Dynamics of Rigid-Flexible Robots and Multibody Systems

This book discusses the dynamic analysis of rigid-flexible robots and multibody systems with serial as well as closed-loop architecture. It presents a formulation of dynamic model of rigid-flexible robots based on the de-coupling of natural orthogonal complements of velocity constraints. A computationally efficient and numerically stable forward dynamics algorithm is presented for serial-chain and closed-loop robotic systems with rigid or flexible or rigid-flexible links. The simulation algorithms are illustrated with application on different serial and closed-loop systems, such as the PUMA robot, Stanford robot arm, and Canadarm. The book is intended 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.

Format: Paperback / softback
Length: 279 pages
Publication date: 30 November 2022
Publisher: Springer Verlag, Singapore

This comprehensive book delves into the dynamic analysis of rigid-flexible robots and multibody systems, encompassing both serial and closed-loop architectures. It presents a novel formulation of dynamic models for rigid-flexible robots, based on a unique approach of decoupling the natural orthogonal complements of velocity constraints. This formulation enables the development of computationally efficient and numerically stable forward dynamics algorithms for both serial-chain and closed-loop robotic systems with rigid, flexible, or rigid-flexible links.

Through rigorous investigation methodologies rooted in eigen value analytics, the proposed algorithm demonstrates exceptional numerical efficiency for forward dynamics. The precision and functionality of the simulation algorithms are showcased through their application on diverse serial and closed-loop systems, encompassing both planar and spatial configurations.

To illustrate the proposed dynamic formulation and simulation methodologies, the book showcases examples using prominent robotic arms such as the PUMA robot, Stanford robot arm, and Canadarm. These examples serve as valuable references for researchers engaged in the development of rigid-flexible robots for applications in defense, space, atomic energy, ocean exploration, and the manufacturing of biomedical equipment.

With its extensive coverage, rigorous analysis, and practical applications, this book is an invaluable resource for scholars, researchers, and practitioners in the field of robotics and mechanical engineering. It provides a solid foundation for advancing the understanding and implementation of rigid-flexible robots in a wide range of industries and applications.

Weight: 462g
Dimension: 235 x 155 (mm)
ISBN-13: 9789811628009
Edition number: 1st ed. 2022