Applied dynamics and CAD of manipulation robots
Introductory exposition (textbooks, tutorial papers, etc.) pertaining to mechanics of particles and systems (70-01) Kinematics of mechanisms and robots (70B15) Holonomic systems related to the dynamics of a system of particles (70F20) Generalized coordinates; event, impulse-energy, configuration, state, or phase space for problems in mechanics (70G10) Control of mechanical systems (70Q05) Introductory exposition (textbooks, tutorial papers, etc.) pertaining to systems and control theory (93-01) Control/observation systems governed by ordinary differential equations (93C15)
This book presents complete results for dynamic analysis of manipulation robots with both open and closed kinematic chains and procedures for computer-aided design (CAD) of robotic mechanisms. It comprises four chapters and is intended for researchers, robot designers, post-graduate students and engineers involved in CAD of manipulation robots. In chapter 1, General about manipulation robots, basic definitions and classifications of robotic structures are presented together with the general problems of CAD. In chapter 2, Dynamic analysis of manipulator motion, algorithms for dynamic analysis and synthesis of nominal dynamics are considered in detail, stressing on calculation of certain dynamic characteristics as: driving forces/torques, power requirements, torque/speed diagrams, stress in segments, elastic deformations, etc. In chapter 3, Closed chain dynamics, the delicate (but important in practice) problems of closed manipulation chains dynamics are considered under certain assumptions. In chapter 4, Computer-aided design of manipulation robots, the optimality criteria and the constraints are defined for the algorithms discussed in the previous two chapters. A program package for CAD of manipulation robots is briefly described considering an energy consumption criterion. In fact the book is the first one in robotics that gives an application- oriented treatment of manipulation robots dynamics.
- Stabilization of robot motion and contact force interaction for third- order motor dynamics
- A Kane's based algorithm for closed-form dynamic analysis of a new design of a 3RSS-S spherical parallel manipulator
- A generalized approach to tracking the nominals of mechanical systems
- Systematic modeling of a chain of N-flexible link manipulators connected by revolute-prismatic joints using recursive Gibbs-Appell formulation
- scientific article; zbMATH DE number 420879 (Why is no real title available?)
- scientific article; zbMATH DE number 4070391 (Why is no real title available?)
- scientific article; zbMATH DE number 1366681 (Why is no real title available?)
- scientific article; zbMATH DE number 1420519 (Why is no real title available?)
- scientific article; zbMATH DE number 1424265 (Why is no real title available?)
- Computer-aided-design tool for simplification of robot dynamic model based on manipulator system performance
- Real-time dynamics of manipulation robots
- Fundamentals of mechanics of robotic manipulation
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