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20.1 Fundamentals of Robot Dynamic Modeling. 20.2 Recursive Formulation of Robot Dynamics. 20.3 Complete Model of Robot Dynamics. 20.4 Some Applications of Computer-Aided Dynamics. 20.1.1 Basic Ideas. FIGURE 20.1 Robot as a simple and open chain.. Figure 20.2 shows one link of the robot chain, the j -th one. (20.2) The tilde. FIGURE 20.2 Geometry of a link.. that (20.7)...
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21.1 Robot Driving Systems. 21.2 Computer-Aided Design. Section 21.2 gives the principles of advanced design. 1,2 Such a model of the complete dynamics is derived in Sections 21.3.1 and 21.3.2.. 21.1.1 Present State and Prospects. 21.1.2 DC Motors: Principles and Mathematics. Figure 21.1 shows two rotor shapes, cylindrical and disc. FIGURE 21.1 Different rotor shapes enable different overall shape of...
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22.3 Control of a Single Joint of the Robot. To accomplish various tasks, the hand of the robot (or the payload, or the tool) has to be placed in the desired locations at the workplace and take the desired orientation (and, sometimes, to produce certain desired forces upon the other objects in the workspace). In this case, the operator of...
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23.1 Introduction 23.2 Contact Tasks. 23.3 Classification of Robotized Concepts for Constrained Motion Control. 23.6 Active Compliant Motion Control Methods. 23.7 Contact Stability and Transition. 23.9 Conclusion. 23.1 Introduction. 23.2 Contact Tasks. FIGURE 23.1 Basic classification of robot compliance.. FIGURE 23.2 Passive compliance classification.. 23.4 Model of Robot Performing Contact Tasks. (23.2) where is the output angle of the motor...
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is not very crucial to the effectiveness of the network. One of the earliest sensory connectionist methods capable of serving as an alternative to the well-known backpropagation algorithm is the CMAC (cerebellar model arithmetic computer) 20 (Figure 24.2). CMAC is an associative neural network using the feature that only a small part of the network influences any instantaneous output. In...
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25.1 Introduction 25.2 Hand Controllers. 25.1 Introduction. Thus, teleoperators or the activities of teleoperation extend the manipulative capabilities of the human arm and hand to remote, physically hostile, or dangerous environments. In these very successful systems, the slave arm at the remote site is mechanically or electrically coupled to the geometrically identical or similar master arm handled by the operator...
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26.1 Introduction 26.2 Fundamental Issues. 26.3 Dynamics of Mobile Robots 26.4 Control of Mobile Robots. 26.1 Introduction. In Section 26.2 of this chapter, fundamental issues are explained regarding nonholonomic systems and how they differ from holonomic ones. Section 26.3 covers dynamics of mobile robots. 26.2 Fundamental Issues. 26.2.1 Definition of a Mobile Robot. where φ defines the orientation of the...
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27.3 Control Synthesis for Biped Gait. 27.6 Conclusion. 27.1.1 Introduction. 27.1.2 The ZMP Notion. FIGURE 27.1 Single-support phase.. Substituting Equation (27.4) in Equation (27.6) yields:. 27.1.3 The Difference between ZMP and the Center of Pressure (CoP) One can see from the above analysis that ZMP is apparently equivalent to the center of pressure (CoP), representing the application point of the...
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28.1 Introduction 28.2 Industrial Robots. 28.3 Service Robots. 28.1 Introduction. In 1999 some 940,000 industrial robots were at work and major industrial countries reported growth rates in robot installation of more than 20% compared to the previous year (see Figure 28.1) The automotive, electric, and electronic industries have been the largest robot users. Robotics integrates the states of the art...
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Physical properties of metals, ceramics, and polymers, such as ductility, thermal expansion, heat capacity, elastic modulus, electrical conductivity, and dielectric and magnetic properties, are a direct result of the structure and bonding of the atoms and ions in the material. An understanding of the origin of the differences in these properties is of great engineering importance.. whereas in polycrystalline and...
