By Luis Maria Cabás Ormaechea (auth.), Nestor Eduardo Nava Rodríguez (eds.)
Humans have consistently been excited about the idea that of man-made lifestyles and the development of machines that glance and behave like humans. because the box of robotics evolves, it calls for non-stop improvement of winning structures with high-performance features for useful applications.
Advanced Mechanics in robot Systems illustrates unique and impressive mechanical designs and methods for constructing new robotic prototypes with profitable mechanical operational talents. Case stories are excited about initiatives in mechatronics that experience excessive progress expectations:
- humanoid robots,
- robotics hands,
- mobile robots,
- parallel manipulators, and
- human-centred robots.
A solid regulate process calls for stable mechanical layout, so a bankruptcy has additionally been dedicated to the outline of appropriate tools for keep an eye on structure layout.
Readers of Advanced Mechanics in robot Systems will become aware of novel designs for proper functions in robot fields, that might be of specific curiosity to educational and industry-based researchers.
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Additional resources for Advanced Mechanics in Robotic Systems
17 Final design of the RL2 Hand These three sensors are located in the states mechanism selector, the MultiState Actuator, which interacts with the palm and is taken out to cover the ASIBOT contacts, when the Main Platform is removed. The extraction system of the RL2 Hand fingers keeps almost intact its functioning philosophy because the results obtained at the RL1 Hand has been successful. In this particular case, the design has been only focused on the energetic performance of the energy transformer.
Size: The size of the RL1 was restricted to the interior dimension of the anchor. 4. Functionality: It was required to hold daily objects by an ordinary user in their personal environments and workplaces. 30 R. Cabás Ormaechea Fig. 7 RL1 Hand’s finger configuration 5. Driving system: The driving system, as the control system, should be hosted inside the anchor, indirectly restricting the design in strength and number of actuators it should have. Once these pre-established requirements were defined, the general configuration of the RL1 Hand were detailed as: • • • • • • Number of fingers Palm configuration Number of DOF and actuated DOF Kind of actuator Kind of Strength Transmission Involved mechanisms Finally it was concluded that the RL1 Hand should be formed by one thumb with two degrees of freedom plus two fingers opposite to it, with three degrees of freedom each.
11. This group of mechanisms make the RL1 Hand driving system to be formed by a unique Multi-State Actuator that allows the Hand to pass through different positions, since the resting states inside the anchor until the fingers and thumb driving position, necessary to hold an object. It is also possible to see those different positions. Finally, Fig. 12 shows the RL1 materializing holding tasks for different objects with different shapes and sizes. RL2 Hand The RL2 Hand has been designed to be mounted on a new version of the MATS Robot, The ASIBOT Robot Arm that differs from the previous version by small changes at the control system, sensor system and the capacity computing resources, without changing the mechanical structure.