E-Book Overview
This book provides a fundamental knowledge of robotic grasping and fixturing (RGF) manipulation. For RGF manipulation to become a science rather than an art, the content of the book is uniquely designed for a thorough understanding of the RGF from the multifingered robot hand grasp, basic fixture design principle, and evaluating and planning of robotic grasping/fixturing, and focuses on the modeling and applications of the RGF. Compared with existing publications, this volume concentrates more on abstract formulation, i.e. mathematical modeling of robotic grasping and fixturing. Thus, it will be a good reference text for academic researchers, manufacturing and industrial engineers and a textbook for engineering graduate students. The book provides readers an overall picture and scientific basis of RGF, the comprehensive information and mathematic models of developing and applying RGF in industry, and presents long term valuable information which is essential and can be used by technical professions as a good reference.
E-Book Content
Fundamentals of Robotic Grasping and Fixturing SERIES ON MANUFACTURING SYSTEMS AND TECHNOLOGY Editors-in-Chief: Andrew Y. C. Nee (National University of Singapore, Singapore) J.-H. Chun (Massachusetts Institute of Technology, USA) Assistant Editor: S. K. Ong (National University of Singapore, Singapore) Published Vol. 1: An Advanced Treatise on Fixture Design and Planning Andrew Y. C. Nee, Z. J. Tao & A. Senthil Kumar Vol. 2: Integrated and Collaborative Product Development Environment: Technologies and Implementations W. D. Li, S. K. Ong & A. Y. C. Nee Steven - Fundamentals of Robotic Grasping.pmd 2 9/3/2007, 2:41 PM Series on Manufacturing Systems and Technology -Vol. 3 Fundamentals of Robotic Grasping and Fixturing Caihua Xiong Han Ding Youlun Xiong Huazhong University of Science &Technology, China N E W JERSEY - vp World Scientific LONDON * SINGAPORE * BElJlNG SHANGHAI * HONG KONG * TAIPEI * CHENNAI Published by World Scientific Publishing Co. Pte. Ltd. 5 Toh Tuck Link, Singapore 596224 USA office: 27 Warren Street, Suite 401-402, Hackensack, NJ 07601 UK office: 57 Shelton Street, Covent Garden, London WC2H 9HE British Library Cataloguing-in-Publication Data A catalogue record for this book is available from the British Library. FUNDAMENTALS OF ROBOTIC GRASPING AND FIXTURING Series on Manufacturing Systems and Technology — Vol. 3 Copyright © 2007 by World Scientific Publishing Co. Pte. Ltd. All rights reserved. This book, or parts thereof, may not be reproduced in any form or by any means, electronic or mechanical, including photocopying, recording or any information storage and retrieval system now known or to be invented, without written permission from the Publisher. For photocopying of material in this volume, please pay a copying fee through the Copyright Clearance Center, Inc., 222 Rosewood Drive, Danvers, MA 01923, USA. In this case permission to photocopy is not required from the publisher. ISBN-13 978-981-277-183-4 ISBN-10 981-277-183-2 Printed in Singapore. Steven - Fundamentals of Robotic Grasping.pmd 1 9/3/2007, 2:41 PM Preface It is known that robotic grasping and fixturing (RGF) are important manipulations which contribute greatly to the production quality, cycle time, and cost in manufacturing, assembly and other industrial fields. The goals of both robotic grasping and fixturing are to immobilize kinematically an object by means of a suitable set of contacts. However, from the viewpoint of forces, there are essential differences between robotic grasping and fixturing. The ultimate differenc