Robot mechanics covers the mechanical engineering aspects of robot design and includes factors such as inertia, stress, load-carrying ability, and dynamic response.* Mechanical engineering is also involved in the design of grippers, transmission systems, hydraulic and pneumatic couplings, and related design areas. This chapter presents four major, and a few minor, topics of interest to electronics engineers or systems designers.
- Obstacle Avoidance
- Tool Center Point
- Inverse Kinematic Problem
- Dexterous Hand
- Spherical Robot
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
This is a preview of subscription content, access via your institution.
Tax calculation will be finalised at checkout
Purchases are for personal use onlyLearn about institutional subscriptions
Unable to display preview. Download preview PDF.
Coiffet, Phillipe, and M. Chirouze. An Introduction to Robot Technology, transl. Meg Tombs. New York: McGraw-Hill, 1983.
Critchlow, Arthur J. Introduction to Robotics. New York: Macmillan, 1985.
Holzbock, W. G. Robotic Technology: Principles and Practice. New York: Van Nostrand Reinhold, 1986.
Denavit, J., and R. S. Hartenberg. A kinematic notation for lower-paired mechanisms based on matrices. ASME Journal of Applied Mechanics, June 1955, pp. 215-221.
Critchlow. Introduction to Robotics, pp. 189-195.
Holzbock. Robotic Technology.
Palm, William J. Dexterous Hands for Robots: A State of the Art Review, URI Report 86-0:1. Kingston, R. I.: University of Rhode Island, 1986.
Groover, Mikell P., et al. Industrial Robotics: Technology, Programming and Applications. New York: McGraw-Hill, 1986, p. 120.
Groover. Industrial Robotics, p. 139.
Salisbury as cited in Palm, Dexterous Hands for Robots.
Asada, H., and I. H. Ro. A linkage design for direct drive robot arms. ASME Transactions, Dec. 1985, pp. 536-540.
Palm. Dexterous Hands for Robots.
Kuntze, Helge-Bjorn, and Andres H. K. Jacubasch. Control algorithms for stiffening an elastic robot. IEEE Journal of Robotics and Automation, Vol. RA-1, No. 2, June 1985, pp. 71–78.
Whiting, D. E., and J. L. Nevins. What is the remote center compliance (RCC) and what can it do. Proc. 9th International Symposium on Industrial Robots. Washington, D.C.: March, 1979.
Lozano-Pérez, T. Task planning. Robot Motion: Planning and Control. M. Brady et al, eds. Cambridge, Mass.: MIT Press, 1982.
© 1989 Van Nostrand Reinhold
About this chapter
Cite this chapter
Poole, H.H. (1989). Introduction to Robot Mechanics. In: Fundamentals of Robotics Engineering. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-7050-5_3
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-011-7052-9
Online ISBN: 978-94-011-7050-5
eBook Packages: Springer Book Archive