Page 11 - Robotics Designing the Mechanisms for Automated Machinery

x Preface to the Second Edition

a similar nature; it improves and shortens some mathematical deductions; and it con-
tributes greatly to an understanding of the subject. For instance, one can find here:

• Solutions of essentially nonlinear equations describing the behavior of a piston
in pneumatic systems;
• Equations describing the behavior of a body on a vibrating tray, widely used in,
for example, vibrofeeding devices, which can be effectively solved by this com-
putation tool (substituting boring traditional calculations);
• Description of the behavior of a slider on its guides (a common structure in
machinery) when dry friction exists in this pair, resulting in limited accuracy in
the slider's displacement;
• Equations (and an example of a solution) describing the free oscillations of a
robot's arm when reaching the destination point. This is important for accuracy
and productivity estimations;
• Solutions of nonlinear equations describing the behavior of an electric drive
equipped with an asynchronous motor, etc.

The second edition is now more informative, more reliable, and more universal.

I wish to express my deep gratitude and appreciation to my colleagues at the
Mechanical Engineering Department of the Ben-Gurion University of the Negev for
their spiritual support and cooperation in creating this book; to the Paul Ivanier, Pearl-
stone Center for Aeronautical Engineering Studies, Department of Mechanical Engi-
neering, Center for Robotics and Production Management Research; to Inez Murenik
for editorial work on the manuscript; to Eve Brant for help in production and proof-
reading; to Sidney Solomon and Raymond Solomon for sponsoring the book and for
their skill in the production/design processes and project management. Finally, I thank
my wonderful wife and family whose warmth, understanding and humor helped me
throughout the preparation of this book.
Ben-Zion Sandier
December, 1998