Dynamics of Rigid-Flexible Robots and Multibody Systems, 1st ed. 2022 Intelligent Systems, Control and Automation: Science and Engineering Series, Vol. 100

This book discusses the dynamic analysis of rigid-flexible robots and multibody systems with serial as well as closed-loop architecture. The book presents a formulation of dynamic model of rigid-flexible robots based on the unique approach of de-coupling of natural orthogonal complements of velocity constraints. Based on this formulation, a computationally efficient and numerically stable forward dynamics algorithms for serial-chain and closed-loop robotic systems with rigid or flexible or rigid-flexible links is presented. The proposed algorithm is shown to be a numerically efficient for forward dynamics based on the investigation methodologies built on eigen value analytics. Precision and functionality of the simulation algorithms is presented/illustrated with application on different serial and closed-loop systems (both planar and spatial types). Some of the major robotic arms used to illustrate the proposed dynamic formulation and simulation algorithms are PUMA robot, Stanford robot arm, and Canadarm. It is envisaged that the book will be useful for researchers working on the development of rigid-flexible robots for use in defense, space, atomic energy, ocean exploration, and the manufacturing of biomedical equipment.

Dynamic Formulation using the Decoupled Natural Orthogonal Complement (DeNOC).- Dynamics of Serial Rigid-Flexible Robots.- Dynamics of Six-Link Spatial Robot Arms.- Dynamics of Closed-loop Systems.- Dynamics of Spatial Four-bar Mechanism.- Numerical Stability and Efficiency.- Experimental Study of Flexible System.

Dr. Paramanand Vivekanand Nandihal completed his Ph.D. from the department of Mechanical Engineering, Indian Institute of Technology (IIT) Delhi in 2018. His expertise and core-research domain subjects are Robotics, multibody dynamics, kinematics, and Finite element analysis (FEA) with key focus on harmonics impact on structural dynamics. He has worked on key projects on advanced engineering research and analytics related to rigid-flexible robotics with the Department of Science & Technology, Government of India. He is currently working as an assistant professor in the department of Robotics and Automation Engineering at Sister Nivedita University, Kolkata, India. He has a M.Tech. in Machine Design (2009), and Bachelor of Engineering in Mechanical Engineering (2007) from BEC Bagalkot affiliated to Visveswaraiah Technological University (VTU), India. Dr. Paramanand has published several papers in journals and conferences of national and international repute. 

Dr. Ashish Mohan completed his doctorate in robotics and mechatronics from the Indian Institute of Technology (IIT) Delhi in 2006. He has a total industry experience of around 24 years which include working with JCB India, Tata Motors, Hi-tech Robotic Systems Ltd., and a brief research project at IIT Delhi for ISRO and Department of Science & Technology, Government of India. Dr. Mohan is currently working at the Confederation of Indian Industry as its National Technology Director & Head – Technology, Advance Design, Engineering Research, Innovation & IP Creation. His core areas of expertise include new technology development and advanced engineering domains like robotics, multibody dynamics, kinematics and mechatronics, and, establishment of industry best innovation ecosystem, innovation incubation proto-labs, and IP delivery processes. In last 5 years, Dr. Mohan was part of the leadership team which led JCB India to win six Innovation leadership awards. He has over 15 publ