Robotics: designing the mechanisms for automated machinery

Abstract

Preface to the Second Edition. Introduction: Brief Historical Review and Main Definitions: What Robots Are. Definition of Levels or Kinds of Robots. Manipulators. Structure of Automatic Industrial Systems. Nonindustrial Representatives of the Robot Family. Relationship between the Level of Robot 'Intelligence' and the Product. References. Concepts and Layouts: Processing Layout. How Does One Find the Concept of an Automatic Manufacturing Process?. How to Determine the Productivity of a Manufacturing Process. The Kinematic Layout. Rapid Prototyping. Dynamic Analysis of Drives: Mechanically Driven Bodies. Electromagnetic Drive. Electric Drives. Hydraulic Drive. Pneumodrive. Brakes. Drive with a Variable Moment of Inertia. Kinematics and Control of Automatic Machines: Position Function. Camshafts. Master Controller, Amplifiers. Dynamic Accuracy. Damping of Harmful Vibrations. Automatic Vibration Damping. Electrically Controlled Vibration Dampers. Feedback Sensors: Linear and Angular Displacement Sensors. Speed and Flow-Rate Sensors. Force Sensors. Temperature Sensors. Item Presence Sensors. Transporting Devices: General Considerations. Linear Transportation. Rotational Transportation. Vibrational Transportation. Feeding and Orientation Devices: Introduction. Feeding of Liquid and Granular Materials. Feeding of Strips, Rods, Wires, Ribbons, Etc. Feeding of Oriented Parts from Magazines. Feeding of Parts from Bins. General Discussion of Orientation of Parts. Passive Orientation. Active Orientation. Logical Orientation. Orientation by Nonmechanical Means. Functional Systems and Mechanisms: General Concepts. Automatic Assembling. Special Means of Assembly. Inspection Systems. Miscellaneous Mechanisms. Manipulators: Introduction. Dynamics of Manipulators. Kinematics of Manipulators. Grippers. Guides. Mobile and Walking Robots. Solutions to the Exercises. Recommended Readings. List of Main Symbols. Index.