Nandihal P. Dynamics of Rigid-Flexible Robots and Multibody Systems 2022

Textbook in PDF format

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.
Introduction
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