Applied Dynamics and CAD of Manipulation Robots

1. Front Matter

   Pages I-XII

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2. General About Manipulation Robots and Computer-Aided Design of Machines

   • Miomir Vukobratović, Veljko Potkonjak

   Pages 1-19

3. Dynamic Analysis of Manipulator Motion

   • Miomir Vukobratović, Veljko Potkonjak

   Pages 20-149

4. Closed Chain Dynamics

   • Miomir Vukobratović, Veljko Potkonjak

   Pages 150-238

5. Computer-Aided Design of Manipulation Robots

   • Miomir Vukobratović, Veljko Potkonjak

   Pages 239-301

6. Back Matter

   Pages 302-305

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This book is a logical continuation of Volume 1 of the series entitled "Scientific Fundamentals of Robotics" which presents all of the basic methods for computerized construction of dynamics of manipulation ro­ bots as well as the essential concepts of computer-aided design of their mechanics. Vol. 1 of the Series also contains the main practical re­ sults from the elastodynamics of manipulation robots, having in mind a need for forming a computer procedure which allows efficient checks of elastic deformations of a manipulator tip or some other of its charac­ teristic points. Wishing to add a highly applications-oriented dimension to the dynamic aspect of studies of manipulation robots, the authors have made a kind of a topic-based selection by leaving unconsidered some aspects of studies of robots, such as elasticity, and discussing others, more im­ portant in their opinion, to such an extent as suffices to make them practically applicable. The authors have decided not to treat in detail the problem of flexible manipulation robots for two reasons. The first results from the atti­ tude that the permissible (desired) robot elasticity may, satisfacto­ rily well, be tested using the method described in Vol. 1 of the Series.

• Design
• Robots
• computer-aided design (CAD)
• construction
• mechanics
• robot
• robotics
• Engineering Economics

• Institute »Mihailo Pupin«, Belgrade, Yugoslavia

  Miomir Vukobratović

• Electrical Engineering Faculty of Belgrade University, Belgrade, Yugoslavia

  Veljko Potkonjak

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