This book provides a fundamental knowledge of robotic grasping and fixturing (RGF) manipulation. For RGF manipulation to become a science rather than an art, the content of the book is uniquely designed for a thorough understanding of the RGF from the multifingered robot hand grasp, basic fixture design principle, and evaluating and planning of robotic grasping/fixturing, and focuses on the modeling and applications of the RGF. Compared with existing publications, this volume concentrates more on abstract formulation, i.e. mathematical modeling of robotic grasping and fixturing. Thus, it will be a good reference text for academic researchers, manufacturing and industrial engineers and a textbook for engineering graduate students. The book provides readers an overall picture and scientific basis of RGF, the comprehensive information and mathematic models of developing and applying RGF in industry, and presents long term valuable information which is essential and can be used by technical professions as a good reference
ch. 1. Robotic grasp and workpiece-fixture systems. 1.1. Introduction. 1.2. Robotic manipulation and multifingered robotic hands. 1.3. AMT and fixtures. 1.4. Comparison between grasping and fixturing. 1.5. Bibliography -- ch. 2. Qualitative analysis and quantitative evaluation of form-closure grasping/fixturing. 2.1. Introduction. 2.2. Qualitative analysis. 2.3. Quantitative evaluation. 2.4. Summary. 2.5. Bibliography -- ch. 3. Stability index and contact configuration planning of force-closure grasping/fixturing. 3.1. Introduction. 3.2. Description of contacts with friction. 3.3. Conditions of force closure grasp. 3.4. Grasp stability index. 3.5. Examples. 3.6. Summary. 3.7. Bibliography -- ch. 4. Active grasp force planning. 4.1. Introduction. 4.2. Nonlinear programming in grasp. 4.3. Force planning using neural networks. 4.4. Simulation. 4.5. Summary. 4.6. Bibliography -- ch. 5. Grasp capability analysis. 5.1. Introduction. 5.2. Evaluation of multifingered grasp capability. 5.3. Numerical example. 5.4. Summary. 5.5. Bibliography -- ch. 6. Compliant grasping with passive forces. 6.1. Introduction. 6.2. The model of compliant grasping/fixturing. 6.3. Local elastic contact model. 6.4. Deformation compatible constraints for all contacts. 6.5. Stability of grasping/fixturing systems. 6.6. Passive force closure prediction. 6.7. Numerical example. 6.8. Summary. 6.9. Bibliography -- ch. 7. Kinematics of contacts and rolling manipulation. 7.1. Introduction. 7.2. Kinematics of pure rolling contact. 7.3. Kinematics of manipulation with rolling contact. 7.4. Coordinating manipulation of multifingered robotic hands. 7.5. Adjustment of fingertip contact forces. 7.6. Experimental results. 7.7. Summary. 7.8. Bibliography -- ch. 8. Dynamic stability of grasping/fixturing. 8.1. Introduction. 8.2. Dynamic equations of motion for a grasped/fixtured object. 8.3. Dynamic stability conditions and quality measure. 8.4. Summary. 8.5. Bibliography -- ch. 9. Locating error analysis and configuration planning of fixtures. 9.1. Introduction. 9.2. Error mapping model. 9.3. Locator and clamp configuration characteristics. 9.4. Evaluation indexes of fixturing. 9.5. Configuration planning of fixturing. 9.6. Summary. 9.7. Bibliography. ch. 10. Clamping planning in workpiece-fixture systems. 10.1. Introduction. 10.2. Planning of magnitudes and positions of clamping forces. 10. 3. Verification of force constraints. 10.4. Numerical example. 10.5. Summary. 10.6. Bibliography.
Fundamentals of robotic grasping and fixturing
2007
1 Online-Ressource (x, 218 p)
ill. (some col.)
Campusweiter Zugriff (Universität Hannover) - Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Keine Weitergabe an Dritte. Kein systematisches Downloaden durch Robots.
Includes bibliographical references and index
Book
Electronic Resource
English
DDC: | 629.8/933 |
SAE Technical Papers | 2004
|British Library Conference Proceedings | 2004
|Tema Archive | 2002
|Sensory Interactive Teleoperator Robotic Grasping
NTRS | 1997
|