000 | 03671nam a2200505 i 4500 | ||
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001 | 6267213 | ||
003 | IEEE | ||
005 | 20220712204600.0 | ||
006 | m o d | ||
007 | cr |n||||||||| | ||
008 | 151228s1987 maua ob 001 eng d | ||
010 | _z 87003174 (print) | ||
020 |
_a9780262255660 _qelectronic |
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020 | _z0262010887 | ||
020 |
_z9780262511766 _qprint |
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035 | _a(CaBNVSL)mat06267213 | ||
035 | _a(IDAMS)0b000064818b4183 | ||
040 |
_aCaBNVSL _beng _erda _cCaBNVSL _dCaBNVSL |
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050 | 4 |
_aTJ211 _b.A78 1987eb |
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082 | 0 | _a629.8/92 | |
100 | 1 |
_aAsada, H., _q(Haruhiko) _eauthor. _921535 |
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245 | 1 | 0 |
_aDirect-drive robots : _btheory and practice / _cHaruhiko Asada, Kamal Youcef-Toumi. |
264 | 1 |
_aCambridge, Massachusetts : _bMIT Press, _cc1987. |
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264 | 2 |
_a[Piscataqay, New Jersey] : _bIEEE Xplore, _c[1987] |
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300 |
_a1 PDF (262 pages) : _billustrations. |
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336 |
_atext _2rdacontent |
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337 |
_aelectronic _2isbdmedia |
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338 |
_aonline resource _2rdacarrier |
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500 | _aIncludes index. | ||
504 | _aIncludes bibliographical references (p. )[249]-257. | ||
506 | 1 | _aRestricted to subscribers or individual electronic text purchasers. | |
520 | _aThis book describes the design concept and discusses the control issues related to the performance of a direct-drive robot, specifically, a direct-drive mechanical arm capable of carrying up to 10 kilograms, at 10 meters per second, accelerating at 5 G (a unit of acceleration equal to the acceleration of gravity). These are remarkable achievements compared to current industrial robots that move with speeds on the order of 1 meter per second.Direct-Drive Robot presents the most current research in manipulator design and control, emphasizing the high-performance direct-drive robot arm in which the shafts of articulated joints are directly coupled to the rotors of motors with high torque. It describes fundamental technologies of key components such as motors, amplifiers and sensors, arm linkage design, and control system design, and makes significant contributions in the areas of power efficiency analysis, dynamic mass balancing, and decoupling theory.The book provides a good balance between theory and practice, covering the practical design and implementation of this special robot as well as the theoretical design tools.Contents: Part I: Direct-Drive Technologies. Introduction. Components. Part II: Arm Design Theory. Power Efficiency. Arm Design for Simplified Dynamics. Actuator Relocation. Design of Decoupled Arm Structures. Part III: Development of the MIT Arm. Mechanisms. Control Systems. Part IV: Selected Papers on Direct-Drive Robot Design and Control.Haruhiko Asada is an Associate Professor, Kyoto University, and Lecturer at MIT He has built two prototypes of the direct-drive arm described here. Kamal Youcef-Toumi is an Assistant Professor, Department of Mechanical Engineering, System Dynamics and Controls Division at MIT. He has worked for three years with Asada on the development of the MIT high speed directdrive robot. | ||
530 | _aAlso available in print. | ||
538 | _aMode of access: World Wide Web | ||
588 | _aDescription based on PDF viewed 12/28/2015. | ||
650 | 0 |
_aRobotics. _92393 |
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650 | 0 |
_aManipulators (Mechanism) _94857 |
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655 | 0 |
_aElectronic books. _93294 |
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700 | 1 |
_aYoucef-Toumi, Kamal. _921536 |
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710 | 2 |
_aIEEE Xplore (Online Service), _edistributor. _921537 |
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710 | 2 |
_aMIT Press, _epublisher. _921538 |
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776 | 0 | 8 |
_iPrint version _z9780262511766 |
856 | 4 | 2 |
_3Abstract with links to resource _uhttps://ieeexplore.ieee.org/xpl/bkabstractplus.jsp?bkn=6267213 |
942 | _cEBK | ||
999 |
_c72871 _d72871 |