Rigid-Flexible Coupling Hoisting Robots: Modeling, Analysis, and Control
Autor Bin Zhou, Bin Zien Limba Engleză Hardback – 30 sep 2026
Rigid-Flexible Coupling Hoisting Robots: Modeling, Analysis, and Control introduces the configuration and optimization design, mechanics and fundamental mechanical issues, uncertainty analysis, trajectory planning, control, and applications of rigid-flexible coupling hoisting robots. The book also reviews kinematics and dynamics modeling as well as design methods to enhance overall performance including motion decoupling, reconfigurable design, and optimization design. A series of numerical simulations and specific experiments on real prototypes are included to help readers quickly grasp both theory and practical application.
Summarizing the numerous achievements the authors have made in the field in recent years, Rigid-Flexible Coupling Hoisting Robots: Modeling, Analysis, and Control includes information on:
- Fundamental challenges including trajectory planning, tracking control, and force control
- Multi-objective optimization design for workspace dexterity and stiffness
- Kinematic uncertainty analysis with random parameters, narrowly bounded uncertainty, and large-bounded uncertainty
- Dynamic uncertainty analysis with hybrid-random and interval parameters
- Controller design and platform development
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Specificații
Notă biografică
BIN ZI is currently a Professor with the School of Mechano-Electronic Engineering, Xidian University, Xi'an, China. He has published 5 monographs, more than 200 papers and more than 100 authorized invention patents. His research interests include the theory, technology and equipment of intelligent rigid-flexible coupling robots, and automation of intelligent manufacturing system.
BIN ZHOU is currently an Associate Professor with the School of Mechanical Engineering, Hefei University of Technology, Hefei, China. He has authored more than 20 papers and more than 15 authorized invention patents. His research interests include uncertainty analysis and reliability-based optimization design, and intelligent control of rigid-flexible coupling robots.
BIN ZHOU is currently an Associate Professor with the School of Mechanical Engineering, Hefei University of Technology, Hefei, China. He has authored more than 20 papers and more than 15 authorized invention patents. His research interests include uncertainty analysis and reliability-based optimization design, and intelligent control of rigid-flexible coupling robots.
Cuprins
Preface vii
Main Symbol Table ix
1 Introduction 1
1.1 The Evolution of Rigid-Flexible Coupling Robots 1
1.2 The History and Development of Rigid-Flexible Coupling Hoisting Robots 8
1.3 The Applications of RFCHRs in Various Fields 11
1.4 Scope and Organization of This Book 17
2 Kinematics and Dynamic Modeling of Rigid-Flexible Coupled Hoisting Robots 27
2.1 Preamble 27
2.2 Mechanism Design and Kinematic Analysis of RFCHRs 29
2.3 Dynamic Modeling of RFCHRs 42
2.4 Conclusion 49
3 Motion Decoupling, Reconfigurable Design of Rigid-Flexible Coupling Hoisting Robots 51
3.1 Preamble 51
3.2 Motion-decoupling Design for a 7-DOF RFCHR 53
3.3 Modular and Reconfigurable Mechanism Design of RFCHRs 61
3.4 Integrated Mechanism Design of Dual-machine Collaborative RFCHRs 65
3.5 Conclusion 72
4 Optimization Design of Rigid-Flexible Coupling Hoisting Robots 75
4.1 Preamble 75
4.2 Multi-objective Optimization Design for Workspace and Dexterity 76
