Forim@ge Books > Textbook > A Textbook of Robotics 2: Structure, Control and Operation by Moshe Shoham (auth.)

A Textbook of Robotics 2: Structure, Control and Operation by Moshe Shoham (auth.)

By Moshe Shoham (auth.)

Show description

Read or Download A Textbook of Robotics 2: Structure, Control and Operation PDF

Similar textbook books

Ethics for Paralegals

Ethics for Paralegals makes an attempt to animate the examine of Ethics. it truly is serious for the paralegal scholar to appreciate the parameters in their not just their task, but additionally the moral principles that outline the correct perform of legislations. it's only after realizing felony ethics that the paralegal is aware why they do issues a definite means within the legislations workplace.

Survey of Economics (8th Edition)

Designed in particular for the one-semester introductory economics direction for non-majors, Tucker's SURVEY OF ECONOMICS, 7th variation, grants the main entire and pedagogically wealthy therapy of advent to economics to be had. Readable, brilliant, and engaging, this article is popular for its attractive presentation, emphasis on serious considering, energetic studying atmosphere, hugely motivational pedagogy, unequalled visible studying help, and diverse in-chapter purposes and assessment possibilities.

Computers Are Your Future (12th Edition)

Desktops Are Your destiny offers wide expertise references with no being overwhelming. large pictures paired with a definition-driven structure provide the reader with a pragmatic method of desktops. contains chapters and highlights on computing device ethics, web, e-commerce, process and alertness software program, structures research and layout.

Chemistry: Principles and Reactions (8th Edition)

Detect all the basic subject matters of basic chemistry with this short, reader-oriented ebook. CHEMISTRY: ideas AND REACTIONS, 8e, offers a transparent, concise presentation in response to the authors' greater than 50 years of mixed educating adventure. The booklet contains graded and concept-driven examples in addition to examples that concentrate on molecular reasoning and figuring out, in addition to "Chemistry: past the Classroom" essays that exhibit the relevance of the thoughts and spotlight probably the most up to date makes use of of chemistry.

Extra resources for A Textbook of Robotics 2: Structure, Control and Operation

Sample text

14: A Cartesian robot manufactured by the Thermwood Corporation 29 Structure, Control and Operation Cylindrical Robots A cylindrical robot possesses one rotary and two linear degrees of freedom. Using the designations explained in the preceding section, this type of robot is designated RPP. The axes of motion of cylindrical ro hots are shown in Figures 2-15 and 2-16. 16: A cylindrical robot manufactured by Prab Examination of the three degrees of freedom closest to the robot base will prove the cylindrical nature of the robot shown in Figure 2-16.

Comparing the theoretical work envelope of this type of robot with the actual work volume as given by the manufacturer, we note considerable differences. In addition, it must be remembered that, even within the actual work volume, not all points can be reached with the desired orientation. In fact, some of them - the extremes of the envelope - are accessible from only one angle (that at which the end effector constitutes a rectilinear extension of the arm itself). Advantages and Disadvantages of Various Kinematic Structures: Summary Comparing the various kinematic structures in the above sections results in the following conclusions: * * * Cartesian robots can provide the highest level of mechanical rigidity, and are therefore to be preferred in high-precision applications.

It is true that the moments (forces) exerted on the motors of Cartesian robots carrying defined loads at constant rates of speed remain unchanged at all points of the work envelope. However, this is not the case with other types of robots. For example, let us compute the moment required to lift a given load at a constant velocity, by means of the spherical robot shown in Figure 2-27A. 81m/sec 2 = gravity L = distance ~ = mass of the ann; constant; between the gripper and the axis of rotation of the joint; of the load.

Download PDF sample

Rated 4.57 of 5 – based on 33 votes