53.Robotics and Automation by John G. Webster (Editor) PDF

By John G. Webster (Editor)

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To simplify the motion of a manipulator, it is often beneficial from the viewpoint of task execution to change the design of the object to a simpler one. For example, the shape of an object in which parts are inserted from more than one direction may be changed so that all parts are accessed from one direction, thus greatly simplifying the assembly task. Two parallel surfaces may be fabricated in the object with which handling of the object can be made secure and easier, or fabricating a large chamfer on the edge of the pin to be inserted produces self-aligning capability and makes an insertion task easier.

Venient, it essentially lessens the rigidity of the C-circle and therefore is recommended most where there is a strong demand for high accuracy and high-speed operation. Although there are several difficulties from the design viewpoint, there is no other approach but to simplify the C-circle using a direct-drive motor and improving rigidity. Mechanism To Materialize Functions An actual manipulator is an integration of mechanisms corresponding to a set of elementary functions designed to fulfill desired specifications under the aforesaid constraints.

To avoid this effect, interpolation may be used, but this has the unfortunate effect of blurring edges. The utility of certain coordinate axis transformations is evident when we are confronted with the examination of circular objects or those displaying spirals, concentric areas, or streaks radiating from a fixed point. Inspecting such objects is often made very much easier, if we first convert from Cartesian to polar coordinates. Warping is also useful in a variety of situations. For example, it is possible to compensate for barrel or pin-cushion distortion using quite simple warping functions.

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53.Robotics and Automation by John G. Webster (Editor)

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