Dynamics of rigid-flexible robots and multibody systems / Paramanand Vivekanand Nandihal, Ashish Mohan, Subir Kumar Saha.
2022
TJ211 .N36 2022
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Details
Title
Dynamics of rigid-flexible robots and multibody systems / Paramanand Vivekanand Nandihal, Ashish Mohan, Subir Kumar Saha.
ISBN
9789811627989 (electronic bk.)
9811627983 (electronic bk.)
9789811627972
9811627975
9811627983 (electronic bk.)
9789811627972
9811627975
Published
Singapore : Springer, [2022]
Copyright
©2022
Language
English
Description
1 online resource : illustrations (some color)
Other Standard Identifiers
10.1007/978-981-16-2798-9 doi
Call Number
TJ211 .N36 2022
Dewey Decimal Classification
629.8/92
Summary
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.
Bibliography, etc. Note
Includes bibliographical references.
Access Note
Access limited to authorized users.
Digital File Characteristics
text file
PDF
Source of Description
Online resource; title from PDF title page (SpringerLink, viewed December 3, 2021).
Added Author
Mohan, Ashish, author.
Saha, Subir Kumar, author.
Saha, Subir Kumar, author.
Series
International series on intelligent systems, control and automation--science and engineering ; v. 100. 2213-8994
Available in Other Form
Print version: 9789811627972
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Table of Contents
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.
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.