Fundamentals of Robotic Mechanical Systems - robots robotics

545 Pages·2005·10.05 MB·English

by  Jorge Angeles

Fundamentals of Robotic
Mechanical Systems:
Theory, Methods, and
Algorithms,
Second Edition
Jorge Angeles
Springer
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Mechanical Engineering Series
Frederick F. Ling
Series Editor
Springer
New York
Berlin
Heidelberg
Hong Kong
London
Milan
Paris
Tokyo
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Mechanical Engineering Series
J. Angeles, Fundamentals of Robotic Mechanical Systems:
Theory, Methods, and Algorithms, 2nd ed.
P. Basu, C. Kefa, and L. Jestin, Boilers and Burners: Design and Theory
J.M. Berthelot, Composite Materials:
Mechanical Behavior and Structural Analysis
I.J. Busch-Vishniac, Electromechanical Sensors and Actuators
J. Chakrabarty, Applied Plasticity
G. Chryssolouris, Laser Machining: Theory and Practice
V.N. Constantinescu, Laminar Viscous Flow
G.A. Costello, Theory of Wire Rope, 2nd ed.
K. Czolczynski, Rotordynamics of Gas-Lubricated Journal Bearing Systems
M.S. Darlow, Balancing of High-Speed Machinery
J.F. Doyle, Nonlinear Analysis of Thin-Walled Structures: Statics,
Dynamics, and Stability
J.F. Doyle, Wave Propagation in Structures:
Spectral Analysis Using Fast Discrete Fourier Transforms, 2nd ed.
P.A. Engel, Structural Analysis of Printed Circuit Board Systems
A.C. Fischer-Cripps, Introduction to Contact Mechanics
A.C. Fischer-Cripps, Nanoindentation
J. García de Jalón and E. Bayo, Kinematic and Dynamic Simulation of
Multibody Systems: The Real-Time Challenge
W.K. Gawronski, Dynamics and Control of Structures: A Modal Approach
K.C. Gupta, Mechanics and Control of Robots
J. Ida and J.P.A. Bastos, Electromagnetics and Calculations of Fields
M. Kaviany, Principles of Convective Heat Transfer, 2nd ed.
M. Kaviany, Principles of Heat Transfer in Porous Media, 2nd ed.
E.N. Kuznetsov, Underconstrained Structural Systems
(continued after index)
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Mechanical Engineering Series (continued from page ii)
P. Ladevèze, Nonlinear Computational Structural Mechanics:
New Approaches and Non-Incremental Methods of Calculation
A. Lawrence, Modern Inertial Technology: Navigation, Guidance, and
Control, 2nd ed.
R.A. Layton, Principles of Analytical System Dynamics
F.F. Ling, W.M. Lai, D.A. Lucca, Fundamentals of Surface Mechanics With
Applications, 2nd ed.
C.V. Madhusudana, Thermal Contact Conductance
D.P. Miannay, Fracture Mechanics
D.P. Miannay, Time-Dependent Fracture Mechanics
D.K. Miu, Mechatronics: Electromechanics and Contromechanics
D. Post, B. Han, and P. Ifju, High Sensitivity Moiré:
Experimental Analysis for Mechanics and Materials
F.P. Rimrott, Introductory Attitude Dynamics
S.S. Sadhal, P.S. Ayyaswamy, and J.N. Chung, Transport Phenomena
with Drops and Bubbles
A.A. Shabana, Theory of Vibration: An Introduction, 2nd ed.
A.A. Shabana, Theory of Vibration: Discrete and Continuous Systems,
2nd ed.
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Jorge Angeles
Fundamentals of Robotic
Mechanical Systems
Theory, Methods, and Algorithms
Second Edition
123
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Jorge Angeles
Department of Mechanical Engineering
and Centre for Intelligent Machines
McGill University
817 Sherbrooke Street
Montreal, Quebec H3A2K6, Canada
[email protected]
Series Editor
Frederick F. Ling
Ernest F. Gloyna Regents Chair in Engineering
Department of Mechanical Engineering
The University of Texas at Austin
Austin, TX 78712-1063, USA
and
William Howard Hart Professor Emeritus
Department of Mechanical Engineering,
Aeronautical Engineering and Mechanics
Rensselaer Polytechnic Institute
Troy, NY12180-3590, USA
Library of Congress Cataloging-in-Publication Data
Angeles, Jorge, 1943–
Fundamentals of robotic mechanical systems : theory, methods, and algorithms / Jorge
Angeles.—2nd ed.
p. cm.—(Mechanical engineering series)
Includes bibliographical references and index.
ISBN 0-387-95368-X (alk. paper)
1. Robotics. I. Title. II. Mechanical engineering series (Berlin, Germany)
TJ211 .A545 2002
629.8'92—dc21 2001054911
ISBN 0-387-95368-X Printed on acid-free paper.
©2003 Springer-Verlag New York, Inc.
All rights reserved. This work may not be translated or copied in whole or in part without the written
