Overview

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.

Full Product Details

Author:   V. I. Babitsky ,  Nicholas Birkett ,  Alexander Shipilov
Publisher:   Springer-Verlag Berlin and Heidelberg GmbH & Co. KG
Imprint:   Springer-Verlag Berlin and Heidelberg GmbH & Co. K
Edition:   Softcover reprint of the original 1st ed. 2003
Dimensions:   Width: 15.50cm , Height: 1.00cm , Length: 23.50cm
Weight:   0.454kg
ISBN:  

9783642055638

ISBN 10:   364205563
Pages:   176
Publication Date:   06 December 2010
Audience:   Professional and scholarly ,  Professional and scholarly ,  Professional & Vocational ,  Professional & Vocational
Format:   Paperback
Publisher's Status:   Active
Availability:   In Print  
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Table of Contents

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.

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