Modular Robots: Theory and Practice(Ä£¿é»¯»úÆ÷ÈËÀíÂÛÓëÓ¦ÓÃ)

1 Introduction
1£®1 Motivation
1£®2 Past Research and Development Efforts
1£®3 Overview of This Book

2 ModuleDesigns
2£®1 Module Design Requirements
2£®2 Joint Modules
2£®2£®1 Revolute Joint Modules
2£®2£®2 Prismatic Joint Modules
2£®3 Link Modules

3 Modular Robot Representation
3£®1 Graphs
3£®1£®1 Basic Graph Definitions
3£®1£®2 Matrix Representation ofGraphs
3£®2 Kinematic Graphs
3£®3 Reclassification of Links and Joints
3£®4 Assembly Incidence Matrix

4 Modular Serial Robot Kinematics
4£®1 Introduction
4£®2 Geometric Background and the POE Formula
4£®2£®1 Geometric Background
4£®2£®2 The POE Formula
4£®3 Forward Kinematics
4£®3£®1 Dyad Kinematics
4£®3£®2 Forward Kinematics for a Tree-Structured Modular Robot
4£®4 Inverse Kinematics
4£®4£®1 Differential Kinematics Model for a Single Branch
4£®4£®2 Differential Kinematics Model for a Tree-Structured Robot
4£®4£®3 Computation Examples
4£®4£®4 Remarks on Computation Results

5 Kinematic Calibration for Modular Serial Robots
5£®1 Introduction
5£®2 Kinematic Calibration Models
5£®2£®1 Basic Calibration Models
5£®2£®2 An Iterative Least-Squares Algorithm
5£®2£®3 Kinematic Calibration of Tree-structured Robots
5£®3 ComputationExamples
5£®3£®1 Calibration of a three-module Robot
5£®3£®2 Calibration of a SCARA Type Robot
5£®3£®3 Calibration of a Tree-structured Robot

6 Modular Serial Robot Dynamics
6£®1 Introduction
6£®2 Newton-Euler Equation for a Link Assembly
6£®3 Dynamic Formulation for a Tree-Structured Modular Robot
6£®3£®1 Recursive Newton-Euler Algorithm
6£®3£®2 Closed Form Equations of Motion
6£®3£®3 Remarks on the Dynamics Algorithms
6£®3£®4 Implementation and Examples
6£®4 Inverse and Forward Dynamics Problem
6£®4£®1 Inverse Dynamics
6£®4£®2 Forward Dynamics

7 Optimization of Modular Serial Robot Configurations
7£®1 Introduction
7£®2 General Design Methodology
7£®3 Optimization Model
7£®3£®1 Definition of Robot Tasks
7£®3£®2 Design Parameters and the Search Space
7£®3£®3 Objective Function
7£®3£®4 Performance Constraints
7£®4 Evolutionary Algorithm
7£®4£®1 Coding Scheme
7£®4£®2 AIM Generating Scheme
7£®4£®3 Genetic Operators on AIMs
7£®4£®4 Implementation of the Evolutionary Algorithm
7£®5 Computation Examples

8 Modular Parallel Robot Kinematics
8£®1 Introduction
8£®2 Displacement Analysis
8£®2£®1 Forward Displacement Analysis
8£®2£®2 Inverse Displacement Analysis
8£®3 Instantaneous Kinematics Analysis
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9 Kinematic Calibration for Modular Parallel Robots
References