Table Of ContentTEAM LRN
ROBOTICS
Designing the Mechanisms for Automated Machinery
Second Edition
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TEAM LRN
ROBOTICS
Designing the Mechanisms
for Automated Machinery
Second Edition
Ben-Zion Sandier
The Hy Greenhill Chair in Creative Machine and Product Design
Ben-Gurion University of the Negev, Beersheva, Israel
®
ACADEMIC PRESS
San Diego London Boston
NewYork Sydney Tokyo Toronto
A Solomon Press Book
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This book is printed on acid-free paper. ©
Copyright © 1999 by Academic Press
Copyright © 1991 by Prentice-Hall, Inc.
All rights reserved.
No part of this publication may be reproduced or
transmitted in any form or by any means, electronic
or mechanical, including photocopy, recording, or
any information storage and retrieval system, without
permission in writing from the publisher.
ACADEMIC PRESS
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http://www.apnet.com
Academic Press
24-28 Oval Road, London NW1 7DX, UK
http://www.hbuk.co.uk/ap/
Book designed by Sidney Solomon and Raymond Solomon
Library of Congress Cataloging-in-Publication Data
Sandier, B. Z., 1932-
Robotics : designing the mechanisms for automated machinery /
Ben-Zion Sandier. — 2nd ed.
p. cm.
Includes bibliographical references and index.
ISBN 0-12-618520-4
1. Automatic machinery—Design and construction. I. Title.
TJ213.S1157 1999
670.42872—dc21 98-45839
CIP
Printed in the United States of America
99 00 01 01 03 MB 9 8 7 6 5 4 3 2 1
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Contents
Preface to the Second Edition ix
1 Introduction: Brief Historical Review and Main Definitions 1
1.1 What Robots Are I
1.2 Definition of Levels or Kinds of Robots 6
1.3 Manipulators 12
1.4 Structure of Automatic Industrial Systems 20
1.5 Nonindustrial Representatives of the Robot Family 26
1.6 Relationship between the Level of Robot "Intelligence"
and the Product 34
References 36
2 Concepts and Layouts 37
2.1 Processing Layout 37
2.2 How Does One Find the Concept of an
Automatic Manufacturing Process? 45
2.3 How to Determine the Productivity of a Manufacturing Process 50
2.4 The Kinematic Layout 55
2.5 Rapid Prototyping 61
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vi Contents
3 Dynamic Analysis of Drives 64
3.1 Mechanically Driven Bodies 64
3.2 Electromagnetic Drive 71
3.3 Electric Drives 75
3.4 Hydraulic Drive 88
3.5 Pneumodrive 91
3.6 Brakes 99
3.7 Drive with a Variable Moment of Inertia 103
4 Kinematics and Control of Automatic Machines 116
4.1 Position Function 116
4.2 Camshafts 123
4.3 Master Controller, Amplifiers 135
4.4 Dynamic Accuracy 148
4.5 Damping of Harmful Vibrations 157
4.6 Automatic Vibration Damping 162
4.7 Electrically Controlled Vibration Dampers 166
5 Feedback Sensors 175
5.1 Linear and Angular Displacement Sensors 175
5.2 Speed and Flow-Rate Sensors 788
5.3 Force Sensors 193
5.4 Temperature Sensors 200
5.5 Item Presence Sensors 202
6 Transporting Devices 206
6.1 General Considerations 206
6.2 Linear Transportation 206
6.3 Rotational Transportation 217
6.4 Vibrational Transportation 223
7 Feeding and Orientation Devices 227
7.1 Introduction 227
7.2 Feeding of Liquid and Granular Materials 228
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Contents vii
7.3 Feeding of Strips, Rods, Wires, Ribbons, Etc. 231
7.4 Feeding of Oriented Parts from Magazines 235
7.5 Feeding of Parts from Bins 242
7.6 General Discussion of Orientation of Parts 254
7.7 Passive Orientation 259
7.8 Active Orientation 266
7.9 Logical Orientation 271
7.10 Orientation by Nonmechanical Means 274
8 Functional Systems and Mechanisms 283
8.1 General Concepts 283
8.2 Automatic Assembling 284
8.3 Special Means of Assembly 295
8.4 Inspection Systems 300
8.5 Miscellaneous Mechanisms 307
9 Manipulators 314
9.1 Introduction 314
9.2 Dynamics of Manipulators 315
9.3 Kinematics of Manipulators 326
9.4 Grippers 350
9.5 Guides 358
9.6 Mobile and Walking Robots 372
Solutions to the Exercises 385
Recommended Readings 423
List of Main Symbols 425
Index 431
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This book provides information on the stages of machinery design for automated
manufacturing and offers a step-by-step process for making it optimal. This is illus-
trated by numerous examples of technical concepts taken from different manufac-
turing domains. The author, being a university teacher, sees that teaching curricula
and textbooks most often do not provide the answers to the questions: How are things
built? How do they work? How does one best approach the design process for a spe-
cific machine? Most textbooks emphasize computation theories and techniques and
deal less with the physical objects that the theories describe.
During recent years, some new techniques have been developed and put into wide-
spread use. The book thus covers such modern concepts as rapid modeling; automated
assembly; parallel-driven robots; and mechatronic systems for reducing dynamic errors
of a mechanical link by continuous, close-to-optimal, control of its oscillation para-
meters by electronic means. The author understands that writing and publishing pro-
cedure can involve a time lag between the contents of the book and the real, rapidly
developing world. The revised edition of the book is based on an evaluation of both
current principles and newly developed concepts.
Some experiments carried out in the laboratory and described here also serve as
illustrations for the relevant topics; for instance:
• Automotive mechanical assembly of a product by a manipulator (robot),
• Systems for reducing vibrations,
• Parallel-driven robots.
In this edition, greater use is made of calculation examples. Calculations performed
mostly with the help of the MATHEMATICA program have a number of advantages: they
are time-saving, are especially useful in solving nonlinear equations, and are capable
of providing a graphic display of processes. Problems and solutions are integrated
into the text so as to provide a better understanding of the contents by quantitatively
illustrating the solutions and procedures. This also helps in solving other problems of
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