Dynamics Of Tree Type Robotic Systems
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Dynamics Of Tree Type Robotic Systems
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Author : Suril Vijaykumar Shah
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-14
Dynamics Of Tree Type Robotic Systems written by Suril Vijaykumar Shah and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-14 with Technology & Engineering categories.
This book addresses dynamic modelling methodology and analyses of tree-type robotic systems. Such analyses are required to visualize the motion of a system without really building it. The book contains novel treatment of the tree-type systems using concept of kinematic modules and the corresponding Decoupled Natural Orthogonal Complements (DeNOC), unified representation of the multiple-degrees-of freedom-joints, efficient recursive dynamics algorithms, and detailed dynamic analyses of several legged robots. The book will help graduate students, researchers and practicing engineers in applying their knowledge of dynamics for analysis of complex robotic systems. The knowledge contained in the book will help one in virtual testing of robot operation, trajectory planning and control.
Romansy 22 Robot Design Dynamics And Control
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Author : Vigen Arakelian
language : en
Publisher: Springer
Release Date : 2018-05-19
Romansy 22 Robot Design Dynamics And Control written by Vigen Arakelian and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-05-19 with Technology & Engineering categories.
This proceedings volume contains papers that have been selected after review for oral presentation at ROMANSY 2018, the 22nd CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators. These papers cover advances on several aspects of the wide field of Robotics as concerning Theory and Practice of Robots and Manipulators. ROMANSY 2018 is the 22nd event in a series that started in 1973 as one of the first conference activities in the world on Robotics. The first event was held at CISM (International Centre for Mechanical Science) in Udine, Italy on 5-8 September 1973. It was also the first topic conference of IFToMM (International Federation for the Promotion of Mechanism and Machine Science) and it was directed not only to the IFToMM community.
Dynamics Of Parallel Robots
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Author : Sébastien Briot
language : en
Publisher: Springer
Release Date : 2015-06-22
Dynamics Of Parallel Robots written by Sébastien Briot and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-06-22 with Technology & Engineering categories.
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 optimaltrajectory 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.
Recent Trends In Mechanical Engineering
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Author : Amitava De
language : en
Publisher: Springer Nature
Release Date : 2024-12-27
Recent Trends In Mechanical Engineering written by Amitava De and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-12-27 with Science categories.
This book presents the select proceedings of the 5th International Conference on Recent Advancements in Mechanical Engineering (ICRAME 2024). Various topics covered in this book are thermal engineering, design engineering, manufacturing/production engineering, engineering design, novel materials for thin film solar cells, solar thermal, hydrogen, cryogenic applications, renewable energy, conventional and non-conventional machining, ergonomics, and many more. The book is useful for researchers and professionals working in the various areas of mechanical engineering.
Dynamics Of Rigid Flexible Robots And Multibody Systems
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Author : Paramanand Vivekanand Nandihal
language : en
Publisher: Springer Nature
Release Date : 2021-11-28
Dynamics Of Rigid Flexible Robots And Multibody Systems written by Paramanand Vivekanand Nandihal and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-11-28 with Technology & Engineering categories.
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.
Recent Advances In Industrial Machines And Mechanisms
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Author : Sanjoy K. Ghoshal
language : en
Publisher: Springer Nature
Release Date : 2024-01-04
Recent Advances In Industrial Machines And Mechanisms written by Sanjoy K. Ghoshal and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-01-04 with Technology & Engineering categories.
This book presents select proceedings of the Conference on Industrial Problems on Machines and Mechanisms (IPRoMM 2022). It presents a comprehensive coverage of the recent developments in analysis, design and manufacturing of a range of modern and next-generation industrial machines, and solutions to mitigate common and emerging problems in their maintenance and operation. The topics covered include design, manufacturing and performance analysis of mechanical and mechatronic machine components and assemblies, machine dynamics including rotor dynamics, vehicle dynamics, and multi-body dynamics, robotics and automation, hydraulic and pneumatic systems and control, vibration engineering, tribology, condition monitoring, failure analysis, manufacturing systems and processes, reliability and quality engineering, thermo-fluid and combustion systems, aerospace systems, acoustics, automotive engineering, etc. The book discusses theoretical and practical developments in these fields which havedirect industrial relevance. The book serves as a valuable reference for researchers and professionals interested in analysis, design, manufacturing, maintenance, and operation of industrial machinery.
