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Design and Performance Evaluation

  • Jorge AngelesEmail author
  • Frank C. Park
Part of the Springer Handbooks book series (SHB)

Abstract

In this chapter we survey some of the tools and criteria used in the mechanical design and performance evaluation of robots. Our focus is on robots that are (a) primarily intended for manipulation tasks and (b) constructed with one or more serial kinematic chains. The kinematics of parallel robots is addressed in detail in Chap.  18; their elastostatics is the subject of Sect. 16.5.1. Wheeled robots, walking robots, multifingered hands, and robots intended for outdoor applications, i. e., those encompassing what is known as field robotics, are studied in their own chapters; here we provide an overview of the main classes of these robots as relating to design.

Keywords

Stiffness Matrix Parallel Robot Robot Design Serial Robot Delta 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.
3-D

three-dimensional

6-D

six-dimensional

6R

six-revolute

7R

seven-revolute

AGV

autonomous guided vehicle

ASIMO

advanced step in innovative mobility

ASV

adaptive suspension vehicle

ATHLETE

all-terrain hex-legged extra-terrestrial explorer

BP

base plate

CAE

computer-aided engineering

DH

Denavit–Hartenberg

DOF

degree of freedom

EE

end-effector

FEA

finite element analysis

GIE

generalized-inertia ellipsoid

GSP

Gough–Stewart platform

MARS

multiappendage robotic system

MEMS

microelectromechanical system

MP

moving plate

NASA

National Aeronautics and Space Agency

OSU

Ohio State University

PKM

parallel kinematics machine

QRIO

quest for curiosity

RCP

rover chassis prototype

SCARA

selective compliance assembly robot arm

SPU

spherical, prismatic, universal

UAV

unmanned aerial vehicle

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Copyright information

© Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  1. 1.Department of Mechanical Engineering and Centre for Intelligent MachinesMcGill UniversityMontrealCanada
  2. 2.Mechanical and Aerospace EngineeringSeoul National UniversitySeoulKorea

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