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Dynamics of Rigid-Flexible Robots and Multibody Systems
Paperback
Series: Intelligent Systems, Control and Automation: Science and Eng, Book 100
ISBN13: 9789811628009
Publisher: Springer Nature
Published: Nov 30 2022
Pages: 279
Weight: 0.93
Height: 0.63 Width: 6.14 Depth: 9.21
Language: English
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 Coefficients6.2.1. 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 Response6.5. A Two Flexible-Link Robotic Arm
6.6. Summary
1 different editions
Also available
Dynamics of Rigid-Flexible Robots and Multibody Systems
Nandihal, Paramanand Vivekanand
Mohan, Ashish
Saha, Subir Kumar
Hardcover
Also from
Nandihal, Paramanand Vivekanand
Dynamics of Rigid-Flexible Robots and Multibody Systems
Nandihal, Paramanand Vivekanand
Mohan, Ashish
Saha, Subir Kumar
Hardcover
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