Bin Zi - Böcker

Comprehensive resource detailing the technology of rigid-flexible coupling robots and their applications Rigid-Flexible Coupling Hoisting Robots: Modeling, Analysis, and Control introduces the configuration and optimization design, mechanics and fundamental mechanical issues, uncertainty analysis, trajectory planning, control, and applications of rigid-flexible coupling hoisting robots. The book also reviews kinematics and dynamics modeling as well as design methods to enhance overall performance including motion decoupling, reconfigurable design, and optimization design. A series of numerical simulations and specific experiments on real prototypes are included to help readers quickly grasp both theory and practical application. Summarizing the numerous achievements the authors have made in the field in recent years, Rigid-Flexible Coupling Hoisting Robots: Modeling, Analysis, and Control includes information on: Fundamental challenges including trajectory planning, tracking control, and force controlMulti-objective optimization design for workspace dexterity and stiffnessKinematic uncertainty analysis with random parameters, narrowly bounded uncertainty, and large-bounded uncertaintyDynamic uncertainty analysis with hybrid-random and interval parametersController design and platform developmentRigid-Flexible Coupling Hoisting Robots: Modeling, Analysis, and Control is an essential reference on the subject for researchers and engineers in the field as well as graduate students in related programs of study.

This book provides an essential overview of the authors’ work in the field of cable-suspended parallel robots, focusing on innovative design, mechanics, control, development and applications. It presents and analyzes several typical mechanical architectures of cable-suspended parallel robots in practical applications, including the feed cable-suspended structure for super antennae, hybrid-driven-based cable-suspended parallel robots, and cooperative cable parallel manipulators for multiple mobile cranes. It also addresses the fundamental mechanics of cable-suspended parallel robots on the basis of their typical applications, including the kinematics, dynamics and trajectory tracking control of the feed cable-suspended structure for super antennae. In addition it proposes a novel hybrid-driven-based cable-suspended parallel robot that uses integrated mechanism design methods to improve the performance of traditional cable-suspended parallel robots. A comparative study on errorand performance indices of hybrid-driven based and traditional cable-suspended parallel robots rounds out the coverage.This book addresses the needs of researchers, engineers and post-graduates in the field of cable-suspended parallel robots and related areas.