Library of Congress Cataloging-in-Publication Data Names: Ross, Larry T. | Fardo, Stephen W. | Walach, Michael F. Title: Industrial robotics fundamentals : theory and applications / by Larry T. Ross, Stephen W. Fardo, Michael F. Walach. Description: Third edition. | Tinley Park, IL : The Goodheart-Willcox Company, Inc., [2018] | Series: Robotics theory and industrial applications | Includes index. Identifi ers: LCCN 2016048375 | ISBN 9781631269417 Subjects: LCSH: Robotics. | Robots, Industrial. Classifi cation: LCC TJ211 .R684 2018 | DDC 629.8/92--dc23 LC record available at http://lccn.loc.gov/2016048375 Copyright © 2018 by The Goodheart-Willcox Company, Inc. Previous editions copyright 2011, 1996 Previously published and copyrighted as Robotics: Theory and Industrial Applications by The Goodheart-Willcox Company, Inc. All rights reserved. No part of this work may be reproduced, stored, or transmitted in any form or by any electronic or mechanical means, including information storage and retrieval systems, without the prior written permission of The Goodheart-Willcox Company, Inc. Manufactured in the United States of America. Library of Congress Catalog Card Number 2016048375 ISBN 978-1-63126-941-7 2 3 4 5 6 7 8 9 – 18 – 22 21 20 19 18 The Goodheart-Willcox Company, Inc. Brand Disclaimer: Brand names, company names, and illustrations for products and services included in this text are provided for educational purposes only and do not represent or imply endorsement or recommendation by the author or the publisher. The Goodheart-Willcox Company, Inc. Safety Notice: The reader is expressly advised to carefully read, understand, and apply all safety precautions and warnings described in this book or that might also be indicated in undertaking the activities and exercises described herein to minimize risk of personal injury or injury to others. Common sense and good judgment should also be exercised and applied to help avoid all potential hazards. The reader should always refer to the appropriate manufacturer’s technical information, directions, and recommendations then proceed with care to follow specifi c equipment operating instructions. The reader should understand these notices and cautions are not exhaustive. The publisher makes no warranty or representation whatsoever, either expressed or implied, including but not limited to equipment, procedures, and applications described or referred to herein, their quality, performance, merchantability, or fi tness for a particular purpose. The publisher assumes no responsibility for any changes, errors, or omissions in this book. The publisher specifi cally disclaims any liability whatsoever, including any direct, indirect, incidental, consequential, special, or exemplary damages resulting, in whole or in part, from the reader’s use or reliance upon the information, instructions, procedures, warnings, cautions, applications, or other matter contained in this book. The publisher assumes no responsibility for the activities of the reader. The Goodheart-Willcox Company, Inc. Internet Disclaimer: The Internet resources and listings in this Goodheart-Willcox Publisher product are provided solely as a convenience to you. These resources and listings were reviewed at the time of publication to provide you with accurate, safe, and appropriate information. Goodheart-Willcox Publisher has no control over the referenced websites and, due to the dynamic nature of the Internet, is not responsible or liable for the content, products, or performance of links to other websites or resources. Goodheart-Willcox Publisher makes no representation, either expressed or implied, regarding the content of these websites, and such references do not constitute an endorsement or recommendation of the information or content presented. It is your responsibility to take all protective measures to guard against inappropriate content, viruses, or other destructive elements. Cover image: megastocker/Shutterstock.com Back cover image: SvedOliver/Shutterstock.com Careers in Robotics Photo: megastocker/Shutterstock.com Unit Opening Photos: Baloncici/Shutterstock.com (yellow production robot) CHAINFOTO24/Shutterstock.com (blue robot) Chapter Opening Photos: PP77LSK/Shutterstock.com (white grappler) Mopic/Shutterstock.com (orange robot) Chapter 1 Opening Photo: Zbynek Jirousek/Shutterstock.com Chapters 2, 4, 5 Opening Photos: asharkyu/Shutterstock.com Chapters 3, 7, 9, 14 Opening Photos: Vladimir Nenezic/Shutterstock.com Chapter 6 Opening Photo: Maksim Dubinsky/Shutterstock.com Chapter 8 Opening Photo: Baloncici/Shutterstock.com Chapter 10 Opening Photo: Photorelease Stuttgart/Shutterstock.com Chapter 11 Opening Photo: MOLPIX/Shutterstock.com Chapter 12 Opening Photo: SvedOliver/Shutterstock.com Chapter 13 Opening Photo: Comaniciu Dan/Shutterstock.com Chapter 15 Opening Photo: science photo/Shutterstock.com