Abstract
This chapter focuses on the principles that guide the design and construction of robotic systems. The kinematics equations and Jacobian of the robot characterize its range of motion and mechanical advantage, and guide the selection of its size and joint arrangement. The tasks a robot is to perform and the associated precision of its movement determine detailed features such as mechanical structure, transmission, and actuator selection. Here we discuss in detail both the mathematical tools and practical considerations that guide the design of mechanisms and actuation for a robot system.
The following sections (Sect. 4.1) discuss characteristics of the mechanisms and actuation that affect the performance of a robot. Sections 4.2–4.6 discuss the basic features of a robot manipulator and their relationship to the mathematical model that is used to characterize its performance. Sections 4.7 and 4.8 focus on the details of the structure and actuation of the robot and how they combine to yield various types of robots. The final Sect. 4.9 relates these design features to various performance metrics.
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Abbreviations
- AC:
-
alternating current
- ASV:
-
adaptive suspension vehicle
- DC:
-
direct current
- DOF:
-
degree of freedom
- EAP:
-
electroactive polymer
- emf:
-
electromotive force
- MEMS:
-
microelectromechanical system
- MTBF:
-
mean time between failures
- NASA:
-
National Aeronautics and Space Agency
- NEO:
-
neodymium
- PM:
-
permanent magnet
- RV:
-
rotary vector
- SEA:
-
series elastic actuator
- SMA:
-
shape memory alloy
- VR:
-
variable reluctance
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A parallel robot available from http://handbookofrobotics.org/view-chapter/04/videodetails/640
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Three-fingered robot hand available from http://handbookofrobotics.org/view-chapter/04/videodetails/642
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Robotics milking system available from http://handbookofrobotics.org/view-chapter/04/videodetails/643
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SCARA robots available from http://handbookofrobotics.org/view-chapter/04/videodetails/644
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Big Dog –Applications of hydraulic actuators available from http://handbookofrobotics.org/view-chapter/04/videodetails/645
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Raytheon Sarcos exoskeleton available from http://handbookofrobotics.org/view-chapter/04/videodetails/646
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PI piezo hexapod available from http://handbookofrobotics.org/view-chapter/04/videodetails/648
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Harmonic drive available from http://handbookofrobotics.org/view-chapter/04/videodetails/649
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Scheinman, V., McCarthy, J.M., Song, JB. (2016). Mechanism and Actuation. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_4
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