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Author : Wallace Hikaru Sunada
Publisher :
ISBN 13 :
Total Pages : 295 pages
Book Rating : 4.:/5 (22 download)
Download or read book Dynamic Analysis of Flexible Spatial Mechanisms and Robotic Manipulators written by Wallace Hikaru Sunada and published by . This book was released on 1981 with total page 295 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Werner Schiehlen
Publisher : Springer Science & Business Media
ISBN 13 : 3642509959
Total Pages : 434 pages
Book Rating : 4.6/5 (425 download)
Download or read book Multibody Systems Handbook written by Werner Schiehlen and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 434 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dynamics of multibody systems is of great importance in the fields of robotics, biomechanics, spacecraft control, road and rail vehicle design, and dynamics of machinery. Many research problems have been solved and a considerable number of computer codes based on multibody formalisms is now available. With the present book it is intended to collect software systems for multibody system dynamics which are well established and have found acceptance in the users community. The Handbook will aid the reader in selecting the software system which is most appropriate to his needs. Altogether 17 research groups contributed to the Handbook. A compact summary of important capabilities of these software systems is presented in tabular form. All authors dealt with two typical test examples, a planar mechanism and a spatial robot. Thus, it is very easy to compare the results and to identify more clearly the advantages of one or the other formalism.
Author : Paramanand Vivekanand Nandihal
Publisher : Springer Nature
ISBN 13 : 9811627983
Total Pages : 288 pages
Book Rating : 4.8/5 (116 download)
Download or read book Dynamics of Rigid-Flexible Robots and Multibody Systems written by Paramanand Vivekanand Nandihal and published by Springer Nature. This book was released on 2021-11-28 with total page 288 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Author : Constantinos A. Balafoutis
Publisher : Springer Science & Business Media
ISBN 13 : 1461539528
Total Pages : 301 pages
Book Rating : 4.4/5 (615 download)
Download or read book Dynamic Analysis of Robot Manipulators written by Constantinos A. Balafoutis and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 301 pages. Available in PDF, EPUB and Kindle. Book excerpt: The purpose of this monograph is to present computationally efficient algorithms for solving basic problems in robot manipulator dynamics. In par ticular, the following problems of rigid-link open-chain manipulator dynam ics are considered : i) computation of inverse dynamics, ii) computation of forward dynamics, and iii) generation of linearized dynamic models. Com putationally efficient solutions of these problems are prerequisites for real time robot applications and simulations. Cartesian tensor analysis is the mathematical foundation on which the above mentioned computational algorithms are based. In particular, it is shown in this monograph that by exploiting the relationships between second order Cartesian tensors and their vector invariants, a number of new tensor vector identities can be obtained. These identities enrich the theory of Carte sian tensors and allow us to manipulate complex Cartesian tensor equations effuctively. Moreover, based on these identities the classical vector descrip tion for the Newton-Euler equations of rigid body motion are rewritten in an equivalent tensor formulation which is shown to have computational advan tages over the classical vector formulation. Thus, based on Cartesian tensor analysis, a conceptually simple, easy to implement and computationally efficient tensor methodology is presented in this monograph for studying classical rigid body dynamics. XlI Application of this tensor methodology to the dynamic analysis of rigid-link open-chain robot manipulators is simple and leads to an efficient fonnulation of the dynamic equations of motion.
Author : Abhinandan Jain
Publisher : Springer Science & Business Media
ISBN 13 : 1441972676
Total Pages : 512 pages
Book Rating : 4.4/5 (419 download)
Download or read book Robot and Multibody Dynamics written by Abhinandan Jain and published by Springer Science & Business Media. This book was released on 2010-12-17 with total page 512 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot and Multibody Dynamics: Analysis and Algorithms provides a comprehensive and detailed exposition of a new mathematical approach, referred to as the Spatial Operator Algebra (SOA), for studying the dynamics of articulated multibody systems. The approach is useful in a wide range of applications including robotics, aerospace systems, articulated mechanisms, bio-mechanics and molecular dynamics simulation. The book also: treats algorithms for simulation, including an analysis of complexity of the algorithms, describes one universal, robust, and analytically sound approach to formulating the equations that govern the motion of complex multi-body systems, covers a range of more advanced topics including under-actuated systems, flexible systems, linearization, diagonalized dynamics and space manipulators. Robot and Multibody Dynamics: Analysis and Algorithms will be a valuable resource for researchers and engineers looking for new mathematical approaches to finding engineering solutions in robotics and dynamics.
