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.

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 or read book Dynamics of Multibody Systems written by Ahmed A. Shabana and published by Cambridge University Press. This book was released on 2005-06-30 with total page 392 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dynamics of Multibody Systems, 3rd Edition, first published in 2005, introduces multibody dynamics, with an emphasis on flexible body dynamics. Many common mechanisms such as automobiles, space structures, robots and micromachines have mechanical and structural systems that consist of interconnected rigid and deformable components. The dynamics of these large-scale, multibody systems are highly nonlinear, presenting complex problems that in most cases can only be solved with computer-based techniques. The book begins with a review of the basic ideas of kinematics and the dynamics of rigid and deformable bodies before moving on to more advanced topics and computer implementation. This revised third edition now includes important developments relating to the problem of large deformations and numerical algorithms as applied to flexible multibody systems. The book's wealth of examples and practical applications will be useful to graduate students, researchers, and practising engineers working on a wide variety of flexible multibody systems.

Download or read book Multibody System Dynamics Robotics and Control written by Hubert Gattringer and published by Springer Science & Business Media. This book was released on 2013-01-06 with total page 317 pages. Available in PDF, EPUB and Kindle. Book excerpt: The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap between the modeling of mechanical systems by means of multibody dynamics formulations and robotics. In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The papers aim to connect the different scientific communities in multibody dynamics, robotics and control. Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification.

Download or read book Dynamics of Underactuated Multibody Systems written by Robert Seifried and published by Springer Science & Business Media. This book was released on 2013-11-08 with total page 249 pages. Available in PDF, EPUB and Kindle. Book excerpt: Underactuated multibody systems are intriguing mechatronic systems, as they posses fewer control inputs than degrees of freedom. Some examples are modern light-weight flexible robots and articulated manipulators with passive joints. This book investigates such underactuated multibody systems from an integrated perspective. This includes all major steps from the modeling of rigid and flexible multibody systems, through nonlinear control theory, to optimal system design. The underlying theories and techniques from these different fields are presented using a self-contained and unified approach and notation system. Subsequently, the book focuses on applications to large multibody systems with multiple degrees of freedom, which require a combination of symbolical and numerical procedures. Finally, an integrated, optimization-based design procedure is proposed, whereby both structural and control design are considered concurrently. Each chapter is supplemented by illustrated examples.

Download or read book Dynamics of Parallel Robots written by Sébastien Briot and published by Springer. This book was released on 2015-06-22 with total page 350 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book starts with a short recapitulation on basic concepts, common to any types of robots (serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic models of parallel robots. Then, as dynamics requires the use of geometry and kinematics, the general equations of geometric and kinematic models of parallel robots are given. After, it is explained that parallel robot dynamic models can be obtained by decomposing the real robot into two virtual systems: a tree-structure robot (equivalent to the robot legs for which all joints would be actuated) plus a free body corresponding to the platform. Thus, the dynamics of rigid tree-structure robots is analyzed and algorithms to obtain their dynamic models in the most compact form are given. The dynamic model of the real rigid parallel robot is obtained by closing the loops through the use of the Lagrange multipliers. The problem of the dynamic model degeneracy near singularities is treated and optimal trajectory planning for crossing singularities is proposed. Lastly, the approach is extended to flexible parallel robots and the algorithms for computing their symbolic model in the most compact form are given. All theoretical developments are validated through experiments.

Download or read book 3D Motion of Rigid Bodies written by Ernesto Olguín Díaz and published by Springer. This book was released on 2018-12-06 with total page 474 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book offers an excellent complementary text for an advanced course on the modelling and dynamic analysis of multi-body mechanical systems, and provides readers an in-depth understanding of the modelling and control of robots. While the Lagrangian formulation is well suited to multi-body systems, its physical meaning becomes paradoxically complicated for single rigid bodies. Yet the most advanced numerical methods rely on the physics of these single rigid bodies, whose dynamic is then given among multiple formulations by the set of the Newton–Euler equations in any of their multiple expression forms. This book presents a range of simple tools to express in succinct form the dynamic equation for the motion of a single rigid body, either free motion (6-dimension), such as that of any free space navigation robot or constrained motion (less than 6-dimension), such as that of ground or surface vehicles. In the process, the book also explains the equivalences of (and differences between) the different formulations.

Download or read book Multibody Dynamics written by Ronald L. Huston and published by Butterworth-Heinemann. This book was released on 1990 with total page 444 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book develops the fundamentals of multibody dynamics from the principles of elementary mechanics. It is written in a tutorial style with numerous examples and an emphasis upon computational methods. This book should be accessible to anyone with a basic knowledge of elementary mechanics and analysis. Multibody Dynamics examines the behavior of systems of bodies subjected to forces or constraints. The bodies may be securely or loosely connected, and flexible or rigid. Such generality allows the use of multibody systems to model an increasing number of physical systems ranging from robots, biosystems (human body models), satellite booms, large structures, chains and cables. Until recently, analyses of such systems were virtually intractable. With the availability of high-speed digital computers, however, and with corresponding advances in analysis methods, multibody dynamics analyses are not only feasible, they are also practical, and applicable, to these important physical systems.

Download or read book Dynamics of Multibody Systems written by Ahmed A. Shabana and published by Cambridge University Press. This book was released on 2013-09-02 with total page 408 pages. Available in PDF, EPUB and Kindle. Book excerpt: This enhanced fourth edition of Dynamics of Multibody Systems includes an additional chapter that provides explanations of some of the fundamental issues addressed in the book, as well as new detailed derivations of some important problems. Many common mechanisms such as automobiles, space structures, robots and micromachines have mechanical and structural systems that consist of interconnected rigid and deformable components. The dynamics of these large-scale multibody systems are highly nonlinear, presenting complex problems that in most cases can only be solved with computer-based techniques. The book begins with a review of the basic ideas of kinematics and the dynamics of rigid and deformable bodies before moving on to more advanced topics and computer implementation. The book's wealth of examples and practical applications will be useful to graduate students, researchers and practising engineers working on a wide variety of flexible multibody systems.

