Dynamics of Tree-Type Robotic Systems by Suril Vijaykumar Shah
By Suril Vijaykumar Shah
This e-book addresses dynamic modelling technique and analyses of tree-type robot structures. Such analyses are required to imagine the movement of a method with out particularly construction it. The publication includes novel therapy of the tree-type structures utilizing thought of kinematic modules and the corresponding Decoupled typical Orthogonal enhances (DeNOC), unified illustration of the multiple-degrees-of freedom-joints, effective recursive dynamics algorithms, and unique dynamic analyses of a number of legged robots.
The e-book may also help graduate scholars, researchers and training engineers in utilizing their wisdom of dynamics for research of advanced robot platforms. the data inside the ebook may also help one in digital checking out of robotic operation, trajectory making plans and control.
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Additional info for Dynamics of Tree-Type Robotic Systems
These methods for formulating the dynamics of legged robots can be divided into two categories. In the first category contact is defined using a hard constrained model. Doing so increases the number of constraint forces in the system. The number is further increased with increase in the number of feet in a legged robot. This results into variable closed-open type of system for different combinations of feetground interactions. , single support phase, double support phase, flight phase, etc. This is referred to as configuration-dependent approach.
2003; Vukobratovic et al. 2007; Kwon and Park 2009) and mechanisms (Duffy 1978; Chaudhary and Saha 2007), a higher Degrees-of-Freedom (DOF) joint, say, a universal, a cylindrical or a spherical joint, can be represented using a combination of several intersecting 1-DOF joints. For example, a universal joint also known as Hooke’s joint is a combination of two revolute joints, the axes of which intersect at a point, whereas a cylindrical joint is a combination of a revolute joint and a prismatic joint.
This phenomenon is also known as gimbal lock (Wittenburg 2008). All symmetric EAJs have zero-configurations as singular whereas all asymmetric EAJs are singular for ™2 D 90. Discussion on the singularity of EAJs is beyond of the scope of this book, hence, no further discussion on how to avoid them is provided in this chapter. One may, however, be referred to Shuster and Oh (1981) and Singla et al. (2004) for the singularity avoidance algorithm. In reality, most of the physical joints have restricted motion, and hence, areas of gimbal lock stay outside the domain of the 52 3 Euler-Angle-Joints (EAJs) a b c Z 1 X 2 Y 3 Z 2 3 1 Y X Fig.