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Mechanisms and Machine Science

Dynamic Decoupling of Robot Manipulators

Editors: Arakelian, Vigen (Ed.)

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  • Includes mechanical and control solutions
  • Illustrates solutions via CAD
  • Casts new light on manipulator Dynamics
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Softcover $159.99
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About this book

This book presents the latest results in the field of dynamic decoupling of robot manipulators obtained in France, Russia, China and Austria.

Manipulator dynamics can be highly coupled and nonlinear. The complicated dynamics result from varying inertia, interactions between the different joints, and nonlinear forces such as Coriolis and centrifugal forces. The dynamic decoupling of robot manipulators allows one to obtain a linear system, i.e. single-input and single output system with constant parameters. This simplifies the optimal control and accumulation of energy in manipulators. There are two ways to create the dynamically decoupled manipulators: via optimal mechanical design or control.

This work emphasises mechatronic solutions. These will certainly improve the known design concepts permitting the dynamic decoupling of serial manipulators with a relatively small increase in total mass of the moving links taking into account the changing payload. For the first time such an approach has been applied on serial manipulators. Also of great interest is the dynamic decoupling control of parallel manipulators. Firstly, the dynamic model of redundant multi-axial vibration table with load has been established, and, secondly, its dynamic coupling characteristics have been analyzed.

The discussed methods and applications of dynamic decoupling of robot manipulators are illustrated via CAD simulations and experimental tests.

Table of contents (7 chapters)

Table of contents (7 chapters)
  • Dynamic Decoupling of Robot Manipulators: A Review with New Examples

    Pages 1-23

    Arakelian, V. (et al.)

  • Design of Adjustable Serial Manipulators with Decoupled Dynamics

    Pages 25-50

    Arakelian, V. (et al.)

  • Dynamic Decoupling of Planar Serial Manipulators with Revolute Joints

    Pages 51-73

    Arakelian, V. (et al.)

  • Tolerance Analysis of Serial Manipulators with Decoupled and Coupled Dynamics

    Pages 75-96

    Xu, J. (et al.)

  • Dynamics Decoupling Control of Parallel Manipulator

    Pages 97-124

    Han, Jun-Wei (et al.)

Buy this book

eBook $119.00
price for USA in USD
  • ISBN 978-3-319-74363-9
  • Digitally watermarked, DRM-free
  • Included format: EPUB, PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $159.99
price for USA in USD
  • ISBN 978-3-319-74362-2
  • Free shipping for individuals worldwide
  • Immediate ebook access, if available*, with your print order
  • Usually dispatched within 3 to 5 business days.
Softcover $159.99
price for USA in USD
  • ISBN 978-3-030-08973-3
  • Free shipping for individuals worldwide
  • Immediate ebook access, if available*, with your print order
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Dynamic Decoupling of Robot Manipulators
Editors
  • Vigen Arakelian
Series Title
Mechanisms and Machine Science
Series Volume
56
Copyright
2018
Publisher
Springer International Publishing
Copyright Holder
Springer International Publishing AG
eBook ISBN
978-3-319-74363-9
DOI
10.1007/978-3-319-74363-9
Hardcover ISBN
978-3-319-74362-2
Softcover ISBN
978-3-030-08973-3
Series ISSN
2211-0984
Edition Number
1
Number of Pages
VII, 188
Number of Illustrations
89 b/w illustrations, 6 illustrations in colour
Topics

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