 Название: Fundamentals of Robotic Grasping and Fixturing, 2nd Edition
Автор: Caihua Xiong, Wenbin Chen, Han Ding, Youlun Xiong
Издательство: World Scientific Publishing
Год: 2025
Страниц: 347
Язык: английский
Формат: pdf (true)
Размер: 88.5 MB
This book is uniquely designed for a thorough understanding of the fundamentals of the robotic grasping and fixturing (RGF) from the multifingered robot hand grasp, humanoid robot hand and basic fixture design principle, and evaluating and planning of robotic grasping/ fixturing. It also focuses on the modeling and applications of the RGF.
The primary objective of this book is to provide readers with a fundamental understanding of transforming experience-based design into science-based design for robotic grasping system to replicate human natural grasp and robotic fixturing systems to obtain the optimal clamping performance. Additionally, the book explores how to transfer human hand motion intelligence to robotic hands mechanically. By bridging the gap between art and science, the book delves into multifingered robot hand grasping, basic fixture design principles, evaluating and planning of robotic grasping/fixturing, mechanical replicating principle of human hand grasping, as well as the modeling and applications of RGF.
Artificial neural networks (ANNs) have the ability to perform complex nonlinear mapping between inputs and outputs. Recently, there has been a lot of interest in using neural networks to solve various problems in robotics. Asada presented a method for representing and learning compliances from teaching data by using the back-propagation (BP) network. ANNs have also been applied in grasping with multifingered hands.
Three new chapters are added in this edition to cover the relevant basic theories of grasping feature analysis and the new principles of robotic hand design that reproduce the natural motion laws of human hand.
Compared with existing publications, this volume concentrates more on abstract formulation, i.e. mathematical modeling of robotic grasping and fixturing. Thus, it will be a good reference text for academic researchers, manufacturing and industrial engineers and a textbook for engineering graduate students.
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Fundamentals of Robotic Grasping and Fixturing, 2nd Edition 
