Robot design : from theory to service applications / Giuseppe Carbone and Med Amine Laribi.

Format:

Book

Author/Creator:

Carbone, Giuseppe, author.

Laribi, Med Amine, author.

Series:

Mechanisms and machine science.

Mechanisms and Machine Science

Language:

English

Subjects (All):

Robots--Design and construction.

Robots.

Robots--Design and construction--Computer programs.

Physical Description:

1 online resource (273 pages)

Place of Publication:

Cham, Switzerland : Springer International Publishing, [2022]

Summary:

This book is an attempt to address this wide topic with a multi-disciplinary approach. Nowadays, robotics is developing at a much faster pace than ever in the past, both inside and outside industrial environments. While other publications focus on describing the theoretical basis of robot motion, this book pays special attention to explain the fundamentals through real applications. Thus, it represents a perfect combination for studying this topic along with other theoretical books. Each chapter has been authored by experts in specific areas spanning from the mechanics of machinery to control theory, informatics, mechatronics. Chapters have been divided into two sections. The first one is aiming to give a theoretical background. The second section is focused on applications. This book project can be foreseen as a reference for young professionals/researchers to overview the most significant aspects in robotics.

Contents:

Intro

Preface

Contents

About the Editors

Fundamentals

1 Historical Backgrounds on Robot Mechanism Design

1.1 Introduction

1.2 Robot Structure and Mechanism Role

1.3 A Short Account of a History of Robot

1.4 Illustrative Examples

1.5 Conclusions

References

2 Mathematical Formulations for Robot Modelling: Serial Versus Parallel Structures

2.1 Introduction

2.2 Modelling of Serial Manipulators

2.3 Parallel Manipulators

2.4 Discussion

2.5 Conclusion

3 Simulating Vibrations of Two-Wheeled Self-balanced Robots with Road Excitations by MATLAB

3.1 Introduction

3.2 The Quarter Car Model and Simplification for the Two-Wheeled Self-balanced Robots

3.3 The Road Excitation Profiles

3.4 Numeric Solutions to the Simplified Model

3.5 Simulating Vertical Movement of Slow-Motion Tow-Wheeled Self-balanced Robots

3.5.1 Slow Motion Over Narrow Bumps or Dips (L = 0.5 m and a = 0.1 m)

3.5.2 Slow Motion Over Shallow Bumps or Dips (L = 1 m, a = 0.1 m)

3.6 Summary

4 Path Planning for Special Robotic Operations

4.1 Path Planning for General-Purpose Applications

4.1.1 Classical Methods

4.1.2 Heuristic and Meta-heuristic Methods

4.2 Application-Specific Path Planning

4.2.1 Path Planning for Automated Guided Vehicles

4.2.2 Path Planning for Medical Applications

4.2.3 Path Planning for Robotic Welding

4.3 Path Planning for Spray Painting Robots

4.3.1 The Problem of Tool Path Generation

4.3.2 Spray Painting Modeling

4.3.3 Path Planning Approaches

4.4 Conclusions

5 Robot Design: Optimization Methods and Task-Based Design

5.1 Introduction

5.2 Problem Statement and It's Formulation

5.3 Optimality Criteria

5.3.1 Workspace

5.3.2 Dexterity

5.3.3 Safety

5.4 Task Specification

5.4.1 Task Description.

5.4.2 Task Modelling

5.5 Illustrative Example

5.5.1 Analysis of Medical Gestures by Motion Capture

5.5.2 Data Analysis

5.5.3 Robot Architecture and Kinematic Model

5.5.4 Optimal Design

Applications

6 Review: Robots for Inspection and Maintenance of Power Transmission Lines

6.1 Introduction

6.2 Robots for Power Lines Inspection

6.3 Robots for Power Lines Maintenance

6.3.1 Installation of Aircraft Warning Spheres on Overhead Ground Wire

6.3.2 Cleaning High Voltage Cables and Insulator Chains

6.3.3 Installation of Vibration Dampers

6.3.4 Installation of Spacers at High Voltage Cables

6.3.5 Electromagnetic Interference in the Robots Applied to Inspection/Maintenance of Power Transmission

6.4 Discussion

6.5 Conclusions

7 Towards Human Activity Recognition Enhanced Robot Assisted Surgery

7.1 Recap of the Development of Medical Robots

7.2 Development and Challenges in Surgical Robots

7.3 Theoretical Potentials for Surgical Robot Development

7.3.1 Advancement of Control Technology in Surgical Robots

7.3.2 Advancement of Sensor Technology in Surgical Robots

7.4 Current Limitations of RAMIS

7.5 Human Activity Recognition Enhanced Robot-Assisted Minimally Invasive Surgery (HAR-RAMIS)

7.6 Conclusions

8 Metamorphic Manipulators

8.1 Introduction

8.1.1 The Application of the Metamorphosis Paradigm to Manipulators

8.1.2 The Beginning-The Notion of Modularity and Reconfigurability

8.1.3 The Need for a Metamorphic Manipulator

8.1.4 The Concept of Metamorphosis on Manipulators

8.1.5 Modelling Metamorphic Manipulators

8.2 Metamorphic Robot Kinematics

8.2.1 A Modular Parametric Analytical Solution for the Kinematics of Metamorphic Serial Manipulators

8.3 Metamorphic Manipulator Dynamics.

8.3.1 Lagrange Formulation of the Dynamic Model for a Serial Metamorphic Manipulator

8.4 Design of a Metamorphic Structure

8.4.1 General Design Conditions for Simple Dynamics of Fixed Structure Robots

8.4.2 Dynamic Isotropy Investigation

8.4.3 Evaluation and Synthesis of a Serial Metamorphic Structure

8.5 Conclusions

9 Analysis of Redundancy and Elasticity of Actuators in Hopping Control of Bipedal Robot CARL Based on SLIP Model

9.1 Introduction

9.2 Literature Review

9.2.1 Virtual Spring in Robotics

9.2.2 Biomechanics of Human Leg

9.3 Compliant Robotic Leg CARL

9.3.1 Series Elastic Actuators in CARL

9.3.2 Actuation Control

9.4 Hopping Control

9.4.1 Joint Stiffness Calculations

9.5 Hopping Experiment

9.6 Experimental Results

9.6.1 Investigation of Landing Phase

9.6.2 Investigation of Take-Off Phase

9.7 Discussion and Conclusion

10 Dynamic Modeling of an Asbestos Removal Mobile Manipulator for Stability Evaluation

10.1 Stability Indices for Mobile Manipulators

10.1.1 Distance Based Indices

10.1.2 Angle Based Indices

10.1.3 Energy Based Indices

10.1.4 Moment Based Indices

10.1.5 Force Based Indices

10.2 Dynamic Modeling of the Asbestos Removal Environment

10.2.1 Need of Dynamic Modeling

10.2.2 Cleaning Environment

10.2.3 Description of Representative Frames

10.3 Modeling of Asbestos Removal Use Case

10.3.1 Evaluation of Reaction Wrench

10.3.2 Cleaning of Frontal Wall

10.3.3 Cleaning of ceiling

10.3.4 Cleaning of Ground

10.3.5 Stability Criteria Based on Zero Moment Point

10.4 Numerical Evaluation of Stability

10.5 Stability Evaluation Using Co-Simulation

10.5.1 Development of Cosimulation Model

10.5.2 Validation of Stability Evaluation Approaches

10.6 Conclusion

References.

Notes:

Description based on print version record.

Other Format:

Print version: Carbone, Giuseppe Robot Design

ISBN:

3-031-11128-1