Design Of Direct Drive Mechanical Arms
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Design Of Direct Drive Mechanical Arms
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Author : Haruhiko Asada
language : en
Publisher:
Release Date : 1981
Design Of Direct Drive Mechanical Arms written by Haruhiko Asada and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1981 with Robots categories.
This paper describes the design concept of a new robot based on the direct-drive method using rare-earth DC torque motors. Because these motors have high torque, light weight and compact size, we can construct robots with far better performance than those presently available. For example, we can eliminate all the transmission mechanism between the motors and their loads, such as reducers and chain belts, and construct a simple mechanism (direct-drive) where the arm links are directly coupled to the motor rotors. This elimination can lead to excellent performance: no backlash, low friction, low inertia, low compliance and high reliability, all of which are suited for high-speed high-precision robots. First we propose a basic configuration of direct-drive robots. Second a general procedure for designing direct-drive robots is shown, and the feasibility of direct drive for robot actuation is discussed in terms of weights and torques of joints. One of the difficulties in designing direct-drive robots is that motors to drive wrist joints are loads for motors to drive elbow joints and they are loads for motors at shoulders. To reduce this increasing series of loads is an essential issue for designing practical robots. We analyze the series of joint mass for a simplified kinematic model of the direct-drive robots, and show how the loads are reduced significantly by using rare-earth motors with light weight and high torque. We also discuss optimum kinematic structures with minimum arm weight. Finally, we describe the direct-drive robotic manipulator (CMU arm) developed at Carnegie-Mellon University, and verify the design theory. (Author).
The Mechanical Systems Design Handbook
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Author : Yildirim Hurmuzlu
language : en
Publisher: CRC Press
Release Date : 2017-12-19
The Mechanical Systems Design Handbook written by Yildirim Hurmuzlu and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-12-19 with Technology & Engineering categories.
With a specific focus on the needs of the designers and engineers in industrial settings, The Mechanical Systems Design Handbook: Modeling, Measurement, and Control presents a practical overview of basic issues associated with design and control of mechanical systems. In four sections, each edited by a renowned expert, this book answers diverse questions fundamental to the successful design and implementation of mechanical systems in a variety of applications. Manufacturing addresses design and control issues related to manufacturing systems. From fundamental design principles to control of discrete events, machine tools, and machining operations to polymer processing and precision manufacturing systems. Vibration Control explores a range of topics related to active vibration control, including piezoelectric networks, the boundary control method, and semi-active suspension systems. Aerospace Systems presents a detailed analysis of the mechanics and dynamics of tensegrity structures Robotics offers encyclopedic coverage of the control and design of robotic systems, including kinematics, dynamics, soft-computing techniques, and teleoperation. Mechanical systems designers and engineers have few resources dedicated to their particular and often unique problems. The Mechanical Systems Design Handbook clearly shows how theory applies to real world challenges and will be a welcomed and valuable addition to your library.
Robotics Science
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Author : Michael Brady
language : en
Publisher: MIT Press
Release Date : 1989
Robotics Science written by Michael Brady and has been published by MIT Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 1989 with Computers categories.
These 16 contributions provide a field guide to robotics science today.These 16 contributions provide a field guide to robotics science today. Each takes up current work the problems addressed, and future directions in the areas of perception, planning, control, design, and actuation. In a substantial introduction, Michael Brady summarizes a personal list of 30 problems, problem areas, and issues that lie on the path to development of a science of robotics. These involve sensing vision, mobility, design, control, manipulation, reasoning, geometric reasoning and systems integration.ContentsThe Problems of Robotics, Michael Brady - Perception. A Few Steps Toward Artificial 3-D Vision, Olivier D. Faugeras - Contact Sensing for Robot Active Touch, Paolo Dario - Learning and Recognition in Natural Environments, Alex Pentland and Robert Bolles - 3-D Vision for Outdoor Navigation by an Autonomous Vehicle, Martial Hebert and Takeo Kanade - Planning. Geometric Issues in Planning Robot Tasks, Tomas Lozano Perez and Russell Taylor - Robotic Manipulation: Mechanics and Planning, Matthew Mason - Control. A Survey of Manipulation and Assembly: Development of the Field and Open Research Issues, Daniel Whitney - Control, Suguru Arimoto - Kinematics and Dynamics for Control, John Hollerbach - The Whole Iguana, Rodney Brooks - Design and Actuation. Design and Kinematics for Force and Velocity Control of Manipulators and End Effectors, Bernard Roth - Arm Design, Haruhiko Asada - Behavior Based Design of Robot Effectors, Stephen Jacobsen, Craig Smith, Klaus Biggers, and Edwin Iversen - Using an Articulated Hand to Manipulate Objects, Kenneth Salisbury, David Brock and Patrick O'Donnell - Legged Robots, Marc RaibertRobotics Science is included in the System Development Foundation Benchmark series. System Development Foundation grants have contributed significantly to the development of robotics in the United States during the 1980s.
Modeling And Control Of Robotic Manipulators And Manufacturing Processes
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Author : American Society of Mechanical Engineers. Winter Annual Meeting
language : en
Publisher:
Release Date : 1987
Modeling And Control Of Robotic Manipulators And Manufacturing Processes written by American Society of Mechanical Engineers. Winter Annual Meeting and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1987 with Manipulators (Mechanism) categories.