![Download The Computer-aided Structural Design of Robotic Manipulators [microform] PDF Online Free](https://books.google.com/books/content/images/frontcover/YsMuzwEACAAJ?fife=w200-h370)
Author : Mahalingam Subbiah
Publisher : National Library of Canada
ISBN 13 : 9780315336346
Total Pages : pages
Book Rating : 4.3/5 (363 download)
Download or read book The Computer-aided Structural Design of Robotic Manipulators [microform] written by Mahalingam Subbiah and published by National Library of Canada. This book was released on 1986 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The research carried out in this work involves the kinematic and dynamic analyses of the robotic manipulators. The kinematic analysis includes the displacement analysis of the planar and spatial mechanisms as well as the velocity and acceleration analyses. In the dynamic analysis, the variation of the natural frequencies and the dynamic condensation techniques have been studied. -- The displacement analysis of the open and closed-loop systems have been carried out using the optimization principles and the modified Newton-Raphson technique. The velocity and acceleration analyses have been divided into two categories: in the first one, the number of unknowns are either greater or less than three and in the second one they are equal to three. The first type is solved using the modified Newton-Raphson technique whereas the second type solved by simultaneous solution of the equations. -- To carry out the dynamic analysis, the equations of motion have been obtained using the finite element analysis. The system matrices for the robotic manipulators are also dependent on the angular velocities and angular acceleration. Several new methods of obtaining the matrix of direction cosines needed to represent the orientation of the local axes with respect to the global axes, are discussed. The natural frequencies as a result of the variation of several design parameters have been obtained. Finally, a comparative study on the two types of dynamic condensation schemes have been carried out using a machine tool spindle and a robotic manipulator as examples.
Author : Qiukui Liu
Publisher :
ISBN 13 :
Total Pages : 256 pages
Book Rating : 4.:/5 (364 download)
Download or read book Dynamic Analysis of a Spatial Robot Manipulator with a Flexible Prismatic Link written by Qiukui Liu and published by . This book was released on 1993 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : M. Vukobratovic
Publisher : Springer Science & Business Media
ISBN 13 : 3642818544
Total Pages : 319 pages
Book Rating : 4.6/5 (428 download)
Download or read book Dynamics of Manipulation Robots written by M. Vukobratovic and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 319 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph represents the first book of the series entitled "SCI ENTIFIC FUNDAMENTALS OF ROBOTICS". The aim of this monograph is to ap proach the dynamics of active mechanisms from the standpoint of its application to the synthesis of complex motion and computer-aided de sign of manipulation mechanisms with some optimal performances. The rapid development of a new class of mechanisms, which may be referred to as active mechanisms, contributed to their application in various environments (from underwater to cosmic) . Because of some specific fea tures, these mechanisms require very careful description, both in a mechanical sense (kinematic and dynamic) and in the synthesis of algo rithms for precise tracking of the above motion under insufficiently defined operating conditions. Having also in mind the need for a very fast (even real-time) calculation of system dynamics and for eliminating, in principle, the errors made when forming mathematical models "by hand" this monograph will primarily present methods for automatic for mUlation of dynamic equations of motion of active spatial mechanisms. Apart from these computer-oriented methods, mention will be made of all those methods which have preceded the computer-oriented procedures, predominantly developed for different problems of rigid body dynamics. If we wish to systematically establish the origins of the scientific discipline, which could be called robot dynamics, we must recall some groups and individuals, who, by solving actual problems in the synthe sis and control of artificial motion, have contributed to a gradual formation of this discipline.
