Mechanical Systems Design C20 Robot Dynamics ppt
Mechanical Systems Design C20 Robot Dynamics ppt
... CRC Press LLC
20
Robot Dynamics
20.1 Fundamentals of Robot Dynamic Modeling
Basic Ideas • Robot Geometry • Equations of
Dynamics
20.2 Recursive Formulation of Robot Dynamics
Velocities ... Dynamics
Dynamic Model of a DC-Driven Robot • Generalized
Form of the Dynamic Model
20.4 Some Applications of Computer-Aided Dynamics
Dynamics and Robot Design • Dynam...
Mechanical Systems Design C11 Vibration Control pptx
... Equations (11.19)
and (11.20) also apply in this case.
11.3.3 Active Tendon Design
Figure 11.11 shows two possible designs of the active tendon: the first one (bottom left) is based
on a linear ... Attraction Pole IUAP IV-24 on Intelligent
Mechatronics Systems. The authors wish to thank Ahmed Abu Hanieh for his contribution to the
design, manufacture, and testing of the Stewart platform.
R...
Mechanical Systems Design C18 The Dynamics pot
... that we have an expression for the forces, let us write the dynamics.
18.3 Dynamics of a Two-Rod Element
Any discussion of rigid body dynamics should properly begin with some decision on how the
motion ... this chapter is to derive the equations of motion for the
dynamics of the two rods in the
ij
element. The second goal is to write the dynamics for the entire
system composed...
Mechanical Systems Design C27 Humanoid Robots pptx
... control needed in robotic systems and if so, to what
extent? Int. J. Robotics Research, 2(2), 18–34, 1983.
17. Vukobratovi´c, M. and Stoki´c, D., Scientific Fundamentals of Robotics, Vol. 2, Control ... Manip-
ulation Robots: Theory and Application, Springer-Verlag, Berlin, 1982.
18. Vukobratovi´c, M. and Stoki´c, D., Suboptimal synthesis of robot decentralized control for large-
scale me...
Electrical Engineering Mechanical Systems Design Handbook Dorf CRC Press 2002819s_14 pptx
... robot (or rectangular robot)
• Cylindrical robot
• Spherical robot (or polar robot)
• Articulated robot
• SCARA robot
Generally, a robot design expert selects a suitable robot type for the objective ... significant for designing suitable robots for objective tasks and saving manpower,
time, and costs required for design.
21.2.1 Robot Manipulator Design Problem
Designi...
Electrical Engineering Mechanical Systems Design Handbook Dorf CRC Press 2002819s_16 pptx
... of robot manipulators:
controller design and experiment, IEEE J. Robotics and Automation, 4(6), 1988.
12. Anderson, R. and Spong, M., Hybrid impedance control of robotic manipulators, IEEE J. Robotics
and ... independent of robot
motion, the environment dynamics in the robot coordinate space can be described by the model
(23.9). Then the system (23.1 through 23.9) describes the dyn...
Electrical Engineering Mechanical Systems Design Handbook Dorf CRC Press 2002819s_20 pptx
... Future
Trends in Mechanical
Systems Design for
Robot Application
28.1 Introduction
28.2 Industrial Robots
Definition and Applications of Industrial Robots • Robot
Kinematic Design • Industrial Robot ... It creates confidence that encourages its use
28.3.3.2 Systems Design
Planning and design of service robot systems involves systematic design of mechatronic pr...
Mechanical Systems Design Handbook P1 pptx
...
Adjustments in Modern Manufacturing Systems
1.4 Critical Role of Computers in Modern
Manufacturing
1.5 Design Principles of Modern Manufacturing
Systems
Product Design and Design for Manufacturability ... Planning and System Design of Manufacturing
Systems • Software/Hardware Architecture and
Communications in Manufacturing Systems • Monitoring
and Control of Manufacturin...
Mechanical Systems Design Handbook P12 pptx
... applicability of these systems.
14-16
12.2 Semi-Active Suspensions Design
12.2.1 Introduction
SA suspensions can achieve most of the performance characteristics of fully active systems, thus
allowing ... principles and design issues for SA suspension systems,
which are discussed in the form of a vibration absorber and vibration isolator.
12.2.2 Semi-Active Vibration Absorpti...
Mechanical Systems Design C9 Control of polimer ppt
... process machinery. Molding machines of different injection
cylinder and clamp design will have very different machine dynamics, and provide different levels
of molded part quality for the same process ...
23
Ma’s work led to the development of modern control
systems for injection molding machines and enabled current closed-loop control systems for ram
velocity and injection pressur...