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21, by permission of the publisher.. The atomic arrangement in crystals of the allotrophic forms of iron is shown in Fig. Austenite is a homogeneous phase, consisting of a solid solution of carbon in the y form of iron. The carbon content of a slowly cooled steel can be estimated from the relative amounts of pearlite and proeutectoid constituents in...
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Yet in the more than 100 years since that time, aluminum has become the second most widely used of the approximately 60 naturally occurring metals, behind only iron.. 3.2 PROPERTIES OF ALUMINUM. ALUMINUM ALLOYS 48 3.6 WORKINGSTRESSES 49 3.7 CHARACTERISTICS 51. Coloring 57 3.11.8 Hard Anodizing 57 3.11.9 Electroplating Applied Coatings 57 3.12 SUMMARY 57. 3 of aluminum weighs 0.1...
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Mechanical Properties of Copper Cold Rolled. Copper 59 4.1.2 Hardening Copper 60 4.1.3 Corrosion 60 4.1.4 Fabrication 60 4.2 SAND-CAST COPPER-BASE. Sb, max 0.003%. Bi, max 0.003%. A number of elements that reduce oxygen in copper, such as Zr, Cr, B, P, can also provide some softening resistance.. Manufacturers should be consulted in regard to its use under corrosive conditions.....
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Nickel, the 24th element in abundance, has an average content of 0.016% in the outer 10 miles of the earth's crust. Of the total known ore deposits, more than 80% is contained in laterite ores. Nickel has an atomic number of 28 and is one of the transition elements in the fourth series in the periodic table. Useful properties of...
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Titanium was first identified as a constituent of the earth's crust in the late 170Os. In the early 190Os, a sulfate purification process was developed to commercially obtain high- purity TiO 2 for the pigment industry, and titanium pigment became available in both the United States and Europe. In the 1920s, ductile titanium was prepared with an iodide dissociation method...
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Because of the widespread, easy availability of magnesium ores (e.g., from the ocean), the ore supply is, in human terms, inexhaustible.. some examples are the protection of buried pipelines and the prolon- gation of the life of household hot-water tanks. Magnesium in powder form is added to gray cast iron to produce ductile, or nodular, iron, an alloy that has...
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Plastics can be classified in several ways. Copolymer ABS 118 8.2.7 Poly vinyl Chloride 118 8.2.8 Poly(vinylidine chloride Poly(methyl Methacrylate Polyethylene Terephthalate) 119 8.3 ENGINEERING. THERMOPLASTICS 124 8.4.1 Poly(tetrafluoroethylene Poly(chlorotrifluoroethylene Fluorinated Ethylene-. They are prepared by the catalytic polymerization of ethylene. Their heat deflection temperatures are reasonable but not high. Some typical properties of PEs are listed in Table 8.1.....
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of Composite Materials 132 9.1.2 Comparative Properties of. MATRIX MATERIALS 136 9.2.1 Reinforcements 137 9.2.2 Matrix Materials 139 9.3 PROPERTIES OF COMPOSITE. MATERIALS 143 9.3.1 Mechanical Properties of. Composite Materials 144 9.3.2 Physical Properties of. 9.1.2 Comparative Properties of Composite Materials. There are a large and increasing number of materials that fall in each of the four types of composites,...
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For thermoplastic matrices reinforced with discontinuous fibers, one of the most widely used processes is injection molding. Many of the processes for making MMCs with continuous fiber reinforcements are very expensive. Composites are now being used in a large and increasing number of important mechanical engineering applications. In this section, we discuss some of the more significant current and emerging...
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10.2) tending to decrease the length of the material. 10.3) to resist the action of the external forces, tending to slide the adjacent parts in opposite directions. NORMAL STRESS is the component of the resultant stress that acts normal to the area considered (Fig. It is the stress existing in a straight homogeneous bar when the resultant of the applied...