Robotics, Second Edition: Designing the Mechanisms for Automated Machinery

Ben Zion Sandler0-12-618520-4, 9780126185201

Robotics, Second Edition is an essential addition to the toolbox of any engineer or hobbyist involved in the design of any type of robot or automated mechanical system. It is the only book available that takes the reader through a step-by step design process in this rapidly advancing specialty area of machine design. This book provides the professional engineer and student with important and detailed methods and examples of how to design the mechanical parts of robots and automated systems. Most robotics and automation books today emphasis the electrical and control aspects of design without any practical coverage of how to design and build the components, the machine or the system. The author draws on his years of industrial design experience to show the reader the design process by focusing on the real, physical parts of robots and automated systems. * Answers the questions: How are machines built? How do they work? How does one best approach the design process for a specific machine? * Thoroughly updated with new coverage of modern concepts and techniques, such as rapid modeling, automated assembly, parallel-driven robots and mechatronic systems * Calculations for design completed with Mathematica which will help the reader through its ease of use, time-saving methods, solutions to nonlinear equations, and graphical display of design processes * Use of real-world examples and problems that every reader can understand without difficulty * Large number of high-quality illustrations * Self-study and homework problems are integrated into the text along with their solutions so that the engineering professional and the student will each find the text very useful

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Table of contents :
Contents……Page 6
Preface to the Second Edition……Page 10
1.1 What Robots Are……Page 12
1.2 Definition of Levels or Kinds of Robots……Page 17
1.3 Manipulators……Page 23
1.4 Structure of Automatic Industrial Systems……Page 31
1.5 Nonindustrial Representatives of the Robot Family……Page 37
1.6 Relationship between the Level of Robot “Intelligence” and the Product……Page 0
References……Page 47
2.1 Processing Layout……Page 48
2.2 How Does One Find the Concept of an Automatic Manufacturing Process?……Page 56
2.3 How to Determine the Productivity of a Manufacturing Process……Page 61
2.4 The Kinematic Layout……Page 66
2.5 Rapid Prototyping……Page 72
3.1 Mechanically Driven Bodies……Page 75
3.2 Electromagnetic Drive……Page 82
3.3 Electric Drives……Page 86
3.4 Hydraulic Drive……Page 99
3.5 Pneumodrive……Page 102
3.6 Brakes……Page 110
3.7 Drive with a Variable Moment of Inertia……Page 114
4.1 Position Function……Page 127
4.2 Camshafts……Page 134
4.3 Master Controller, Amplifiers……Page 146
4.4 Dynamic Accuracy……Page 159
4.5 Damping of Harmful Vibrations……Page 168
4.6 Automatic Vibration Damping……Page 173
4.7 Electrically Controlled Vibration Dampers……Page 177
5.1 Linear and Angular Displacement Sensors……Page 186
5.2 Speed and Flow-Rate Sensors……Page 199
5.3 Force Sensors……Page 204
5.4 Temperature Sensors……Page 211
5.5 Item Presence Sensors……Page 212
6.2 Linear Transportation……Page 217
6.3 Rotational Transportation……Page 228
6.4 Vibrational Transportation……Page 234
7.1 Introduction……Page 238
7.2 Feeding of Liquid and Granular Materials……Page 239
7.3 Feeding of Strips, Rods, Wires, Ribbons, Etc…….Page 242
7.4 Feeding of Oriented Parts from Magazines……Page 246
7.5 Feeding of Parts from Bins……Page 253
7.6 General Discussion of Orientation of Parts……Page 265
7.7 Passive Orientation……Page 270
7.8 Active Orientation……Page 277
7.9 Logical Orientation……Page 282
7.10 Orientation by Nonmechanical Means……Page 285
8.1 General Concepts……Page 294
8.2 Automatic Assembling……Page 295
8.3 Special Means of Assembly……Page 306
8.4 Inspection Systems……Page 311
8.5 Miscellaneous Mechanisms……Page 318
9.1 Introduction……Page 325
9.2 Dynamics of Manipulators……Page 326
9.3 Kinematics of Manipulators……Page 337
9.4 Grippers……Page 361
9.5 Guides……Page 369
9.6 Mobile and Walking Robots……Page 383
Solutions to the Exercises……Page 396
Recommended Readings……Page 434
List of Main Symbols……Page 436
F……Page 442
R……Page 443
X……Page 444