Dynamics of Manipulation Robots: Theory and Application

摘要

1 General Remarks about Robot and Manipulator Dynamics.- 1.1. Introduction.- 1.2. Classification of active mechanisms in robotics and some of their specifications.- 1.3. Previous results.- References.- 2 Computer-Aided Methods for Setting and Solving Mathematical Models of Active Mechanisms in Robotics.- 2.1. Introduction.- 2.2. The basic ideas of computer-aided formation and solution of a mathematical model.- Methods Based on General Theorems of Dynamics and Newton-Euler Equations.- 2.3. The method of general theorems.- 2.4. Method of block matrices.- 2.5. The method of the Newton-Euler equations.- 2.6. The method of Euler's angles.- Methods Based on the Lagrange Equations.- 2.7. Method of Lagrange's equations.- Methods Based On The Gauss' Principle And Appel's Equations.- 2.8. Method of Gauss' principle.- 2.9. The method of Appel's equations.- 2.10. Some problems of closed chain dynamics.- References.- 3 Simulation of Manipulator Dynamics and Adjusting to Functional Movements.- 3.1. Basic ideas.- 3.2. The general simulation algorithm.- 3.3. Classes of functional tasks and adjustment blocks.- 3.4. Elaboration of the different adjustment blocks.- 3.5. Calculation of other dynamical characteristics and values.- 3.6. Examples.- 3.7. Synthesis of nominal dynamics of manipulation movements.- 3.8. The complete dynamical model.- 3.9. Mathematical models of the actuator systems.- 3.10. Simulation algorithm for the synthesis of nominal dynamics.- 3.11. Example of the synthesis.- 3.12. Influence of actuator models complexity.- 3.13. One method for the optimal synthesis of functional movements.- References.- 4 Dynamics of Manipulators with Elastic Segments.- 4.1. Introduction.- 4.2. Basic ideas and postulates.- 4.3. Nominal dynamical characteristics.- 4.4. Deriving the model of elastic oscillations.- 4.5. Influence coefficients.- 4.6. Results of the method and their application.- 4.7. Example.- References.- 5 Dynamical Method for the Evaluation and Choice of Industrial Manipulators.- 5.1. Introduction.- 5.2. Defining the dynamical criteria.- 5.3. Definition of limitations.- 5.4. Examples.- References.