FUNDAMENT ROBOT GRASP.. (2ND ED)Edition 2

This book is uniquely designed for a thorough understanding of the fundamentals of the robotic grasping and fixturing (RGF) from the multifingered robot hand grasp, humanoid robot hand and basic fixture design principle, and evaluating and planning of robotic grasping/ fixturing. It also focuses on the modeling and applications of the RGF.

Three new chapters are added in this edition to cover the relevant basic theories of grasping feature analysis and the new principles of robotic hand design that reproduce the natural motion laws of human hand.

Compared with existing publications, this volume concentrates more on abstract formulation, i.e. mathematical modeling of robotic grasping and fixturing. Thus, it will be a good reference text for academic researchers, manufacturing and industrial engineers and a textbook for engineering graduate students.

Contents:

• Preface
• About the Authors
• Robotic Grasp and Workpiece-Fixture Systems
• Singular-Value Decomposition and Its Application
• Qualitative Analysis and Quantitative Evaluation of Form-Closure Grasping/Fixturing
• Stability Index and Contact Configuration Planning of Force-Closure Grasping/Fixturing
• Active Grasp Force Planning
• Grasp Capability Analysis
• Compliant Grasping with Passive Forces
• Kinematics of Contacts and Rolling Manipulation
• Dynamic Stability of Grasping/Fixturing
• Locating Error Analysis and Configuration Planning of Fixtures
• Clamping Planning in Workpiece-Fixture Systems
• Design and Implementation of Anthropomorphic Hand for Replicating Human Grasping Functions
• Mechanical Implementation of Kinematic Synergy for Continual Grasping Generation
• Index

Readership: Researchers, professionals, academics and graduate students in mechanical and electrical and electronic engineering.