This paper discusses the manipulating ability of robotic mechanisms in positioning and orienting end-effectors and proposes a measure of manipulability. Some properties of this measure are obtained, the best postures of various types of manipulators are given, and a four-degree-of-freedom finger is considered from the viewpoint of the measure. The pos tures somewhat resemble those of human arms and fingers.

Manipulability of robotic mechanisms

This revised, expanded, edition covers the theory, design, geometry and manufacture of all types of gears and gear drives. This is an invaluable reference for designers, theoreticians, students, and manufacturers. This edition includes advances in gear theory, gear manufacturing, and computer simulation. Among the new topics are: 1. New geometry for modified spur and helical gears, face-gear drives, and cycloidal pumps. 2. New design approaches for one stage planetary gear trains and spiral bevel gear drives. 3. An enhanced approach for stress analysis of gear drives with FEM. 4. New methods of grinding face gear drives, generating double crowned pinions, and improved helical gear shaving. 5. Broad application of simulation of meshing and TCA. 6. New theories on the simulation of meshing for multi-body systems, detection of cases wherein the contact line on generating surfaces may have its own envelope, and detection and avoidance of singularities of generated surfaces.

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Gear geometry and applied theory

Kinematic and control issues are discussed in the context of an articulated, multifinger mechanical hand. Hand designs with particular mobility properties are illustrated, and a definition of accuracy points within manipulator workspace is given. Optimization of tlte physical dimensions of the Stanford-JPL hand is described. Several architectures for position and force control of this multiloop mechanism are described, including a way of dealing with the internal forces inherent in such systems. Preliminary results are shown for the joint torque subsystem used in the hand controller.

Articulated Hands: Force Control and Kinematic Issues

Applied Numerical Analysis. By C.F. Gerald. Pp. xii, 340. £3·60. 1970. (Addison-Wesley.)

1. Introduction and Historical Background 1.1 Why make human figure models? 1.2 Historical roots 1.3 What is currently possible? 1.4 Manipulation, animation, and simulation 1.5 What did we leave out? 2. Mody Modeling 2.1 Geometric body modeling 2.2 Representing articulated figures 2.3 A flexible torso model 2.4 Shoulder complex 2.5 Clothing models 2.6 The anthropometry database 2.7 The anthropometry spreadsheet 2.8 Strength and torque display 3. Spatial Interaction 3.1 Direct manipulation 3.2 Manipulation with constraints 3.3 Inverse kinematic positioning 4. Behavioral Control of Articulated Figures 4.1 An interactive system for postural control 4.2 Interactive manipulation with behaviors 4.3 The animation interface 4.4 Human figure motions 4.5 Virtual human control 5. Simulation with Societies of Behaviors 5.1 Forward simulation with behaviors 5.2 Locomotion 5.3 Strength guided motion 5.4 Collision-free path and motion planning 5.5 Posture planning 6. Task-level Specifications 6.1 Performance simulation with simple commands 6.2 Natural language expressions of kinematics and space 6.3 Task-level simulation 6.4 A framework for instruction understanding 7. Epilogue 7.1 A road map toward the future 7.2 Conclusion

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Simulating humans: computer graphics animation and control

Design Considerations for Manipulator Workspace

It is shown in this paper that Euler was first to derive the finite rotation formula which is often erroneously attributed to Rodrigues, while Rodrigues was responsible for the derivation of the composition formulae for successive finite rotations and the so-called Euler parameters of finite rotation. Therefore, based upon historical facts, the following nomenclature is suggested: Euler's finite rotation formula, Rodrigues' composition formulae of finite rotations, and Euler-Rodrigues parameters. The text of the paper contains modern symbols and formula forms, while the Appendices contain brief summaries from relevant historical sources with minor alterations in symbols at the most.

An historical note on finite rotations

This paper demonstrates that workspace analysis is not merely a tool of volumetric analysis. In order to emphasize its broad implications in the configuration synthesis of robot manipulators, we use the term workspace theory. After re viewing some recent research on robot workspaces, it is shown that workspace theory leads to an anthropological observation in biomanipulation, qualitative transformations of holes and voids (central or toroidal), the geometric inversion method for the prediction of the number of solution sets, the existence of solution transition boundaries within the workspace (dex terous or total), and the influence oTjoint variable limits on the workspace and the multiplicity of solution sets.

On the nature of robot workspace

This paper presents a new method ofkinematic analysis of manipulators, called the zero reference position method. In this method, the description of the manipulator is in terms of the axes directions and locations in the zero reference posi tion. This position is a conveniently chosen position in which all joint variable values are defined to be zero. This type of manipulator description is easy to learn and is not prone to errors of interpretation. The governing kinematic equations of the manipulator are derived from the principle of similarity. In this paper, it is shown that this method leads to a modular approach to the closed-form solutions of manipulators with ordinary or geared three-roll wrists. Complete solutions for six types of contemporary industrial robots are included.

Kinematic analysis of manipulators using the zero reference position description

An algorithm is presentedfor noniterative generation of the workspace of a general n-R manipulator. It is shown that if special techniques are used for the reduction of points, such algorithms, whi...

Krishna C. Gupta

Papers

Design Considerations for Manipulator Workspace

An historical note on finite rotations

On the nature of robot workspace

Kinematic analysis of manipulators using the zero reference position description

Generation and Evaluation of the Workspace of a Manipulator