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Dynamics of Rigid-Flexible Robots and Multibody Systems (2022)

Dynamics of Rigid-Flexible Robots and Multibody Systems (2022)

by Nandihal, Paramanand Vivekanand
No customer reviews yet ISBN 9789811628009 Springer


1. Introduction

1.1. Dynamic Modeling of Rigid and Flexible Systems

1.2. Computational Efficiency

1.3. Summary

2. Dynamics of serial-chain system

2.1. Equations of motion

2.2. Geometric stiffness

2.3. Shape functions

2.4. Illustrations

2.4.1. Spinning cantilever beam

2.4.2. 2-link manipulator

2.4.3. 3-link manipulator

2.4.4. PUMA/Stanford Arm

2.5. Summary

3. Dynamics of closed-loop systems

3.1. Formulation

3.1.1. Forward dynamics

3.1.2. Inverse dynamics

3.2. Illustrations

3.2.1. 4-bar mechanism

3.2.2. 5-bar mechanism

3.2.3. 3RRR parallel manipulator

3.3. Forced simulation

3.4. Summary

4. Dynamics of spatial 4-bar mechanism

4.1. Formulation

4.2. Illustration

4.3. Summary

5. Computational efficiency and numerical stability

5.1. Criteria for numerical stability

5.2. Stability and efficiency for rigid robot

5.3. Stability and Efficiency for Rigid-Flexible Robots

5.4. Summary

6. Experimental Results

6.1. Damping in Dynamic Model

6.2. Damping Coefficients

6.2.1. Joint Damping

6.2.2. Structural Damping

6.3. An Illustration: A Single Flexible Link

6.4. Single Flexible-Link Arm

6.4.1. Calibration of the Strain-Gauge Circuit

6.4.2. Free-Fall

6.4.3. Forced Response

6.5. A Two Flexible-Link Robotic Arm

6.6. Summary

About the author

Product details

BrandSpringer
Pub dateNov 30, 2022
ISBN-109811628009
ISBN-139789811628009
LanguageEnglish
Dimensions9.25 × 0.68 × 6.1 in
Weight1 lb
Last updated 2026-09-03 18:28
$166.61
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