Dynamics Of Underactuated Multibody Systems

Author : Robert Seifried
Publisher : Springer Science & Business Media
ISBN 13 : 3319012282
Total Pages : 249 pages
Book Rating : 4.85/5 ( download)

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Download or read book Dynamics of Underactuated Multibody Systems written by Robert Seifried and published by Springer Science & Business Media. This book was released on 2013-11-08 with total page 249 pages. Available in PDF, EPUB and Kindle. Book excerpt: Underactuated multibody systems are intriguing mechatronic systems, as they posses fewer control inputs than degrees of freedom. Some examples are modern light-weight flexible robots and articulated manipulators with passive joints. This book investigates such underactuated multibody systems from an integrated perspective. This includes all major steps from the modeling of rigid and flexible multibody systems, through nonlinear control theory, to optimal system design. The underlying theories and techniques from these different fields are presented using a self-contained and unified approach and notation system. Subsequently, the book focuses on applications to large multibody systems with multiple degrees of freedom, which require a combination of symbolical and numerical procedures. Finally, an integrated, optimization-based design procedure is proposed, whereby both structural and control design are considered concurrently. Each chapter is supplemented by illustrated examples.

Author : Abhinandan Jain
Publisher : Springer Science & Business Media
ISBN 13 : 1441972676
Total Pages : 512 pages
Book Rating : 4.75/5 ( download)

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Download or read book Robot and Multibody Dynamics written by Abhinandan Jain and published by Springer Science & Business Media. This book was released on 2010-12-17 with total page 512 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot and Multibody Dynamics: Analysis and Algorithms provides a comprehensive and detailed exposition of a new mathematical approach, referred to as the Spatial Operator Algebra (SOA), for studying the dynamics of articulated multibody systems. The approach is useful in a wide range of applications including robotics, aerospace systems, articulated mechanisms, bio-mechanics and molecular dynamics simulation. The book also: treats algorithms for simulation, including an analysis of complexity of the algorithms, describes one universal, robust, and analytically sound approach to formulating the equations that govern the motion of complex multi-body systems, covers a range of more advanced topics including under-actuated systems, flexible systems, linearization, diagonalized dynamics and space manipulators. Robot and Multibody Dynamics: Analysis and Algorithms will be a valuable resource for researchers and engineers looking for new mathematical approaches to finding engineering solutions in robotics and dynamics.

Author : Krzysztof Arczewski
Publisher : Springer Science & Business Media
ISBN 13 : 9048199719
Total Pages : 330 pages
Book Rating : 4.16/5 ( download)

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Download or read book Multibody Dynamics written by Krzysztof Arczewski and published by Springer Science & Business Media. This book was released on 2010-11-08 with total page 330 pages. Available in PDF, EPUB and Kindle. Book excerpt: The ECCOMAS Thematic Conference “Multibody Dynamics 2009” was held in Warsaw, representing the fourth edition of a series which began in Lisbon (2003), and was then continued in Madrid (2005) and Milan (2007), held under the auspices of the European Community on Computational Methods in Applied Sciences (ECCOMAS). The conference provided a forum for exchanging ideas and results of several topics related to computational methods and applications in multibody dynamics, through the participation of 219 scientists from 27 countries, mostly from Europe but also from America and Asia. This book contains the revised and extended versions of invited conference papers, reporting on the state-of-the-art in the advances of computational multibody models, from the theoretical developments to practical engineering applications. By providing a helpful overview of the most active areas and the recent efforts of many prominent research groups in the field of multibody dynamics, this book can be highly valuable for both experienced researches who want to keep updated with the latest developments in this field and researches approaching the field for the first time.