Recent Advances In Machines Mechanisms Materials And Design
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Author : Rajana Suresh Kumar
language : en
Publisher: Springer Nature
Release Date : 2024-10-05
Recent Advances In Machines Mechanisms Materials And Design written by Rajana Suresh Kumar and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-10-05 with Technology & Engineering categories.
This book presents select proceedings of the 6th International and 21st National Conference on Machines and Mechanism (iNaCoMM 2023) which covers the broad areas of solid mechanics and design covering the latest advancements in the fields of machines and mechanisms. The topics covered in the book are categorized into four themes, namely machines and mechanisms; vibration and control; materials and machine design; and robotics. This book is a useful reference for researchers and professionals working in the fields of mechanical engineering.
Dynamics And Balancing Of Multibody Systems
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Author : Himanshu Chaudhary
language : en
Publisher: Springer Nature
Release Date : 2025-02-26
Dynamics And Balancing Of Multibody Systems written by Himanshu Chaudhary and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-02-26 with Technology & Engineering categories.
The book describes the methodologies for dynamics formulation, balancing, and optimizing dynamic quantities of multibody systems, such as mechanisms and robots. The writing equations of motion of multibody systems are simplified by using Decoupled Natural Orthogonal Complementary (DeNOC) matrices-based methodology originally proposed by the second author. Writing equations of motion using a DeNOC based approach enables the analytical expressions of even complicated systems which provide better physical insights of the system at-hand. The DeNOC based dynamics formulation of multibody systems is extended from system of continuum rigid-link to discrete equivalent system of point-masses coined as DeNOC-P. The dynamics formulation representing a link as point-masses is exploited to minimize the dynamic quantities shaking forces, shaking moments, or driving torques/forces by optimizing the mass redistribution of the link. Several numerical examples, such as carpet scraping machine, PUMA robot, Stewart platform, etc., are illustrated. The book also demonstrates a shape optimization methodology to realize the link with optimized mass redistribution. This textbook can be prescribed for teaching a course on dynamics and balancing of multibody systems at undergraduate and postgraduate level.
Machines Mechanism And Robotics
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Author : D N Badodkar
language : en
Publisher: Springer
Release Date : 2018-08-28
Machines Mechanism And Robotics written by D N Badodkar and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-08-28 with Computers categories.
This book offers a collection of original peer-reviewed contributions presented at the 3rd International and 18th National Conference on Machines and Mechanisms (iNaCoMM), organized by Division of Remote Handling & Robotics, Bhabha Atomic Research Centre, Mumbai, India, from December 13th to 15th, 2017 (iNaCoMM 2017). It reports on various theoretical and practical features of machines, mechanisms and robotics; the contributions include carefully selected, novel ideas on and approaches to design, analysis, prototype development, assessment and surveys. Applications in machine and mechanism engineering, serial and parallel manipulators, power reactor engineering, autonomous vehicles, engineering in medicine, image-based data analytics, compliant mechanisms, and safety mechanisms are covered. Further papers provide in-depth analyses of data preparation, isolation and brain segmentation for focused visualization and robot-based neurosurgery, new approaches to parallel mechanism-based Master-Slave manipulators, solutions to forward kinematic problems, and surveys and optimizations based on historical and contemporary compliant mechanism-based design. The spectrum of contributions on theory and practice reveals central trends and newer branches of research in connection with these topics.
Modern Robotics
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Author : Kevin M. Lynch
language : en
Publisher: Cambridge University Press
Release Date : 2017-05-25
Modern Robotics written by Kevin M. Lynch and has been published by Cambridge University Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-05-25 with Computers categories.
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.