Luis Maria Cabás Ormaechea (auth.), Nestor Eduardo Nava's Advanced Mechanics in Robotic Systems PDF

By Luis Maria Cabás Ormaechea (auth.), Nestor Eduardo Nava Rodríguez (eds.)

ISBN-10: 085729587X

ISBN-13: 9780857295873

Humans have consistently been interested by the idea that of man-made lifestyles and the development of machines that glance and behave like humans. because the box of robotics evolves, it calls for non-stop improvement of profitable structures with high-performance features for useful applications.

Advanced Mechanics in robot Systems illustrates unique and bold mechanical designs and strategies for constructing new robotic prototypes with winning mechanical operational talents. Case reports are fascinated with initiatives in mechatronics that experience excessive progress expectations:

  • humanoid robots,
  • robotics hands,
  • mobile robots,
  • parallel manipulators, and
  • human-centred robots.

A sturdy keep watch over procedure calls for solid mechanical layout, so a bankruptcy has additionally been dedicated to the outline of appropriate tools for regulate structure layout.

Readers of Advanced Mechanics in robot Systems will realize novel designs for correct functions in robot fields, that might be of specific curiosity to educational and industry-based researchers.

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Additional resources for Advanced Mechanics in Robotic Systems

Sample text

Cabás Ormaechea Fig. 14 Location of the RL2 Hand inside the docking Fig. 15 States of the RL2 Hand As in the RL1 Hand, the fingers and the thumb of the RL2 Hand are located on a cradle which helps the hand to position inside the anchor with a configuration and then, once it leaves it, to locate in a holding tasks position. In this case, the cradles do not need to be driven. They are free and are taking different positions every time a finger leaves the anchor. To make this possible there are some guides that help the cradles to slide and position each finger into the necessary configuration (Fig.

For that reason, it can be said that the driving system to be implemented on a robotic system should offer only static and relative states leaving the discrete states for specific actions that need no determined control. 28 R. Cabás Ormaechea Fig. 5 Actuator based philosophy focused on multistates robotics hands 3 RL1 and RL2 Hand The first robotic hand designed under Multi-State Robotics Hands philosophy was the RL1 Hand. It was developed by the Robotics Lab of the Carlos III University. The second generation of the RL1 Hand, the RL2 Hand, has two important aspects that differs it from the first one: the improvement of its mechanism and the finger configuration dedicated to reach more functionality without modifying the initial concept.

One of the technological improvements that this robotic hand offers is the development of flexible hydraulic actuators, which have a positive size-strength relation. These actuators, due to its special design, are fully integrated inside the fingers and make complex movements even though their manufacturing cost is considerably low. The structure of this actuator is basically formed by two elements that join the mobile parts and, also, act as a hinge. Inside it, there is located the flexible hydraulic actuator that divides the two elements, making the movements and providing the necessary strength when fluid is injected.

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Advanced Mechanics in Robotic Systems by Luis Maria Cabás Ormaechea (auth.), Nestor Eduardo Nava Rodríguez (eds.)


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