Author : Serdar Küçük
Publisher : BoD – Books on Demand
ISBN 13 : 9535104373
Total Pages : 472 pages
Book Rating : 4.5/5 (351 download)
Download or read book Serial and Parallel Robot Manipulators written by Serdar Küçük and published by BoD – Books on Demand. This book was released on 2012-03-30 with total page 472 pages. Available in PDF, EPUB and Kindle. Book excerpt: The robotics is an important part of modern engineering and is related to a group of branches such as electric
Author :
Publisher :
ISBN 13 :
Total Pages : 836 pages
Book Rating : 4.:/5 (31 download)
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1994 with total page 836 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Jaime Gallardo-Alvarado
Publisher : Academic Press
ISBN 13 : 0323953476
Total Pages : 532 pages
Book Rating : 4.3/5 (239 download)
Download or read book Mechanisms written by Jaime Gallardo-Alvarado and published by Academic Press. This book was released on 2022-06-18 with total page 532 pages. Available in PDF, EPUB and Kindle. Book excerpt: Theory of mechanisms is an applied science of mechanics that studies the relationship between geometry, mobility, topology, and relative motion between rigid bodies connected by geometric forms. Recently, knowledge in kinematics and mechanisms has considerably increased, causing a renovation in the methods of kinematic analysis. With the progress of the algebras of kinematics and the mathematical methods used in the optimal solution of polynomial equations, it has become possible to formulate and elegantly solve problems. Mechanisms: Kinematic Analysis and Applications in Robotics provides an updated approach to kinematic analysis methods and a review of the mobility criteria most used in planar and spatial mechanisms. Applications in the kinematic analysis of robot manipulators complement the material presented in the book, growing in importance when one recognizes that kinematics is a basic area in the control and modeling of robot manipulators. Presents an organized review of general mathematical methods and classical concepts of the theory of mechanisms Introduces methods approaching time derivatives of arbitrary vectors employing general approaches based on the vector angular velocity concept introduced by Kane and Levinson Proposes a strategic approach not only in acceleration analysis but also to jerk analysis in an easy to understand and systematic way Explains kinematic analysis of serial and parallel manipulators by means of the theory of screws
Author : Liang-Wey Chang
Publisher :
ISBN 13 :
Total Pages : 352 pages
Book Rating : 4.:/5 (391 download)
Download or read book Dynamic Analysis of Robotic Manipulators with Flexible Links written by Liang-Wey Chang and published by . This book was released on 1984 with total page 352 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Miomir Vukobratovic
Publisher : Springer Science & Business Media
ISBN 13 : 3642838669
Total Pages : 487 pages
Book Rating : 4.6/5 (428 download)
Download or read book Applied Dynamics of Manipulation Robots written by Miomir Vukobratovic and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 487 pages. Available in PDF, EPUB and Kindle. Book excerpt: During the period 1982-1985, six books of the series: Scientific Fun damentals of Robotics were published by Springer-Verlag. In chronolo gical order these were: Dynamics of Manipulation Robots: Theory and Application, by M. Vukobra tovic and V. Potkonjak, Control of Manipulation Robots: Theory and Ap plication, by M. vukobratovic and D. Stokic, Kinematics and Trajectory Synthesis of Manipulation Robots, by M. Vukobratovic and H. Kircanski, Real-Time Dynamics of Hanipulation Robots by M. Vukobratovic and N. Kircanski, Non-Adaptive and Adaptive Control of Manipulation Robots, by M. Vukobratovic, D. Stokic and N. Kircanski and Computer-Aided De sign and Applied Dynamics of Manipulation Robots, by M. Vukobratovic and V. Potkonjak. Within the series, during 1989, two monographs dealing with new sub jects will be published. So far, amongst the published monographs, Vol. 1 has been translated into Japanese, Volumes 2 and 5 into Russian, and Volumes 1-6 will appear in Chinese and Hungarian. In the author's opinion, the afore mentioned monographs, in principle, cover with sufficient breadth, the topics devoted to the design of ro bots and their control systems, at the level of post-graduate study in robotics. However, if this material was also to apply to the study of robotics at under-graduate level, it would have to be modified so as to obtain the character of a textbook. With this in mind, it must be noted that the subject matter contained in the text cannot be simpli fied but can only be elaborated in more detail.
