Applied dynamics and CAD of manipulation robots (Q1057810)

This book presents complete results for dynamic analysis of manipulation robots with both open and closed kinematic chains and procedures for computer-aided design (CAD) of robotic mechanisms. It comprises four chapters and is intended for researchers, robot designers, post-graduate students and engineers involved in CAD of manipulation robots. In chapter 1, ''General about manipulation robots'', basic definitions and classifications of robotic structures are presented together with the general problems of CAD. In chapter 2, ''Dynamic analysis of manipulator motion'', algorithms for dynamic analysis and synthesis of nominal dynamics are considered in detail, stressing on calculation of certain dynamic characteristics as: driving forces/torques, power requirements, torque/speed diagrams, stress in segments, elastic deformations, etc. In chapter 3, ''Closed chain dynamics'', the delicate (but important in practice) problems of closed manipulation chains dynamics are considered under certain assumptions. In chapter 4, ''Computer-aided design of manipulation robots'', the optimality criteria and the constraints are defined for the algorithms discussed in the previous two chapters. A program package for CAD of manipulation robots is briefly described considering an energy consumption criterion. In fact the book is the first one in robotics that gives an application- oriented treatment of manipulation robots dynamics.