Mechanism and actuation

Victor Scheinman, J. Michael McCarthy, Jae-Bok Song

Research output: Chapter in Book/Report/Conference proceedingChapter

1 Citation (Scopus)

Abstract

This chapter focuses on the principles that guide the design and construction of robotic systems. The kinematics equations and Jacobian of the robot characterize its range of motion and mechanical advantage, and guide the selection of its size and joint arrangement. The tasks a robot is to perform and the associated precision of its movement determine detailed features such as mechanical structure, transmission, and actuator selection. Here we discuss in detail both the mathematical tools and practical considerations that guide the design of mechanisms and actuation for a robot system. The following sections (Sect. 4.1) discuss characteristics of the mechanisms and actuation that affect the performance of a robot. Sections 4.2-4.6 discuss the basic features of a robot manipulator and their relationship to the mathematical model that is used to characterize its performance. Sections 4.7 and 4.8 focus on the details of the structure and actuation of the robot and how they combine to yield various types of robots. The final Sect. 4.9 relates these design features to various performance metrics.

Original languageEnglish
Title of host publicationSpringer Handbook of Robotics
PublisherSpringer International Publishing
Pages67-89
Number of pages23
ISBN (Electronic)9783319325521
ISBN (Print)9783319325507
DOIs
Publication statusPublished - 2016 Jan 1

Keywords

  • Hydraulic actuator
  • Parallel robot
  • Revolute joint
  • Speed ratio
  • Task space

ASJC Scopus subject areas

  • Computer Science(all)
  • Engineering(all)

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  • Cite this

    Scheinman, V., McCarthy, J. M., & Song, J-B. (2016). Mechanism and actuation. In Springer Handbook of Robotics (pp. 67-89). Springer International Publishing. https://doi.org/10.1007/978-3-319-32552-1_4