Author : M. Vukobratovic
Publisher : Springer Science & Business Media
ISBN 13 : 9401703973
Total Pages : 258 pages
Book Rating : 4.4/5 (17 download)
Download or read book Dynamics of Robots with Contact Tasks written by M. Vukobratovic and published by Springer Science & Business Media. This book was released on 2013-04-17 with total page 258 pages. Available in PDF, EPUB and Kindle. Book excerpt: As robots are becoming more and more sophisticated the interest in robot dynamics is increasing. Within this field, contact problems are among the most interesting, since contacts are present in almost any robot task and introduce serious complexity to system dynamics, strongly influencing robot behavior. The book formulates dynamic models of robot interaction with different kinds of environment, from pure geometrical constraints to complex dynamic environments. It provides a number of examples. Dynamic modeling is the primary interest of the book but control issues are treated as well. Because dynamics and contact control tasks are strongly related the authors also provide a brief description of relevant control issues. The book will be of interest to engineers working in research and development in robotics and automation and to both graduate and postgraduate students. The work will also be valuable to readers involved in manufacturing, robotics, automation, computer and control engineering.
Author : M. Osman Tokhi
Publisher : IET
ISBN 13 : 0863414486
Total Pages : 579 pages
Book Rating : 4.8/5 (634 download)
Download or read book Flexible Robot Manipulators written by M. Osman Tokhi and published by IET. This book was released on 2008-05-20 with total page 579 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book discusses the latest developmens in modelling, simulation and control of flexible robot manipulators. Coverage includes an overall review of previously developed methodologies, a range of modelling approaches including classical techniques, parametric and neuromodelling approaches and numerical modelling/simulation techniques.
Author : M. Vukobratovic
Publisher : Springer Science & Business Media
ISBN 13 : 3642821952
Total Pages : 278 pages
Book Rating : 4.6/5 (428 download)
Download or read book Kinematics and Trajectory Synthesis of Manipulation Robots written by M. Vukobratovic and published by Springer Science & Business Media. This book was released on 2013-12-11 with total page 278 pages. Available in PDF, EPUB and Kindle. Book excerpt: A few words about the series "Scientific Fundamentals of Robotics" should be said on the occasion of publication of the present monograph. This six-volume series has been conceived so as to allow the readers to master a contemporary approach to the construction and synthesis of con trol for manipulation ~obots. The authors' idea was to show how to use correct mathematical models of the dynamics of active spatial mecha nisms for dynamic analysis of robotic systems, optimal design of their mechanical parts based on the accepted criteria and imposed constraints, optimal choice of actuators, synthesis of dynamic control algorithms and their microcomputer implementation. In authors' oppinion this idea has been relatively successfully realized within the six-volume mono graphic series. Let us remind the readers of the books of this series. Volumes 1 and 2 are devoted to the dynamics and control algorithms of manipulation ro bots, respectively. They form the first part of the series which has a certain topic-related autonomy in the domain of the construction and application of the mathematical models of robotic mechanisms' dynamics.
Author : Yildirim Hurmuzlu
Publisher : CRC Press
ISBN 13 : 1420036742
Total Pages : 872 pages
Book Rating : 4.4/5 (2 download)
Download or read book The Mechanical Systems Design Handbook written by Yildirim Hurmuzlu and published by CRC Press. This book was released on 2017-12-19 with total page 872 pages. Available in PDF, EPUB and Kindle. Book excerpt: With a specific focus on the needs of the designers and engineers in industrial settings, The Mechanical Systems Design Handbook: Modeling, Measurement, and Control presents a practical overview of basic issues associated with design and control of mechanical systems. In four sections, each edited by a renowned expert, this book answers diverse questions fundamental to the successful design and implementation of mechanical systems in a variety of applications. Manufacturing addresses design and control issues related to manufacturing systems. From fundamental design principles to control of discrete events, machine tools, and machining operations to polymer processing and precision manufacturing systems. Vibration Control explores a range of topics related to active vibration control, including piezoelectric networks, the boundary control method, and semi-active suspension systems. Aerospace Systems presents a detailed analysis of the mechanics and dynamics of tensegrity structures Robotics offers encyclopedic coverage of the control and design of robotic systems, including kinematics, dynamics, soft-computing techniques, and teleoperation. Mechanical systems designers and engineers have few resources dedicated to their particular and often unique problems. The Mechanical Systems Design Handbook clearly shows how theory applies to real world challenges and will be a welcomed and valuable addition to your library.