Catalyzing Inquiry At The Interface Of Computing And Biology
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Author : National Research Council
language : en
Publisher: National Academies Press
Release Date : 2006-01-01
Catalyzing Inquiry At The Interface Of Computing And Biology written by National Research Council and has been published by National Academies Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2006-01-01 with Science categories.
Advances in computer science and technology and in biology over the last several years have opened up the possibility for computing to help answer fundamental questions in biology and for biology to help with new approaches to computing. Making the most of the research opportunities at the interface of computing and biology requires the active participation of people from both fields. While past attempts have been made in this direction, circumstances today appear to be much more favorable for progress. To help take advantage of these opportunities, this study was requested of the NRC by the National Science Foundation, the Department of Defense, the National Institutes of Health, and the Department of Energy. The report provides the basis for establishing cross-disciplinary collaboration between biology and computing including an analysis of potential impediments and strategies for overcoming them. The report also presents a wealth of examples that should encourage students in the biological sciences to look for ways to enable them to be more effective users of computing in their studies.
Scientific And Technical Aerospace Reports
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Author :
language : en
Publisher:
Release Date : 1994
Scientific And Technical Aerospace Reports written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1994 with Aeronautics categories.
The Merging Of Disciplines New Directions In Pure Applied And Computational Mathematics
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Author : Richard E. Ewing
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
The Merging Of Disciplines New Directions In Pure Applied And Computational Mathematics written by Richard E. Ewing and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Mathematics categories.
This volume is the Proceedings of the symposium held at the University of Wyoming in August, 1985, to honor Gail Young on his seventieth birthday (which actually took place on October 3, 1985) and on the occasion of his retirement. Nothing can seem more natural to a mathematician in this country than to honor Gail Young. Gail embodies all the qualities that a mathematician should possess. He is an active and effective research mathematician, having written over sixty pa pers in topology, n-dimensional analysis, complex variables, and "miscellanea." He is an outstanding expositor, as his fine book Topology, written with J. G. Hocking (Addison Wesley, 1961), amply demonstrates. He has a superlative record in public office of outstanding, unstinting service to the mathematical community and to the cause of education. But what makes Gail unique and special is that throughout all aspects of his distinguished career, he has emphasized human values in everything he has done. In touching the lives of so many of us, he has advanced the entire profession. Deservedly, he has innumerable friends in the mathematical community, the academic community, and beyond.
Modelling And Control Of Robot Manipulators
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Author : Lorenzo Sciavicco
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Modelling And Control Of Robot Manipulators written by Lorenzo Sciavicco and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.
Fundamental and technological topics are blended uniquely and developed clearly in nine chapters with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step. Fundamental coverage includes: Kinematics; Statics and dynamics of manipulators; Trajectory planning and motion control in free space. Technological aspects include: Actuators; Sensors; Hardware/software control architectures; Industrial robot-control algorithms. Furthermore, established research results involving description of end-effector orientation, closed kinematic chains, kinematic redundancy and singularities, dynamic parameter identification, robust and adaptive control and force/motion control are provided. To provide readers with a homogeneous background, three appendices are included on: Linear algebra; Rigid-body mechanics; Feedback control. To acquire practical skill, more than 50 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, more than 80 end-of-chapter exercises are proposed, and the book is accompanied by a solutions manual containing the MATLAB code for computer problems; this is available from the publisher free of charge to those adopting this work as a textbook for courses.
Dynamics Of Controlled Mechanical Systems
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Author : Gerhard Schweitzer
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Dynamics Of Controlled Mechanical Systems written by Gerhard Schweitzer and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Science categories.
Many mechanical systems are actively controlled in order to improve their dynamic performance. Examples are elastic satellites, active vehicle suspension systems, robots, magnetic bearings, automatic machine tools. Problems that are typical for mechanical systems arise in the following areas: - Modeling the mechanical system in such a way that the model is suitable for control design - Designing multivariable controls to be robust with respect to parameter variations and uncertainties in system order of elastic structures - Fast real-time signal processing - Generating high dynamic control forces and providing the necessary control power - Reliability and safety concepts, taking into account the growing role of software within the system The objective of the Symposium has been to present methods that contribute to the solutions of such problems. Typical examples are demonstrating the state of the art It intends to evalua~ the limits of performance that can be achieved by controlling the dynamics, and it should point to gaps in present research and areas for future research. Mainly, it has brought together leading experts from quite different areas presenting their points of view. The International Union of Theoretical and Applied Mechanics (lUTAM) has initiated and sponsored, in cooperation with the International Federation of Automatic Control (IF AC), this Symposium on Dynamics of Controlled Mechanical Systems, held at the Swiss Federal Institute of Technology (ETH) in Zurich, Switzerland, May 3D-June 3, 1988.
Proceedings Of The 23rd Ieee Conference On Decision Control December 12 14 1984 Las Vegas Hilton Las Vegas Nevada
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Author :
language : en
Publisher:
Release Date : 1984
Proceedings Of The 23rd Ieee Conference On Decision Control December 12 14 1984 Las Vegas Hilton Las Vegas Nevada written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1984 with Adaptive control systems categories.