Design of Manipulators Under Dynamic and Kinematic Performances
In this paper the improvement of a preliminary design process based on an iterative and interactive synthesis is proposed. The problem concerns the determination of dimentionnal parameters of a manipulator able to move a payload along a trajectory defined
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Series Editors: The Rectors of CISM Sandor Kaliszky - Budapest Mahir Sayir- Zurich Wilhelm Schneider- Wien The Secretary General of CISM Giovanni Bianchi -Milan Executive Editor Carlo Tasso- Udine
The series presents lecture notes, monographs, edited works and proceedings in the field of Mechanics, Engineering, Computer Science and Applied Mathematics. Purpose of the series is to make known in the international scientific and technical community results obtained in some of the activities organized by CISM, the International Centre for Mechanical Sciences.
INTERNATIONAL CENTRE FOR MECHANICAL SCIENCES COURSES AND LECfURES - No. 422
ROMANSY13 THEORY AND PRACTICE OF ROBOTS AND MANIPULATORS PROCEEDINGS OF THE THIRTEENTH CISM-IFfoMM SYMPOSIUM
EDITED BY ADAM MORECKI
WARSAW UNIVERSITY OF TECHNOLOGY GIOVANN! BIANCID POLYTECHNIC OF MILAN
CEZARY RZYMKOWSKI WARSAW UNIVERSITY OF TECHNOLOGY
~Springer-Verlag Wien GmbH
This volume contains 292 illustrations
This work is subject to copyright All rights are reserved, whether the whole or part of the material is concerned specifically those of translation, reprinting, re-use of illustrations, broadcasting, reproduction by photocopying machine or similar means, and storage in data banks. @ 2000 by Springer-Verlag Wien Originally published by Springer-Verlag Wien New York in 2000 Softcover reprint of the hardcover 1st edition 2000
SPIN 10796360
In order to make this volume available as economically and as
rapidly as possible the authors' typescripts have been reproduced in their original fonns, This method unfortunately has its typographical limitations but it is hoped that they in no way distract the reader.
ISBN 978-3-7091-2500-7 DOI 10.1007/978-3-7091-2498-7
ISBN 978-3-7091-2498-7 (eBook)
PREFACE
The CISM-IFToMM Ro.Man.Sy Symposia have played a dynamic role in the development of the theory and practice of robotics. The proceedings of the thirteenth symposia present world view of the state of the art. Ro.Man.Sy 2000 held July 3-6, 2000 in Zakopane, Poland was attended by 74 participants from 15 countries. The proceedings of this thirteenth edition of Ro.Man:Sy focus mainly on problems of mechanical engineering and control. In his opening lecture B. Roth presented an overview of the theoretical basis for the mechanical aspects of robot design. In his general lecture M. Vukobratovic discussed theory and practice of new frontiers of robotics. The 50 regular papers included in this volume illustrate significant contribution in mechanics ( 13 papers), motion control (7), synthesis and design (8), legged locomotion (1 1), sensing and machine intelligence (2), applications (5) and biomechanical aspects of robots and manipulators (4). They appear here in the order and form in which they were presented during the symposium. The next Ro.Man.Sy will be held in Udine, Italy in July 2002.
Adam Morecki Giovanni Bianchi Cezary Rzymkowski
CONTENTS Page Preface
OPENING LECTURE: The Theoretical Basis for the Mechanical Aspects of Robot Design by B. Roth .........................
