The Mechanics of Robot Grasping
Cambridge University Press, 10/24/2019
EAN 9781108427906, ISBN10: 1108427901
Hardcover, 506 pages, 25.4 x 18 x 2.8 cm
Language: English
Originally published in English
In this comprehensive textbook about robot grasping, readers will discover an integrated look at the major concepts and technical results in robot grasp mechanics. A large body of prior research, including key theories, graphical techniques, and insights on robot hand designs, is organized into a systematic review, using common notation and a common analytical framework. With introductory and advanced chapters that support senior undergraduate and graduate level robotics courses, this book provides a full introduction to robot grasping principles that are needed to model and analyze multi-finger robot grasps, and serves as a valuable reference for robotics students, researchers, and practicing robot engineers. Each chapter contains many worked-out examples, exercises with full solutions, and figures that highlight new concepts and help the reader master the use of the theories and equations presented.
1. Introduction and overview
Part I. Basic Geometry of the Grasping Process
2. Rigid-body configuration space
3. Configuration space tangent and cotangent vectors
4. Rigid body equilibrium grasps
5. A catalog of equilibrium grasps
Part II. Frictionless Rigid Body Grasps and Stances
6. Introduction to secure grasps
7. First-order immobilizing grasps
8. Second-order immobilizing grasps
9. Minimal immobilizing grasps
10. Multi-finger caging grasps
11. Frictionless hand supported stances under gravity
Part III. Frictional Rigid-Body Grasps, Fixtures, and Stances
12. Wrench resistant grasps
13. Grasp quality functions
14. Hand supported stances under gravity – Part I
15. Hand supported stances under gravity – Part II
Part IV. Grasping Mechanisms
16. The kinematics and mechanics of grasping mechanisms
17. Grasp manipulability
18. Hand mechanism compliance
Appendices
Index.