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.

Download or read book Flexible Robot Dynamics and Controls written by Rush D. Robinett III and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 353 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the result of over ten (10) years of research and development in flexible robots and structures at Sandia National Laboratories. The authors de cided to collect this wealth of knowledge into a set of viewgraphs in order to teach a graduate class in Flexible Robot Dynamics and Controls within the Mechanical En gineering Department at the University of New Mexico (UNM). These viewgraphs, encouragement from several students, and many late nights have produced a book that should provide an upper-level undergraduate and graduate textbook and a reference for experienced professionals. The content of this book spans several disciplines including structural dynam ics, system identification, optimization, and linear, digital, and nonlinear control theory which are developed from several points of view including electrical, me chanical, and aerospace engineering as well as engineering mechanics. As a result, the authors believe that this book demonstrates the value of solid applied theory when developing hardware solutions to real world problems. The reader will find many real world applications in this book and will be shown the applicability of these techniques beyond flexible structures which, in turn, shows the value of mul tidisciplinary education and teaming.

Download or read book Flexible Multibody Dynamics written by Michel Géradin and published by John Wiley & Sons. This book was released on 2001-03-05 with total page 352 pages. Available in PDF, EPUB and Kindle. Book excerpt: Flexible Multibody Dynamics comprehensively describes the numerical modelling of flexible multibody dynamics systems in space and aircraft structures, vehicles, and mechanical systems. A rigorous approach is followed to handle finite rotations in 3D, with a thorough discussion of the different alternatives for parametrization. Modelling of flexible bodies is treated following the Finite Element technique, a novel aspect in multibody systems simulation. Moreover, this book provides extensive coverage of the formulation of a general purpose software for flexible multibody dynamics analysis, based on an exhaustive treatment of large rotations and finite element modelling, and incorporating useful reference material. Features include different solution techniques such as: * time integration of differential-algebraic equations * non-linear substructuring * continuation methods * nonlinear bifurcation analysis. In essence, this is an ideal text for senior undergraduates, postgraduates and professionals in mechanical and aeronautical engineering, as well as mechanical design engineers and researchers, and engineers working in areas such as kinematics and dynamics of deployable structures, vehicle dynamics and mechanical design.

Download or read book Dynamics of Multibody Systems written by Ahmed A. Shabana and published by . This book was released on 2005 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Dynamics of Multibody Systems, 3rd Edition, first published in 2005, introduces multibody dynamics, with an emphasis on flexible body dynamics. Many common mechanisms such as automobiles, space structures, robots and micromachines have mechanical and structural systems that consist of interconnected rigid and deformable components. The dynamics of these large-scale, multibody systems are highly nonlinear, presenting complex problems that in most cases can only be solved with computer-based techniques. The book begins with a review of the basic ideas of kinematics and the dynamics of rigid and deformable bodies before moving on to more advanced topics and computer implementation. This revised third edition now includes important developments relating to the problem of large deformations and numerical algorithms as applied to flexible multibody systems. The book's wealth of examples and practical applications will be useful to graduate students, researchers, and practising engineers working on a wide variety of flexible multibody systems.

Download or read book Fundamentals of Multibody Dynamics written by Farid Amirouche and published by Springer Science & Business Media. This book was released on 2007-05-24 with total page 692 pages. Available in PDF, EPUB and Kindle. Book excerpt: This textbook – a result of the author’s many years of research and teaching – brings together diverse concepts of the versatile tool of multibody dynamics, combining the efforts of many researchers in the field of mechanics.

Download or read book IUTAM Symposium on Intelligent Multibody Systems Dynamics Control Simulation written by Evtim Zahariev and published by Springer. This book was released on 2019-01-09 with total page 206 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume, which brings together research presented at the IUTAM Symposium Intelligent Multibody Systems – Dynamics, Control, Simulation, held at Sozopol, Bulgaria, September 11-15, 2017, focuses on preliminary virtual simulation of the dynamics of motion, and analysis of loading of the devices and of their behaviour caused by the working conditions and natural phenomena. This requires up-to-date methods for dynamics analysis and simulation, novel methods for numerical solution of ODE and DAE, real-time simulation, passive, semi-passive and active control algorithms. Applied examples are mechatronic (intelligent) multibody systems, autonomous vehicles, space structures, structures exposed to external and seismic excitations, large flexible structures and wind generators, robots and bio-robots. The book covers the following subjects: -Novel methods in multibody system dynamics; -Real-time dynamics; -Dynamic models of passive and active mechatronic devices; -Vehicle dynamics and control; -Structural dynamics; -Deflection and vibration suppression; -Numerical integration of ODE and DAE for large scale and stiff multibody systems; -Model reduction of large-scale flexible systems. The book will be of interest for scientists and academicians, PhD students and engineers at universities and scientific institutes.

Download or read book Modern Robotics written by Kevin M. Lynch and published by Cambridge University Press. This book was released on 2017-05-25 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.

Download or read book Kinematics and Dynamics of Multibody Systems with Imperfect Joints written by Paulo Flores and published by Springer Science & Business Media. This book was released on 2008-01-10 with total page 182 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents suitable methodologies for the dynamic analysis of multibody mechanical systems with joints. It contains studies and case studies of real and imperfect joints. The book is intended for researchers, engineers, and graduate students in applied and computational mechanics.