Direct-Drive Robots : Theory and Practice
Language: English
Published by MIT Press, 1987
- Hardcover
- Used
Seller: Better World Books: West, Reno, NV, U.S.A.Better World Books: West
AbeBooks seller since March 14, 2016
Condition: Used - Very good
£ 30.19
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Former library copy. Pages intact with possible writing/highlighting. Binding strong with minor wear. Dust jackets/supplements may not be included. Includes library markings. Stock photo provided. Product includes identifying sticker. Better World Books: Buy Books. Do Good.
Seller Inventory # 15013599-6
- Title
- Direct-Drive Robots : Theory and Practice
- Author
- Asada, Haruhiko, Youcef-Toumi, Kamal
- Publisher
- MIT Press
- Publication year
- 1987
- Condition
- Very Good
- Binding
- Hardcover
- Language
- English
- ISBN 10
- 0262010887
- ISBN 13
- 9780262010887
- Item weight
- 1.543 pounds
- Dimensions
- N/A
Direct-Drive Robot presents the most current research in manipulator design and control, emphasizing the high-performance direct-drive robot arm in which the shafts of articulated joints are directly coupled to the rotors of motors with high torque. It describes fundamental technologies of key components such as motors, amplifiers and sensors, arm linkage design, and control system design, and makes significant contributions in the areas of power efficiency analysis, dynamic mass balancing, and decoupling theory.
The book provides a good balance between theory and practice, covering the practical design and implementation of this special robot as well as the theoretical design tools.
Contents: Part I: Direct-Drive Technologies. Introduction. Components. Part II: Arm Design Theory. Power Efficiency. Arm Design for Simplified Dynamics. Actuator Relocation. Design of Decoupled Arm Structures. Part III: Development of the MIT Arm. Mechanisms. Control Systems. Part IV: Selected Papers on Direct-Drive Robot Design and Control.
Haruhiko Asada is an Associate Professor, Kyoto University, and Lecturer at MIT He has built two prototypes of the direct-drive arm described here. Kamal Youcef-Toumi is an Assistant Professor, Department of Mechanical Engineering, System Dynamics and Controls Division at MIT. He has worked for three years with Asada on the development of the MIT high speed directdrive robot.
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Better World Books: West
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