Robotics: Designing the Mechanisms for Automated Machinery

Ben Zion Sandler0126185204, 9780126185201

Robotics: Designing the Mechanisms for Automated Machinery 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.

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Table of contents :
Contents……Page 7
Preface to the Second Edition……Page 11
1.1 What Robots Are……Page 13
1.2 Definition of Levels or Kinds of Robots……Page 18
1.3 Manipulators……Page 24
1.4 Structure of Automatic Industrial Systems……Page 32
1.5 Nonindustrial Representatives of the Robot Family……Page 38
References……Page 48
2.1 Processing Layout……Page 49
2.2 How Does One Find the Concept of an Automatic Manufacturing Process?……Page 57
2.3 How to Determine the Productivity of a Manufacturing Process……Page 62
2.4 The Kinematic Layout……Page 67
2.5 Rapid Prototyping……Page 73
3.1 Mechanically Driven Bodies……Page 76
3.2 Electromagnetic Drive……Page 83
3.3 Electric Drives……Page 87
3.4 Hydraulic Drive……Page 100
3.5 Pneumodrive……Page 103
3.6 Brakes……Page 111
3.7 Drive with a Variable Moment of Inertia……Page 115
4.1 Position Function……Page 128
4.2 Camshafts……Page 135
4.3 Master Controller, Amplifiers……Page 147
4.4 Dynamic Accuracy……Page 160
4.5 Damping of Harmful Vibrations……Page 169
4.6 Automatic Vibration Damping……Page 174
4.7 Electrically Controlled Vibration Dampers……Page 178
5.1 Linear and Angular Displacement Sensors……Page 187
5.2 Speed and Flow-Rate Sensors……Page 200
5.3 Force Sensors……Page 205
5.4 Temperature Sensors……Page 212
5.5 Item Presence Sensors……Page 213
6.2 Linear Transportation……Page 218
6.3 Rotational Transportation……Page 229
6.4 Vibrational Transportation……Page 235
7.1 Introduction……Page 239
7.2 Feeding of Liquid and Granular Materials……Page 240
7.3 Feeding of Strips, Rods, Wires, Ribbons, Etc…….Page 243
7.4 Feeding of Oriented Parts from Magazines……Page 247
7.5 Feeding of Parts from Bins……Page 254
7.6 General Discussion of Orientation of Parts……Page 266
7.7 Passive Orientation……Page 271
7.8 Active Orientation……Page 278
7.9 Logical Orientation……Page 283
7.10 Orientation by Nonmechanical Means……Page 286
8.1 General Concepts……Page 295
8.2 Automatic Assembling……Page 296
8.3 Special Means of Assembly……Page 307
8.4 Inspection Systems……Page 312
8.5 Miscellaneous Mechanisms……Page 319
9.1 Introduction……Page 326
9.2 Dynamics of Manipulators……Page 327
9.3 Kinematics of Manipulators……Page 338
9.4 Grippers……Page 362
9.5 Guides……Page 370
9.6 Mobile and Walking Robots……Page 384
Solutions to the Exercises……Page 397
Recommended Readings……Page 435
List of Main Symbols……Page 437
F……Page 443
R……Page 444
X……Page 445