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...

Ngày tải lên: 11/08/2014, 15:21

... 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...

Ngày tải lên: 11/08/2014, 15:21

... 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...

Ngày tải lên: 11/08/2014, 15:21

... 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...

Ngày tải lên: 11/08/2014, 15:21

... 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...

Ngày tải lên: 21/06/2014, 21:20

... 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...

Ngày tải lên: 21/06/2014, 21:20

... 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...

Ngày tải lên: 21/06/2014, 21:20

... 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...

Ngày tải lên: 02/07/2014, 12:20

... 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...

Ngày tải lên: 02/07/2014, 12:20

... 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...

Ngày tải lên: 11/08/2014, 15:20