Nandihal P.V., Mohan A.,Saha S.K. Dynamics of Rigid-Flexible Robots and Multibody Systems

Springer, 2022. — 288 p. — (Intelligent Systems, Control and Automation: Science and Engineering). — ISBN: 978-981-16-2797-2.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 a dynamic model of rigid-flexible robots based on the unique approach of de-coupling natural orthogonal complements of velocity constraints. Based on this formulation, computationally efficient and numerically stable forward dynamics algorithms for serial-chain and closed-loop robotic systems with rigid flexible, or rigid-flexible links are presented. The proposed algorithm is shown to be numerically efficient for forward dynamics based on the investigation methodologies built on eigenvalue analytics. The precision and functionality of the simulation algorithms are 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 the 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.Open-Loop Serial-Chain Systems
Dynamic Formulation Using the Decoupled Natural Orthogonal Complement (DeNOC).
Dynamics of Serial Rigid–Flexible Robots.
Dynamics of Six-Link Spatial Robot Arms.
Dynamic Modeling of Closed-Loop Systems
Dynamics of Closed-Loop Systems.
Dynamics of Spatial Four-Bar Mechanism.
Numerical Stability and Computational Efficiency of Dynamic Algorithm
Numerical Stability and Efficiency.
Experimental Study of Flexible System
Experimental Results.