Download e-book for iPad: Advanced Mechanics in Robotic Systems by Luis Maria Cabás Ormaechea (auth.), Nestor Eduardo Nava

By Luis Maria Cabás Ormaechea (auth.), Nestor Eduardo Nava Rodríguez (eds.)

ISBN-10: 085729587X

ISBN-13: 9780857295873

Humans have constantly been excited about the idea that of synthetic lifestyles and the development of machines that glance and behave like humans. because the box of robotics evolves, it calls for non-stop improvement of winning structures with high-performance features for functional applications.

Advanced Mechanics in robot Systems illustrates unique and bold mechanical designs and methods for constructing new robotic prototypes with profitable mechanical operational abilities. Case reviews are enthusiastic about initiatives in mechatronics that experience excessive development expectations:

  • humanoid robots,
  • robotics hands,
  • mobile robots,
  • parallel manipulators, and
  • human-centred robots.

A sturdy keep an eye on approach calls for solid mechanical layout, so a bankruptcy has additionally been dedicated to the outline of compatible equipment for keep an eye on structure layout.

Readers of Advanced Mechanics in robot Systems will detect novel designs for suitable functions in robot fields, that would be of specific curiosity to educational and industry-based researchers.

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Extra resources for Advanced Mechanics in Robotic Systems

Sample text

Advanced Research Workshop ARW: Robots with Redundancy: Design, Sensing and Control Bonivento C, Faldella E, Vassura G (1991) The University of Bologna Robotic Hand Project: current state and future developments. IEEE Fifth Int Con Adv Rob 1:349–356 Borst C, Fischer Haidacher S, Liu H, Hirzinger G (2003) DLR hand II: experiments and experience with an anthropomorphic hand. IEEE Int Conf Rob Autom 1:702–707 Butterfass J, Grebenstein M, Liu H, Hirzinger G (2001) DLR-Hand II: next generation of a dextrous robot hand.

11 RL1 Hand and its states objective of the cradle is to help the driving system of the RL1 to reach all the positions and tasks needed by rotating the energy transformer in just one way. This allows the hand to pass from a standby state to and operative one, ready to hold an object through different states transforming mechanisms. It is possible to see an already developed RL1 Hand in Fig. 11. This group of mechanisms make the RL1 Hand driving system to be formed by a unique Multi-State Actuator that allows the Hand to pass through different positions, since the resting states inside the anchor until the fingers and thumb driving position, necessary to hold an object.

Cabás Ormaechea Fig. 7 RL1 Hand’s finger configuration 5. Driving system: The driving system, as the control system, should be hosted inside the anchor, indirectly restricting the design in strength and number of actuators it should have. Once these pre-established requirements were defined, the general configuration of the RL1 Hand were detailed as: • • • • • • Number of fingers Palm configuration Number of DOF and actuated DOF Kind of actuator Kind of Strength Transmission Involved mechanisms Finally it was concluded that the RL1 Hand should be formed by one thumb with two degrees of freedom plus two fingers opposite to it, with three degrees of freedom each.

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Advanced Mechanics in Robotic Systems by Luis Maria Cabás Ormaechea (auth.), Nestor Eduardo Nava Rodríguez (eds.)


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