Resonant Robotic Systems

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 s...

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Main Authors: Babitsky, V. I., Shipilov, Alexander (Author)
Corporate Author: SpringerLink (Online service)
Format: eBook
Language:English
Published: Berlin, Heidelberg Springer Berlin Heidelberg 2003, 2003
Edition:1st ed. 2003
Series:Foundations of Engineering Mechanics
Subjects:
Online Access:
Collection: Springer Book Archives -2004 - Collection details see MPG.ReNa
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