Dynamics of Rigid-Flexible Robots and Multibody Systems

丛 书 名：Intelligent Systems, Control and Automation: Science and Engineering

版本说明：1st ed. 2022

作     者：Paramanand Vivekanand Nandihal Ashish Mohan Subir Kumar Saha 

I S B N：(纸本) 9789811627972 

出 版 社：Springer Nature Singapore 

出 版 年：2022年

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

摘      要：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.