000 03671nam a2200505 i 4500
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
020 _z0262010887
020 _z9780262511766
_qprint
035 _a(CaBNVSL)mat06267213
035 _a(IDAMS)0b000064818b4183
040 _aCaBNVSL
_beng
_erda
_cCaBNVSL
_dCaBNVSL
050 4 _aTJ211
_b.A78 1987eb
082 0 _a629.8/92
100 1 _aAsada, H.,
_q(Haruhiko)
_eauthor.
_921535
245 1 0 _aDirect-drive robots :
_btheory and practice /
_cHaruhiko Asada, Kamal Youcef-Toumi.
264 1 _aCambridge, Massachusetts :
_bMIT Press,
_cc1987.
264 2 _a[Piscataqay, New Jersey] :
_bIEEE Xplore,
_c[1987]
300 _a1 PDF (262 pages) :
_billustrations.
336 _atext
_2rdacontent
337 _aelectronic
_2isbdmedia
338 _aonline resource
_2rdacarrier
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
650 0 _aManipulators (Mechanism)
_94857
655 0 _aElectronic books.
_93294
700 1 _aYoucef-Toumi, Kamal.
_921536
710 2 _aIEEE Xplore (Online Service),
_edistributor.
_921537
710 2 _aMIT Press,
_epublisher.
_921538
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