Titlebook: Dynamics of Rigid-Flexible Robots and Multibody Systems; Paramanand Vivekanand Nandihal,Ashish Mohan,Subir Book 2022 Springer Nature Sing

Opponent

Dynamics of Serial Rigid–Flexible Robotsble robots. First, their kinematics is described, followed by the scheme used to discretize the deflection of each flexible link. Then, some definitions, similar to those defined for rigid robots in Chap. ., are also introduced for the rigid–flexible robots. The decoupled natural orthogonal compleme

organic-matrix

Dynamics of Six-Link Spatial Robot Armsrd arm, with only rigid and rigid–flexible links, are presented in this chapter. A typical six-link robot has a three-link wrist attached at the end of a three-link spatial arm. Examples of PUMA robot, Space Shuttle Remote Manipulator System (SSRMS), which have revolute joints only, and Stanford arm

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Dynamics of Spatial Four-Bar Mechanism the decoupled natural orthogonal complement (DeNOC) matrices. The flexible link was discretized using the assumed mode method to get the link deflection. The closed-loop rigid–flexible spatial four-bar mechanism was analyzed by first cutting it at appropriate joints to form several open-loop serial

HARD

Numerical Stability and Efficiencyd-flexible serial robotic systems are analysed. The proposed algorithms are shown to be numerically more stable than a non-recursive algorithm based on the Cholesky decomposition. First, the importance of the study of numerical stability characteristics is underlined and various criteria for testing

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