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

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

ISBN-10: 085729587X

ISBN-13: 9780857295873

Humans have continually been interested by the concept that of synthetic existence and the development of machines that glance and behave like humans. because the box of robotics evolves, it calls for non-stop improvement of profitable platforms with high-performance features for useful applications.

Advanced Mechanics in robot Systems illustrates unique and bold mechanical designs and strategies for constructing new robotic prototypes with profitable mechanical operational abilities. Case reports are fascinated by initiatives in mechatronics that experience excessive progress expectations:

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

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

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

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Additional info for Advanced Mechanics in Robotic Systems

Sample text

12 of them are controlled. The three fingers and the thumb are equal. The difference of this Project was to have all the actuators integrated on the palm or directly on the finger joints. The structure of the hand is formed by almost 1000 mechanical components. The DLR Hand II adds an improvement in areas such us actuators, materials, sensors, control architecture. Strategically, important efforts were done referring to the holding technology (Butterfass et al. 2001). The configuration of the robotic hand keeps its semi- anthropomorphic structure: one palm, three fingers and a thumb formed by 18 structural elements.

As it can be seen, if the number of actuators or the degrees of freedom affects the design philosophy, we realise that even the underactuated robotic hands and the grippers have a certain relation, there is an important space between these two groups and the multi-actuator robotics hands. Figure 2 represents a scheme of the design philosophy based on actuators and focused on the multi-actuator robotics hands, and in Fig. 3 appears the same scheme but focused on the underactuated robotics hands and on the grippers.

For that reason, the predetermined requirements for the RL2 Hand are the same as the ones detailed for the RL1 Hand. The RL2 Hand was intended to enlarge the functionality of the Hand referring to shape and size of the objects to be held, basing the entire project on the experience obtained with the RL1 Hand. The RL1 Hand was able to hold in 34 R. Cabás Ormaechea Fig. 12 RL1 Hand with different types of grasp tasks a correct way fully or partially enveloped object, such as cylinders, elongated prisms, etc.

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


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