Fundamentals of robotic grasping and fixturing

Fundamentals of robotic grasping and fixturing / Caihua Xiong, Han Ding, Youlun Xiong.

This book provides a fundamental knowledge of robotic grasping and fixturing (RGF) manipulation. For RGF manipulation to become a science rather than an art, the content of the book is uniquely designed for a thorough understanding of the RGF from the multifingered robot hand grasp, basic fixture de...

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Bibliographic Details
Main Author: Xiong, Caihua
Other Authors: Ding, Han, 1963-, Xiong, You-Lun
Format: eBook
Language:English
Published: Singapore ; Hackensack, NJ : World Scientific, ©2007.
Series:Series on manufacturing systems and technology ; v. 3.
Subjects:
Robots > Motion > Mathematical models.
Robot hands > Design and construction.
TECHNOLOGY & ENGINEERING > Automation.
Robot hands > Design and construction
Robots > Motion > Mathematical models
Online Access:Click for online access
Table of Contents:
  • Preface; Contents; Chapter 1 Robotic Grasp and Workpiece-Fixture Systems; 1.1 Introduction; 1.2 Robotic Manipulation and Multifingered Robotic Hands; 1.3 AMT and Fixtures; 1.4 Comparison between Grasping and Fixturing; 1.5 Bibliography; Chapter 2 Qualitative Analysis and Quantitative Evaluation of Form-Closure Grasping/Fixturing; 2.1 Introduction; 2.2 Qualitative Analysis; 2.2.1 Kinematic Characteristics of Grasping/Fixturing; 2.2.2 Discriminances of Form-Closure Grasping/Fixturing; 2.2.3 Minimum Number of Contacts with Frictionless; 2.3 Quantitative Evaluation; 2.3.1 Evaluation Criteria.
  • 2.3.2 Numerical Example2.4 Summary; 2.5 Bibliography; Chapter 3 Stability Index and Contact Configuration Planning of Force-Closure Grasping/Fixturing; 3.1 Introduction; 3.2 Description of Contacts with Friction; 3.3 Conditions of Force Closure Grasp; 3.4 Grasp Stability Index; 3.4.1 Definition of the Grasp Stability Index; 3.4.2 Some Properties of the Index; 3.4.3 Contact Configuration Planning; 3.5 Examples; 3.6 Summary; 3.7 Bibliography; Chapter 4 Active Grasp Force Planning; 4.1 Introduction; 4.2 Nonlinear Programming in Grasp; 4.3 Force Planning Using Neural Networks; 4.4 Simulation.
  • 4.5 Summary4.6 Bibliography; Chapter 5 Grasp Capability Analysis; 5.1 Introduction; 5.2 Evaluation of Multifingered Grasp Capability; 5.3 Numerical Example; 5.4 Summary; 5.5 Bibliography; Chapter 6 Compliant Grasping with Passive Forces; 6.1 Introduction; 6.2 The Model of Compliant Grasping/Fixturing; 6.3 Local Elastic Contact Model; 6.4 Deformation Compatible Constraints for All Contacts; 6.5 Stability of Grasping/Fixturing Systems; 6.6 Passive Force Closure Prediction; 6.7 Numerical Example; 6.8 Summary; 6.9 Bibliography; Chapter 7 Kinematics of Contacts and Rolling Manipulation.
  • 7.1 Introduction7.2 Kinematics of Pure Rolling Contact; 7.3 Kinematics of Manipulation with Rolling Contact; 7.4 Coordinating Manipulation of Multifingered Robotic Hands; 7.4.1 Classification of Grasp Phases; 7.4.2 Coordinating Manipulation Strategy; 7.5 Adjustment of Fingertip Contact Forces; 7.6 Experimental Results; 7.7 Summary; 7.8 Bibliography; Chapter 8 Dynamic Stability of Grasping/Fixturing; 8.1 Introduction; 8.2 Dynamic Equations of Motion for a Grasped/Fixtured Object; 8.3 Dynamic Stability Conditions and Quality Measure; 8.4 Summary; 8.5 Bibliography.
  • Chapter 9 Locating Error Analysis and Configuration Planning of Fixtures9.1 Introduction; 9.2 Error Mapping Model; 9.2.1 Fully Constrained Localization; 9.2.2 Over Constrained Localization; 9.2.3 Under Constrained Localization; 9.3 Locator and Clamp Configuration Characteristics; 9.3.1 Locator Configuration Characteristics; 9.3.2 Clamp Configuration Characteristics; 9.4 Evaluation Indexes of Fixturing; 9.4.1 Evaluation Index of Locator Configurations; 9.4.2 Stability Index of Fixturing; 9.4.3 Fixturing Resultant Index; 9.5 Configuration Planning of Fixturing; 9.5.1 Constraints.

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