文档介绍：ROBOTICS
Designing the Mechanisms for Automated Machinery
Second Edition
This page intentionally left blank
ROBOTICS
Designing the Mechanisms
for Automated Machinery
Second Edition
Ben-Zion Sandier
The Hy Greenhill Chair in Creative Machine and Product Design
Ben-Gurion University of the Negev, Beersheva, Israel
®
ACADEMIC PRESS
San Diego London Boston
NewYork Sydney Tokyo Toronto
A Solomon Press Book
This book is printed on acid-free paper. ©
Copyright © 1999 by Academic Press
Copyright © 1991 by Prentice-Hall, Inc.
All rights reserved.
No part of this publication may be reproduced or
transmitted in any form or by any means, electronic
or mechanical, including photocopy, recording, or
any information storage and retrieval system, without
permission in writing from the publisher.
ACADEMIC PRESS
525 B. Suite 1900, San Diego, California 92101-4495, USA
Academic Press
24-28 Oval Road, London NW1 7DX, UK
/ap/
Book designed by Sidney Solomon and Raymond Solomon
Library of Congress Cataloging-in-Publication Data
Sandier, B. Z., 1932-
Robotics : designing the mechanisms for automated machinery /
Ben-Zion Sandier. — 2nd ed.
p. cm.
Includes bibliographical references and index.
ISBN 0-12-618520-4
1. Automatic machinery—Design and construction. I. Title.
1999
—dc21 98-45839
CIP
Printed in the United States of America
99 00 01 01 03 MB 9 8 7 6 5 4 3 2 1
Contents
Preface to the Second Edition ix
1 Introduction: Brief Historical Review and Main Definitions 1
What Robots Are I
Definition of Levels or Kinds of Robots 6
Manipulators 12
Structure of Automatic Industrial Systems 20
Nonindustrial Representatives of the Robot Family 26
Relationship between the Level of Robot "Intelligence"
and the Product 34
References 36
2 Concepts and Layouts 37
Processing Layout 37
How Does One Find the Concept of an
Automatic Manufacturing Process? 45
How