Dynamics of rigid-flexible robots and multibody systems / / Paramanand Vivekanand Nandihal, Ashish Mohan, Subir Kumar Saha

• Record Nr.: UNINA9910743380003321
• Autore: Nandihal Paramanand Vivekanand
• Pubbl/distr/stampa: Singapore : , : Springer, , [2022]; ©2022
• ISBN: 981-16-2797-5; 981-16-2798-3
• Descrizione fisica: 1 online resource (288 pages)
• Collana: Intelligent Systems, Control and Automation: Science and Engineering ; ; v.100
• Disciplina: 741.51
• Soggetti: Multibody systems
• Lingua di pubblicazione: Inglese
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Nota di bibliografia: Includes bibliographical references.
• Nota di contenuto: Intro -- Preface -- Acknowledgements -- Units and Notation -- Contents -- About the Authors -- 1 Introduction -- 1.1 Background -- 1.2 Dynamics of Multibody Systems -- 1.3 Dynamic Modeling -- 1.3.1 Dynamics of Rigid Systems -- 1.3.2 Dynamics of Flexible Systems -- 1.3.3 Dynamics of Closed-Loop Systems -- 1.4 Numerical Stability -- 1.5 Computational Efficiency -- 1.6 Experimental Work -- 1.7 Important Features of the Book -- 1.8 Organization of the Book -- 1.9 Summary -- Bibliography -- Part I Open-Loop Serial-Chain Systems -- 2 Dynamic Formulation Using the Decoupled Natural Orthogonal Complement (DeNOC) -- 2.1 Kinematics -- 2.1.1 Some Definitions -- 2.1.2 The DeNOC Matrices -- 2.2 Dynamic Modeling of Rigid Robots -- 2.3 Forward Dynamics Algorithm for Rigid Robots -- 2.3.1 Recursive Algorithm -- 2.3.2 Computational Complexity -- 2.4 Summary -- Bibliography -- 3 Dynamics of Serial Rigid-Flexible Robots -- 3.1 Kinematics -- 3.1.1 Rotation Matrix -- 3.1.2 Kinematic Discretization -- 3.1.3 Definitions for Flexible Systems -- 3.1.4 The DeNOC Matrices for Rigid-Flexible Robots -- 3.2 Dynamic Modeling of Rigid-Flexible Robots -- 3.3 Geometric Stiffness -- 3.4 Forward Dynamics for Rigid-Flexible Robots -- 3.4.1 Recursive Algorithm -- 3.4.2 Computational Complexity -- 3.4.3 Comparison -- 3.5 Simulation Results -- 3.6 Shape Functions Evaluation -- 3.7 Single-Link Arm -- 3.7.1 Simulation ; Results -- 3.7.2 Number of Vibration Modes -- 3.8 Spinning Cantilever Beam -- 3.8.1 Numerical Simulation -- 3.9 Two-Link Planar Arm -- 3.9.1 Rigid Links -- 3.9.2 Rigid and Flexible Links -- 3.9.3 Both Links Flexible -- 3.10 Three-Link Planar Arm -- 3.10.1 Rigid Links -- 3.10.2 Canadarm with Two Flexible Links -- 3.11 Summary -- References -- 4 Dynamics of Six-Link Spatial Robot Arms -- 4.1 PUMA Robot -- 4.2 Space Shuttle Remote Manipulator System Robot (SSRMS).; 4.3 Stanford Arm -- 4.4 Summary -- References -- Part II Dynamic Modeling of Closed-Loop Systems -- 5 Dynamics of Closed-Loop Systems -- 5.1 Dynamics of Closed-Loop Systems -- 5.1.1 Forward Dynamics -- 5.1.2 Inverse Dynamics -- 5.2 Rigid-Flexible Planar Four-Bar Mechanism -- 5.2.1 RRR Planar Mechanism -- 5.2.2 RRF Planar Mechanism -- 5.2.3 RFF Planar Mechanism -- 5.2.4 FFF Planar Mechanism -- 5.3 Rigid-Flexible Five-Bar Mechanism -- 5.3.1 RRRR Mechanism -- 5.3.2 RFFR Mechanism -- 5.3.3 FFFF Mechanism -- 5.4 Rigid-Flexible 3-DOF Planar Parallel Manipulator -- 5.4.1 Equations of Motion of the Moving Platform -- 5.4.2 Kinematic Constraints -- 5.4.3 3RR Manipulator -- 5.4.4 3RF Manipulator -- 5.4.5 3FF Manipulator -- 5.5 Forced Simulation -- 5.5.1 Forced Simulation of 3-DOF Parallel Manipulator -- 5.6 Summary -- References -- 6 Dynamics of Spatial Four-Bar Mechanism -- 6.1 Spatial Four-Bar Mechanism -- 6.2 Rigid-Flexible Spatial Four-Bar Mechanism -- 6.2.1 RRR Spatial Mechanism -- 6.2.2 RRF Spatial Mechanism -- 6.2.3 FRR Spatial Mechanism -- 6.2.4 FFF Spatial Mechanism -- 6.3 Summary -- References -- Part III Numerical Stability and Computational Efficiency of Dynamic Algorithm -- 7 Numerical Stability and Efficiency -- 7.1 Criteria for Numerical Stability -- 7.1.1 Zero Eigenvalue Phenomenon -- 7.1.2 Power Difference -- 7.1.3 Acceleration Plots -- 7.2 Stability and Efficiency for Rigid Robots -- 7.2.1 Zero Eigenvalue Phenomenon -- 7.2.2 Power Difference -- 7.2.3 Acceleration Plots -- 7.2.4 Computational Complexity -- 7.3 Stability and Efficiency for Rigid-Flexible Robots -- 7.3.1 Three-Link Planar Canadarm -- 7.3.2 Space Shuttle Remote Manipulator System (SSRMS) -- 7.4 Summary -- References -- Part IV Experimental Study of Flexible System -- 8 Experimental Results -- 8.1 Damping in Dynamic Model -- 8.2 Damping Coefficients -- 8.2.1 Joint Damping.; 8.2.2 Structural Damping -- 8.3 A Robotic Arm with Single Flexible Link -- 8.3.1 Calibration -- 8.3.2 Free Fall -- 8.3.3 Forced Response -- 8.4 A Robot Arm with Two Flexible Links -- 8.5 Summary -- References -- Appendix A Denavit and Hartenberg Parameters -- Appendix B Derivation of Eq. (2.16) -- Appendix C Computational Counts for Rigid Robots -- Appendix D Derivation of Eq. (3.21a) -- Appendix E Computational Counts for Flexible Robots -- Appendix F Modeling of Four-Bar Mechanism in Recurdyn Software -- F.1 Modeling of a 4-Bar Mechanism -- F.1.1 Modeling of a Rigid Link -- F.1.2 Modeling of a Joint -- F.1.3 Modeling of a Flexible Link -- F.2 Dynamic Analysis -- Bibliography.