4.3 Multi-objective Optimization Design for Reliability, Workspace, and Stiffness 89
4.4 Experiment and Verification 109
4.5 Conclusion 114
5 Kinematic Analysis of Rigid-Flexible Coupling Hoisting Robots with Uncertainty 117
5.1 Preamble 117
5.2 Kinematic Uncertainty Analysis with Random Parameters 119
5.3 Kinematic Uncertainty Analysis with Interval Variables 133
5.4 Kinematic Uncertainty Analysis Based on Evidence Theory 143
5.5 Kinematic Uncertainty Analysis with Hybrid Random and Interval Parameters 160
5.6 Conclusion 177
6 Dynamic Analysis of Rigid-Flexible Coupling Hoisting Robots with Uncertainty 181
6.1 Preamble 181
6.2 Static Uncertainty Analysis with Fuzzy Parameters 183
6.3 Dynamic Uncertainty Analysis with Hybrid Random and Interval Parameters 201
6.4 Conclusion 238
7 Trajectory Planning and Tracking Control of Rigid-Flexible Coupling Hoisting Robots 241
7.1 Preamble 241
7.2 Trajectory Planning for RFCHRs 244
7.3 Fuzzy Control for RFCHRs 264
7.4 Force Control for RFCHRs 275
7.5 Conclusion 282
8 Platform Development and Application for Rigid-Flexible Coupling Hoisting Robots 285
8.1 Preamble 285
8.2 Platform Development and Performance Verification of an RFCHR for Yard Operations 287
8.3 Platform Development and Performance Verification for the 7-DOF RFCHR 293
8.4 Conclusion 298
References 299
Index 301
Main Symbol Table ix
1 Introduction 1
1.1 The Evolution of Rigid-Flexible Coupling Robots 1
1.2 The History and Development of Rigid-Flexible Coupling Hoisting Robots 8
1.3 The Applications of RFCHRs in Various Fields 11
1.4 Scope and Organization of This Book 17
2 Kinematics and Dynamic Modeling of Rigid-Flexible Coupled Hoisting Robots 27
2.1 Preamble 27
2.2 Mechanism Design and Kinematic Analysis of RFCHRs 29
2.3 Dynamic Modeling of RFCHRs 42
2.4 Conclusion 49
3 Motion Decoupling, Reconfigurable Design of Rigid-Flexible Coupling Hoisting Robots 51
3.1 Preamble 51
3.2 Motion-decoupling Design for a 7-DOF RFCHR 53
3.3 Modular and Reconfigurable Mechanism Design of RFCHRs 61
3.4 Integrated Mechanism Design of Dual-machine Collaborative RFCHRs 65
3.5 Conclusion 72
4 Optimization Design of Rigid-Flexible Coupling Hoisting Robots 75
4.1 Preamble 75
4.2 Multi-objective Optimization Design for Workspace and Dexterity 76
4.3 Multi-objective Optimization Design for Reliability, Workspace, and Stiffness 89
4.4 Experiment and Verification 109
4.5 Conclusion 114
5 Kinematic Analysis of Rigid-Flexible Coupling Hoisting Robots with Uncertainty 117
5.1 Preamble 117
5.2 Kinematic Uncertainty Analysis with Random Parameters 119
5.3 Kinematic Uncertainty Analysis with Interval Variables 133
5.4 Kinematic Uncertainty Analysis Based on Evidence Theory 143
5.5 Kinematic Uncertainty Analysis with Hybrid Random and Interval Parameters 160
5.6 Conclusion 177
6 Dynamic Analysis of Rigid-Flexible Coupling Hoisting Robots with Uncertainty 181
6.1 Preamble 181
6.2 Static Uncertainty Analysis with Fuzzy Parameters 183
6.3 Dynamic Uncertainty Analysis with Hybrid Random and Interval Parameters 201
6.4 Conclusion 238
7 Trajectory Planning and Tracking Control of Rigid-Flexible Coupling Hoisting Robots 241
7.1 Preamble 241
7.2 Trajectory Planning for RFCHRs 244
7.3 Fuzzy Control for RFCHRs 264
7.4 Force Control for RFCHRs 275
7.5 Conclusion 282
8 Platform Development and Application for Rigid-Flexible Coupling Hoisting Robots 285
8.1 Preamble 285
8.2 Platform Development and Performance Verification of an RFCHR for Yard Operations 287
8.3 Platform Development and Performance Verification for the 7-DOF RFCHR 293
8.4 Conclusion 298
References 299
Index 301