Keywords
Citation
Rigelsford, J. (2002), "Mechanics of Robot Manipulation", Industrial Robot, Vol. 29 No. 1. https://doi.org/10.1108/ir.2002.04929aae.002
Publisher
:Emerald Group Publishing Limited
Copyright © 2002, MCB UP Limited
Mechanics of Robot Manipulation
M. T. MasonThe MIT Press2001253 pp.ISBN 0-262-13396-2£30.95 Hardback
Keyword: Robots</P
Mechanics of Robot Manipulation is an unusual book in that it focuses on the manipulation rather than manipulators. It provides a fundamental approach to the processes of manipulation which can be applied to a broad range of devices.
The book comprises ten chapters which draw on both classical mechanics and classical planning. Chapter 1, Manipulation, is an introductory chapter which presents two case studies and discusses various issues related to manipulation. The cases address manipulation by a human and an automated assembly system.
Chapters 2 and 3 discuss Kinematics and Kinematic Representation, respectively. Topics covered include planar, spherical and spatial kinematics; kinematic constraints and mechanisms; representation of spatial rotations; and representation of spatial displacements. Path planning, kinematic models of contact and path planning for non-holonomic systems are addressed in chapter 4, Kinematic Manipulation.
Chapter 5, Rigid Body Statistics, presents the basic properties of forces acting on rigid bodies and then develops methods for representing and analysing systems of forces. Subjects discussed include: polyhedral convex cones; contact wrenches and wrench cones; cones in velocity twist space; instantaneous centres and Reuleaux's method, and force dual. Chapter 6 discusses Friction, including Coulomb's law and static equilibrium problems, while Quasistatic Manipulation is addressed in chapter 7. This chapter addresses grasping and fixturing, pushing, parts orienting and assembly.
Chapters 8 and 9 discuss Dynamics and Impact, respectively. Subjects covered in these sections include: Newton's laws; a particle in three dimensions; rigid body dynamics; the angular inertia matrix; planar multiple-contact problems; and rigid body impact. The final chapter of the book presents Dynamic manipulation and discusses quasidynamic manipulation, briefly dynamic manipulation and continuously dynamic manipulation.
The end of each chapter is concluded with a set of bibliographic notes and a set of exercises. An appendix discussing infinity is also included. Overall, “Mechanics of Robot Manipulation” is a highly readable reference text which outlines a path of inquiry rather than a specific solution to manipulation problems.