Vladimir I. Babitsky, Alexander Shipilov

Resonant Robotic Systems

Übersetzung:Birkett, Nicholas

• Gebundenes Buch

Produktbeschreibung

Especially designed as self-sustaining oscillating systems, resonant robotic systems use the natural modes of oscillation of electromechanical modules for their movements. In fact, manipulator systems built on these principles demonstrate record-breaking characteristics in performance. The authors summarize the results and experience of research on, and development of, resonant robotic systems. For the readers convenience, a presentation of design concepts is followed by solutions to new dynamical and control problems. The book is intended for designers, researchers and graduate students.

Produktdetails

• Foundations of Engineering Mechanics
• Verlag: Springer / Springer Berlin Heidelberg / Springer, Berlin
• Artikelnr. des Verlages: 978-3-540-00334-2
• 2003
• Seitenzahl: 192
• Erscheinungstermin: 5. März 2003
• Englisch
• Abmessung: 241mm x 160mm x 16mm
• Gewicht: 390g
• ISBN-13: 9783540003342
• ISBN-10: 3540003347
• Artikelnr.: 11458684

Autorenporträt

Vladimir I. Babitsky, Loughborough University / Alexander Shipilov, PricewaterhouseCoopers LLP, Canada

Inhaltsangabe

1. Application of resonant systems.-
1.1 Load relief and balancing of robotic systems.-
1.2 Systems to relieve drives from inertia forces.-
1.3 Resonant robotic system components.-
1.4 Synthesis of spring accumulators.-
1.5 Design of resonant robotic systems.- 2. Dynamics of resonant robotic systems.-
2.1 Equations of motion for resonant robots.-
2.2 Resonant systems with ideal drives.-
2.3 Electromechanical drive for resonant systems.- 3. Optimal control of resonant systems.-
3.1 Statement of the optimisation problem. Efficiency criteria.-
3.2 Synthesis of optimal cyclic drive.-
3.3 Control of resonant drives with minimal energy consumption.-
3.4 Operating speed of cyclic resonant drives.-
3.5 Optimal control with minimal heat generation.-
3.6 Control to minimise cumulative angular momentum of the driver.-
3.7 Efficiency of control for resonant drives.- 4. Adaptive control of resonant robots.-
4.1 Introduction.-
4.2 Synthesis of regulator.-
4.3 Adaptive control.-
4.4 Simultaneous control of rotation and translation.-
4.5 Conclusion.