Abstract
Robot mechanisms science must be understood as acquiring an in-depth understanding of the mechanical behavior of a robot and involve domains such as kinematics, dynamics and singularity analysis. Two issues must be addressed:
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analysis: determine all the mechanical properties of a given robot that are necessary to control it and to verify that its behavior will satisfy a given set of requirements
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synthesis: being given a set of requirements determine what should be the mechanical arrangement and the dimensioning of the robot. Synthesis is in general a much more complex issue than analysis
The study of robot mechanisms and of their design is a fundamental and exciting part of robotic science as the mechanical part of the robot will, at the end, condition what the robot can performed in term of tasks and will drastically influence control issues.
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© 2007 Springer-Verlag Berlin Heidelberg
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Merlet, JP. (2007). Session Overview Mechanisms and Design. In: Thrun, S., Brooks, R., Durrant-Whyte, H. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 28. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-48113-3_13
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DOI: https://doi.org/10.1007/978-3-540-48113-3_13
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-48110-2
Online ISBN: 978-3-540-48113-3
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