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Dynamics of rigid-flexible robots and multibody systems

Record Type:	Electronic resources : Monograph/item
Title/Author:	Dynamics of rigid-flexible robots and multibody systemsby Paramanand Vivekanand Nandihal, Ashish Mohan, Subir Kumar Saha.
Author:	Nandihal, Paramanand Vivekanand.
other author:	Mohan, Ashish.
Published:	Singapore :Springer Singapore :2022.
Description:	xviii, 279 p. :ill. (some col.), digital ;24 cm.
Contained By:	Springer Nature eBook
Subject:	Robots.
Online resource:	https://doi.org/10.1007/978-981-16-2798-9
ISBN:	9789811627989$q(electronic bk.)

Dynamics of rigid-flexible robots and multibody systems
Nandihal, Paramanand Vivekanand.

Dynamics of rigid-flexible robots and multibody systems[electronic resource] /by Paramanand Vivekanand Nandihal, Ashish Mohan, Subir Kumar Saha. - Singapore :Springer Singapore :2022. - xviii, 279 p. :ill. (some col.), digital ;24 cm. - Intelligent systems, control and automation: science and engineering,v. 1002213-8994 ;. - Intelligent systems, control and automation: science and engineering ;v.70..

Dynamic Formulation using the Decoupled Natural Orthogonal Complement (DeNOC) -- Dynamics of Serial Rigid-Flexible Robots -- Dynamics of Six-Link Spatial Robot Arms -- Dynamics of Closed-loop Systems -- Dynamics of Spatial Four-bar Mechanism -- Numerical Stability and Efficiency -- Experimental Study of Flexible System.

This book discusses the dynamic analysis of rigid-flexible robots and multibody systems with serial as well as closed-loop architecture. The book presents a formulation of dynamic model of rigid-flexible robots based on the unique approach of de-coupling of natural orthogonal complements of velocity constraints. Based on this formulation, a computationally efficient and numerically stable forward dynamics algorithms for serial-chain and closed-loop robotic systems with rigid or flexible or rigid-flexible links is presented. The proposed algorithm is shown to be a numerically efficient for forward dynamics based on the investigation methodologies built on eigen value analytics. Precision and functionality of the simulation algorithms is presented/illustrated with application on different serial and closed-loop systems (both planar and spatial types) Some of the major robotic arms used to illustrate the proposed dynamic formulation and simulation algorithms are PUMA robot, Stanford robot arm, and Canadarm. It is envisaged that the book will be useful for researchers working on the development of rigid-flexible robots for use in defense, space, atomic energy, ocean exploration, and the manufacturing of biomedical equipment.

ISBN: 9789811627989$q(electronic bk.)

Standard No.: 10.1007/978-981-16-2798-9doiSubjects--Topical Terms:

197834
Robots.

LC Class. No.: TJ211 / .N36 2022

Dewey Class. No.: 629.892

Dynamics of rigid-flexible robots and multibody systems
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505 0 $a Dynamic Formulation using the Decoupled Natural Orthogonal Complement (DeNOC) -- Dynamics of Serial Rigid-Flexible Robots -- Dynamics of Six-Link Spatial Robot Arms -- Dynamics of Closed-loop Systems -- Dynamics of Spatial Four-bar Mechanism -- Numerical Stability and Efficiency -- Experimental Study of Flexible System.
520 $a This book discusses the dynamic analysis of rigid-flexible robots and multibody systems with serial as well as closed-loop architecture. The book presents a formulation of dynamic model of rigid-flexible robots based on the unique approach of de-coupling of natural orthogonal complements of velocity constraints. Based on this formulation, a computationally efficient and numerically stable forward dynamics algorithms for serial-chain and closed-loop robotic systems with rigid or flexible or rigid-flexible links is presented. The proposed algorithm is shown to be a numerically efficient for forward dynamics based on the investigation methodologies built on eigen value analytics. Precision and functionality of the simulation algorithms is presented/illustrated with application on different serial and closed-loop systems (both planar and spatial types) Some of the major robotic arms used to illustrate the proposed dynamic formulation and simulation algorithms are PUMA robot, Stanford robot arm, and Canadarm. It is envisaged that the book will be useful for researchers working on the development of rigid-flexible robots for use in defense, space, atomic energy, ocean exploration, and the manufacturing of biomedical equipment.
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