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Table of Contents

1: General About Manipulation Robots and Computer-Aided Design of Machines.- 1.1. General about manipulation robots.- 1.2. General remarks on up-to-date methods for design of machines.- 2: Dynamic Analysis of Manipulator Motion.- 2.1. Introduction.- 2.2. Block-scheme of the algorithm for dynamic analysis.- 2.3. Computer-aided method for the formation of manipulator dynamic model.- 2.4. Definition of manipulation task.- 2.5. Calculation of other dynamic characteristics.- 2.6. Tests of dynamic characteristics.- 2.7. Some specific features of algorithm implementation.- 2.8. Examples.- 2.9. Synthesis of nominal dynamics of manipulation movements.- 2.10. Extension of dynamic model by including friction effects.- Conclusion.- References.- Appendix:Theory of Appe’s Equations.- 3: Closed Chain Dynamics.- 3.1. Introduction.- 3.2. Review of previous results.- 3.3. Mechanisms containing a kinematic parallelogram.- 3.4. Manipulators with constraints on gripper motion.- 3.5. Impact problems.- 3.6. Practical cases of constrained gripper motion.- 3.7. Examples.- References.- 4: Computer-Aided Design of Manipulation Robots.- 4.1. Interactive procedure for computer-aided design of manipulators.- 4.2. Optimal choice of manipulator parameters.- 4.3. The choice of manipulator segments parameters based on the energy criterion.- 4.4. Optimization based on working speed criterion.- 4.5. Choice of actuators and reducers.- 4.6. Organization of the CAD program package.- References.