UP Limited
Fundamentals of Robotic Mechanical Systems
Fundamentals of Robotic Mechanical Systems
Keywords: Robotics, Mechanics
"Fundamentals of Robotic Mechanical Systems" provides the foundation knowledge required to design and implement robotic systems. This second edition is suitable as a reference text for practicing engineers, and the large number of examples makes it suitable for students studying robotics course. A familiarity with elementary mechanics, calculus and linear algebra is a prerequisite.
Chapter 1 presents An Overview of Robotic Mechanical Systems and discusses the general structure of robotic mechanical systems, serial and parallel manipulators, robotic hands, walking machines, and rolling robots. Chapter 2 provides an essential Mathematical Background, while the Fundamentals of Rigid-Body Mechanics are addressed in Chapter 3.
The Denavit-Hartenberg notation, the kinematics of six-revolute manipulators, velocity and acceleration analysis of serial manipulators, and kineostatic performance indices, are amongst the topics discussed in chapter 4, Kineostatics of Simple Robotic Manipulators. The following three chapters address Trajectory Planning: Pick-and-Place Operations, the Dynamics of Serial Robotic Manipulators, and Special Topics in Rigid-Body Kinematics, respectively.
Chapter 8, Kinematics of Complex Robotic Mechanical Systems, discusses topics including: the inverse kinematics problem (IKP) of general six-revolute manipulators, kinematics of parallel manipulators, and multi-fingered hands. The two remaining chapters of the book address Trajectory Planning: Continuous-Path Planning, and the Dynamics of Complex Robotic Mechanical Systems. Topics discussed include: curve geometry, parametric splines in trajectory planning the classification of robotic mechanical systems with regard to dynamics, the structure of the dynamics models of holonomic systems, and the dynamics of rolling robots. Two appendices provide a summary of kinematics of rotation, and the numerical solution of linear algebraic systems.
Jon Rigelsford