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1、AdvancedMechanicsinRoboticSystemsNestorEduardoNavaRodríguezEditorAdvancedMechanicsinRoboticSystems123Prof.NestorEduardoNavaRodríguezCarlosIIIUniversityAv.Universidad3028911Leganés,MadridSpaine-mail:nnava@arquimea.comISBN978-0-85729-587-3e-ISBN978-0-85729-588-0DOI
2、10.1007/978-0-85729-588-0SpringerLondonDordrechtHeidelbergNewYorkBritishLibraryCataloguinginPublicationDataAcataloguerecordforthisbookisavailablefromtheBritishLibraryÓSpringer-VerlagLondonLimited2011Apartfromanyfairdealingforthepurposesofresearchorprivatestudy,or
3、criticismorreview,aspermittedundertheCopyright,DesignsandPatentsAct1988,thispublicationmayonlybereproduced,storedortransmitted,inanyformorbyanymeans,withthepriorpermissioninwritingofthepublishers,orinthecaseofreprographicreproductioninaccordancewiththetermsoflice
4、nsesissuedbytheCopyrightLicensingAgency.Enquiriesconcerningreproductionoutsidethosetermsshouldbesenttothepublishers.Theuseofgeneraldescriptivenames,registerednames,trademarks,etc.inthispublicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareex
5、emptfromtherelevantprotectivelawsandregulationsandthereforefreeforgeneraluse.Thepublishermakesnorepresentation,expressorimplied,withregardtotheaccuracyoftheinformationcontainedinthisbookandcannotacceptanylegalresponsibilityorliabilityforanyerrorsoromissionsthatma
6、ybemade.Coverdesign:eStudioCalamar,Berlin/FigueresPrintedonacid-freepaperSpringerispartofSpringerScience+BusinessMedia(www.springer.com)PrefaceThisbookprovidesinformationofthestageofmechanicaldesignforrelevantapplicationsinroboticfields.Duringrecentyears,somenewte
7、chnologieshavebeendevelopedandputintowidespreaduse.Humanshavealwaysbeenfasci-natedwiththeconceptofartificiallifeandtheconstructionofmachinesthatlookandbehavelikepeople.Theroboticsevolutiondemandsevenmoredevelopmentofsuccessfulsystemswithhigh-performancecharacteris
8、ticsforpracticalandusefulapplications.Forexample,humanoidrobotisasystemelaboratedforhelpingorreplacingpersonsindangerousorundesirableworks.But,itisacomplexmach