Fundamentals of Mechanics of Robotic Manipulation (Intelligent Systems, Control and Automation: Science and Engineering, 27)

This book has evolved from a course on Mechanics of Robots that the author has thought for over a dozen years at the University of Cassino at Cassino, Italy. It is addressed mainly to graduate students in mechanical engineering although the course has also attracted students in electrical engineering. The purpose of the book consists of presenting robots and robotized systems in such a way that they can be used and designed for industrial and innovative non-industrial applications with no great efforts. The content of the book has been kept at a fairly practical level with the aim to teach how to model, simulate, and operate robotic mechanical systems. The chapters have been written and organized in a way that they can be red even separately, so that they can be used separately for different courses and readers. However, many advanced concepts are briefly explained and their use is empathized with illustrative examples. Therefore, the book is directed not only to students but also to robot users both from practical and theoretical viewpoints. In fact, topics that are treated in the book have been selected as of current interest in the field of Robotics. Some of the material presented is based upon the author’s own research in the field since the late 1980’s.

This book treats analysis and design of manipulations, manipulators and grippers by discussing basic concepts and fundamental formulation. It is a novel book dealing with manipulations that can be performed by robotic manipulators. The content of the book has been kept at a fairly practical level with the aim to teach how to model, simulate, and operate robotic mechanical systems. The chapters have been written and organized in a way that they can be read even separately, so that they can be used separately for different courses and readers. An Introductory Chapter 1 illustrates motivations and historical developments of robotic mechanical systems. Chapter 2 describes the analysis and design of manipulations by automatic machinery and robots. Chapter 3 deals with the Mechanics of manipulators with the aim to propose algorithms for analysis, simulation and design purposes. Chapter 4 addresses the attention to mechanical two-finger grippers and related Mechanics of Grasping.

"This book treats the analysis and design of manipulations, manipulators and grippers by discussing basic concepts and fundamental formulation. This is a book dealing with manipulations that can be performed by robotic manipulators. The content of the book has been kept at a fairly practical level with the aim to teach how to model, simulate, and operate robotic mechanical systems. The chapters have been written and organized in a way that they can be read even separately, so that they can be used separately for different courses and readers."--Jacket Front Matter....Pages i-xi Introduction to Automation and Robotics....Pages 1-28 Analysis of manipulations....Pages 29-72 Fundamentals of the mechanics of robots....Pages 73-240 Fundamentals of the mechanics of grasp....Pages 241-304 Back Matter....Pages 305-312 From the contents: Preface 1: Introduction to Automation and Robotics 2: Analysis of Manipulations 3: Fundamentals of Mechanics of Manipulators 4: Fundamentals of Mechanics of Grasp Bibliography. Index. Biographical Notes.