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Introduction to the Mechanics of Space Robots

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Feldname	Details
Vorliegende Sprache	eng
ISBN	978-94-007-1795-4
Name	Genta, Giancarlo
T I T E L	Introduction to the Mechanics of Space Robots
Verlagsort	Dordrecht
Verlag	Springer Science+Business Media B.V
Erscheinungsjahr	2012
Erscheinungsjahr	2012
Umfang	Online-Ressource (XXI, 597p. 220 illus, digital)
Reihe	Space Technology Library ; 26
Notiz / Fußnoten	Includes bibliographical references and index
Weiterer Inhalt	Introduction to the Mechanics of Space Robots; Preface; A Note on the Illustrations; Contents; Symbols and Acronyms; Chapter 1: Introduction; 1.1 Robots in Space; 1.2 Humans and Robots; 1.3 Artificial Intelligence; 1.4 Missions for Robots and Manipulators; 1.4.1 Low Earth Orbit (LEO); Robotic Spacecraft; Robotic Arms (Telemanipulators); EVA Assistants; Robotic Space Suits; 1.4.2 Deep Space; Robotic Probes; 1.4.3 Planetary Surfaces; Landers; Rovers; Vehicles; Astronaut Assistants; 1.5 Open Problems; 1.5.1 Control; 1.5.2 Mechanics; 1.5.3 Transducers; 1.5.4 Power; 1.5.5 Communications. Chapter 2: Space and Planetary Environment2.1 Low Earth Orbit Environment; 2.2 Interplanetary Medium; 2.3 Interstellar Medium; 2.4 Lunar Environment; 2.5 Rocky Planets; 2.5.1 Mars; 2.5.2 Mercury; 2.5.3 Venus; 2.6 Giant Planets; 2.6.1 Jupiter; 2.6.2 Saturn; 2.6.3 Uranus; 2.6.4 Neptune; 2.7 Satellites of Giant Planets; 2.7.1 Io; 2.7.2 Europa; 2.7.3 Ganymede; 2.7.4 Callisto; 2.7.5 Enceladus, Tethys, Dione, Rhea and Iapetus; 2.7.6 Titan; 2.7.7 Miranda, Ariel, Umbriel, Titania and Oberon; 2.7.8 Triton; 2.8 Small Bodies; 2.8.1 Main Belt Asteroids; 2.8.2 Kuiper Belt Objects; 2.8.3 Trojan Asteroids. 2.8.4 Other Asteroids2.8.5 Comets; 2.8.6 Gravitational Acceleration on the Surface of Non-regular Asteroids; Chapter 3: Manipulatory Devices; 3.1 Degrees of Freedom and Workspace; 3.2 End Effectors; 3.3 Orientation of the End Effector; 3.4 Redundant Degrees of Freedom; 3.5 Arm Layout; 3.6 Position of a Rigid Body in Tridimensional Space; 3.7 Homogeneous Coordinates; 3.8 Denavit-Hartenberg Parameters; 3.9 Kinematics of the Arm; 3.10 Velocity Kinematics; 3.11 Forces and Moments; 3.12 Dynamics of Rigid Arms; 3.13 Low Level Control; 3.13.1 Open Loop Control; 3.13.2 Closed-Loop Control. 3.13.3 Model-Based Feedback Control3.13.4 Mixed Feedforward and Feedback Control; 3.14 Trajectory Generation; 3.15 Dynamics of Flexible Arms; 3.16 High Level Control; 3.17 Parallel Manipulators; Chapter 4: Mobility on Planetary Surfaces; 4.1 Mobility; 4.2 Vehicle-Ground Contact; 4.2.1 Contact Pressure; 4.2.2 Traction; 4.3 Wheeled Locomotion; 4.3.1 Stiff Wheels Rolling on Stiff Ground; 4.3.2 Compliance of the Wheel and of the Ground; 4.3.3 Contact Between Rigid Wheel and Compliant Ground; 4.3.4 Contact Between Compliant Wheel and Rigid Ground. 4.3.5 Contact Between Compliant Wheel and Compliant Ground4.3.6 Tangential Forces: Elastic Wheels on Rigid Ground; Longitudinal Forces; Lateral (or Cornering) Forces; Interaction Between Longitudinal and Side Forces; 4.3.7 Tangential Forces: Rigid Wheel on Compliant Ground; 4.3.8 Tangential Forces: Compliant Wheel on Compliant Ground; 4.3.9 Tangential Forces: Empirical Models; 4.3.10 Dynamic Behavior of Tires; 4.3.11 Omni-Directional Wheels; 4.4 Tracks; 4.5 Legged Locomotion; 4.6 Fluidostatic Support; 4.7 Fluid-Dynamics Support; 4.8 Other Types of Support. Chapter 5: Wheeled Vehicles and Rovers
Titelhinweis	Buchausg. u.d.T.ISBN: 978-94-007-1795-4
ISBN	ISBN 978-94-007-1796-1
Klassifikation	PGC
	PGK
	SCI004000
	SCI005000
	629.47
	520
	QB1-991
	QB460-466
	QB980-991
Kurzbeschreibung	Based on lecture notes on a space robotics course, this book offers a pedagogical introduction to the mechanics of space robots. After presenting an overview of the environments and conditions space robots have to work in, the author discusses a variety of manipulatory devices robots may use to perform their tasks. This is followed by a discussion of robot mobility in these environments and the various technical approaches. The last two chapters are dedicated to actuators, sensors and power systems used in space robots. This book fills a gap in the space technology literature and will be usefu
SWB-Titel-Idn	35510668X
Signatur	Springer E-Book
Bemerkungen	Elektronischer Volltext - Campuslizenz
Elektronische Adresse	$uhttp://dx.doi.org/10.1007/978-94-007-1796-1
Internetseite / Link	Volltext
Siehe auch	Volltext
Siehe auch	Cover

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