Dynamics of rigid-flexible robots and multibody systems / Paramanand Vivekanand Nandihal, Ashish Mohan, Subir Kumar Saha.
Nandihal, Paramanand Vivekanand, author.; Mohan, Ashish, author.; Saha, Subir Kumar, author.
2022
TJ211 .N36 2022
Available Online

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Title Dynamics of rigid-flexible robots and multibody systems / Paramanand Vivekanand Nandihal, Ashish Mohan, Subir Kumar Saha.
Author Nandihal, Paramanand Vivekanand, author.
ISBN 9789811627989 (electronic bk.)
9811627983 (electronic bk.)
9789811627972
9811627975
DOI https://doi.org/10.1007/978-981-16-2798-9
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.
Series International series on intelligent systems, control and automation--science and engineering ; v. 100. 2213-8994
Available in Other Form Print version: 9789811627972
Linked Resources Online Access
Record Appears in Online Resources > Ebooks
All Resources
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.

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