permission of the publisher (Springer-Verlag New York, Inc., 175 Fifth Avenue, New York, NY
10010, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in con-
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Printed in the United States of America.
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Typesetting: Pages created by the author using a Springer TeX macro package.
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To Anne-Marie, who has given me
not only her love, but also her precious time,
without which this book would not have been possible.
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Mechanical Engineering Series
Frederick F. Ling
Series Editor
Advisory Board
Applied Mechanics F.A. Leckie
University of California,
Santa Barbara
Biomechanics V.C. Mow
Columbia University
Computational Mechanics H.T. Yang
University of California,
Santa Barbara
Dynamical Systems and Control K.M. Marshek
University of Texas, Austin
Energetics J.R. Welty
University of Oregon, Eugene
Mechanics of Materials I. Finnie
University of California, Berkeley
Processing K.K. Wang
Cornell University
Production Systems G.-A. Klutke
Texas A&M University
Thermal Science A.E. Bergles
Rensselaer Polyechnic Institute
Tribology W.O. Winer
Georgia Institute of Technology
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Series Preface
Mechanicalengineering,anengineeringdiscipline borneofthe needsofthe
industrial revolution, is once again asked to do its substantial share in the
callforindustrialrenewal.Thegeneralcallisurgentaswefaceprofoundis-
suesofproductivityandcompetitivenessthatrequireengineeringsolutions,
among others. The Mechanical Engineering Series features graduate texts
and research monographs intended to address the need for information in
contemporary areas of mechanical engineering.
Theseriesisconceivedasacomprehensiveonethatcoversabroadrange
of concentrationsimportant to mechanicalengineeringgraduate education
and research. We are fortunate to have a distinguished roster of consult-
ing editors on the advisory board, each an expert in one of the areas of
concentration.The names of the consulting editors are listed onthe facing
page of this volume. The areas of concentration are: applied mechanics;
biomechanics;computationalmechanics;dynamicsystemsandcontrol;en-
ergetics; mechanics of materials; processing; production systems; thermal
science; and tribology.
Austin, Texas Frederick F. Ling
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Preface to the Second Edition
The theory, methods and algorithms behind the development of robotic
mechanical systems continue developing at a rate faster than they can be
recorded. The second edition of Fundamentals of Robotic Mechanical Sys-
tems does not claim a comprehensive account of developments up-to-date.
Nevertheless, an attempt has been made to update the most impacting
developments in these activities. Since the appearance of the first edition,
manymilestonescanbe cited.Advances inahostofapplicationsareascan
be mentioned, e.g., laparoscopy,haptics, and manufacturing, to mention a
representative sample.
Perhapsthe mostimpressiveachievementsto be citedlie inthe realmof
space exploration. Indeed, in the period of interest we have seen the suc-
cessfullandingoftheSojourneronMars,withthewheeledrobotPathfinder
roaming on the Martian landscape in 1997. Along the same lines, the in-
frastructure of the International Space Station was set in orbit in 2000,
with the installation of Canadarm2, the successor of Canadarm, following
suit in2001.Notless impressivearethe achievementsrecordedonthe the-
oreticalsideoftheareasofinterest,althoughthesehavereceivedmuchless
media attention. To cite just one such accomplishment, one open question
mentionedinthefirsteditionwasdefinitelyclosedin1998withapaperpre-
sented at the International Workshop on Advances in Robot Kinematics.
This question pertains to the 40th-degree polynomial derived by Husty—
as reported in 1996 in a paper in Mechanism and Machine Theory—and
allowing the computation of all forward-kinematics solutions of a general
Stewart-Gough platform. Dietmaier reported an algorithm in that work-
shop that is capable of generating a set of geometric parameters of the
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