ROBOTICS Designing the Mechanisms for Automated Machinery

Preface to the Second Edition ix
1 Introduction: Brief Historical Review and Main Definitions 1
1.1 What Robots Are I
1.2 Definition of Levels or Kinds of Robots 6
1.3 Manipulators 12
1.4 Structure of Automatic Industrial Systems 20
1.5 Nonindustrial Representatives of the Robot Family 26
1.6 Relationship between the Level of Robot "Intelligence"
and the Product 34
References 36

2 Concepts and Layouts 37
2.1 Processing Layout 37
2.2 How Does One Find the Concept of an Automatic Manufacturing Process? 45
2.3 How to Determine the Productivity of a Manufacturing Process 50
2.4 The Kinematic Layout 55
2.5 Rapid Prototyping 61

3 Dynamic Analysis of Drives 64
3.1 Mechanically Driven Bodies 64
3.2 Electromagnetic Drive 71
3.3 Electric Drives 75
3.4 Hydraulic Drive 88
3.5 Pneumodrive 91
3.6 Brakes 99
3.7 Drive with a Variable Moment of Inertia 103

4 Kinematics and Control of Automatic Machines 116
4.1 Position Function 116
4.2 Camshafts 123
4.3 Master Controller, Amplifiers 135
4.4 Dynamic Accuracy 148
4.5 Damping of Harmful Vibrations 157
4.6 Automatic Vibration Damping 162
4.7 Electrically Controlled Vibration Dampers 166

5 Feedback Sensors 175
5.1 Linear and Angular Displacement Sensors 175
5.2 Speed and Flow-Rate Sensors 788
5.3 Force Sensors 193
5.4 Temperature Sensors 200
5.5 Item Presence Sensors 202

6 Transporting Devices 206
6.1 General Considerations 206
6.2 Linear Transportation 206
6.3 Rotational Transportation 217
6.4 Vibrational Transportation 223

7 Feeding and Orientation Devices 227
7.1 Introduction 227
7.2 Feeding of Liquid and Granular Materials 228
7.3 Feeding of Strips, Rods, Wires, Ribbons, Etc. 231
7.4 Feeding of Oriented Parts from Magazines 235
7.5 Feeding of Parts from Bins 242
7.6 General Discussion of Orientation of Parts 254
7.7 Passive Orientation 259
7.8 Active Orientation 266
7.9 Logical Orientation 271
7.10 Orientation by Nonmechanical Means 274

8 Functional Systems and Mechanisms 283
8.1 General Concepts 283
8.2 Automatic Assembling 284
8.3 Special Means of Assembly 295
8.4 Inspection Systems 300
8.5 Miscellaneous Mechanisms 307

9 Manipulators 314
9.1 Introduction 314
9.2 Dynamics of Manipulators 315
9.3 Kinematics of Manipulators 326
9.4 Grippers 350
9.5 Guides 358
9.6 Mobile and Walking Robots 372
Solutions to the Exercises 385
Recommended Readings 423
List of Main Symbols 425
Index 431

Total 445 pages 10 mb
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