Author : Hubert Gattringer
Publisher : Springer Science & Business Media
ISBN 13 : 3709112893
Total Pages : 317 pages
Book Rating : 4.92/5 ( download)

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Download or read book Multibody System Dynamics, Robotics and Control written by Hubert Gattringer and published by Springer Science & Business Media. This book was released on 2013-01-06 with total page 317 pages. Available in PDF, EPUB and Kindle. Book excerpt: The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap between the modeling of mechanical systems by means of multibody dynamics formulations and robotics. In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The papers aim to connect the different scientific communities in multibody dynamics, robotics and control. Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification.

Author : Ströhle, Timo
Publisher : KIT Scientific Publishing
ISBN 13 : 3731513366
Total Pages : 174 pages
Book Rating : 4.60/5 ( download)

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Download or read book Inverse dynamics of underactuated flexible mechanical systems governed by quasi-linear hyperbolic partial differential equations written by Ströhle, Timo and published by KIT Scientific Publishing. This book was released on 2024-02-26 with total page 174 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work is about the inverse dynamics of underactuated flexible mechanical systems governed by quasi-linear hyperbolic partial differential equations subjected to time-varying Dirichlet boundary conditions that are enforced by unknown, spatially disjunct, hence non-collocated Neumann boundary conditions.

Author : Yang, Yinping
Publisher : KIT Scientific Publishing
ISBN 13 : 3731506262
Total Pages : 258 pages
Book Rating : 4.63/5 ( download)

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Download or read book Numerical methods for the inverse dynamics simulation of underactuated mechanical systems written by Yang, Yinping and published by KIT Scientific Publishing. This book was released on 2017-05-02 with total page 258 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Author : Andrés Kecskeméthy
Publisher : Springer
ISBN 13 : 3030231321
Total Pages : 545 pages
Book Rating : 4.23/5 ( download)

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Download or read book Multibody Dynamics 2019 written by Andrés Kecskeméthy and published by Springer. This book was released on 2019-06-28 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this work, outstanding, recent developments in various disciplines, such as structural dynamics, multiphysic mechanics, computational mathematics, control theory, biomechanics, and computer science, are merged together in order to provide academicians and professionals with methods and tools for the virtual prototyping of complex mechanical systems. Each chapter of the work represents an important contribution to multibody dynamics, a discipline that plays a central role in the modelling, analysis, simulation and optimization of mechanical systems in a variety of fields and for a wide range of applications.

Author : Paramanand Vivekanand Nandihal
Publisher : Springer Nature
ISBN 13 : 9811627983
Total Pages : 288 pages
Book Rating : 4.89/5 ( download)

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Download or read book Dynamics of Rigid-Flexible Robots and Multibody Systems written by Paramanand Vivekanand Nandihal and published by Springer Nature. This book was released on 2021-11-28 with total page 288 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Author : Jens Wittenburg
Publisher : Springer Science & Business Media
ISBN 13 : 3540739149
Total Pages : 232 pages
Book Rating : 4.42/5 ( download)

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Download or read book Dynamics of Multibody Systems written by Jens Wittenburg and published by Springer Science & Business Media. This book was released on 2007-10-20 with total page 232 pages. Available in PDF, EPUB and Kindle. Book excerpt: Thank heavens for Jens Wittenburg, of the University of Karlsruhe in Germany. Anyone who’s been laboring for years over equation after equation will want to give him a great big hug. It is common practice to develop equations for each system separately and to consider the labor necessary for deriving all of these as inevitable. Not so, says the author. Here, he takes it upon himself to describe in detail a formalism which substantially simplifies these tasks.

Author : Farid Amirouche
Publisher : Springer Science & Business Media
ISBN 13 : 0817644067
Total Pages : 692 pages
Book Rating : 4.62/5 ( download)

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Download or read book Fundamentals of Multibody Dynamics written by Farid Amirouche and published by Springer Science & Business Media. This book was released on 2007-05-24 with total page 692 pages. Available in PDF, EPUB and Kindle. Book excerpt: This textbook – a result of the author’s many years of research and teaching – brings together diverse concepts of the versatile tool of multibody dynamics, combining the efforts of many researchers in the field of mechanics.