Performance Evaluation and Design Criteria View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2008

AUTHORS

Jorge Angeles , Frank C. Park

ABSTRACT

This chapter is devoted to the design of robots, with a focus on serial architectures. In this regard, we start by proposing a stepwise design procedure; then, we recall the main issues in robot design. These issues pertain to workspace geometry, the kinetostatic, the dynamic, the elastostatic, and elastodynamic performance. In doing this, the mathematics behind the concepts addressed is briefly outlined to make the chapter self-contained. We survey some of the tools and criteria used in the mechanical design and performance evaluation of robots. Our focus is limited to robots that are (a) primarily intended for manipulation tasks and (b) supplied with serial kinematic chains. The kinematics of parallel robots is addressed in detail in Chap. 12. Wheeled robots, walking robots, multifingered hands, and other similar specialized structures are studied in their own chapters. More... »

PAGES

229-244

References to SciGraph publications

Book

TITLE

Springer Handbook of Robotics

ISBN

978-3-540-23957-4
978-3-540-30301-5

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/978-3-540-30301-5_11

DOI

http://dx.doi.org/10.1007/978-3-540-30301-5_11

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1026885856


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