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Resonant Robotic Systems de V. I. Babitsky

Resonant Robotic Systems

Autor V. I. Babitsky, A. V. Shipilov
en Limba Engleză Hardback – 5 mar 2003
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.
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Specificații

ISBN-13: 9783540003342
ISBN-10: 3540003347
Pagini: 184
Ilustrații: VII, 176 p.
Dimensiuni: 160 x 242 x 16 mm
Greutate: 0.45 kg
Ediția:2003
Editura: Springer Berlin, Heidelberg
Locul publicării:Berlin, Heidelberg, Germany

Public țintă

Research

Cuprins

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.

Textul de pe ultima copertă

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.