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On the Mobility of a Robot-Trajectory Process

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Advances in Nonlinear Dynamics

Part of the book series: NODYCON Conference Proceedings Series ((NCPS))

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Abstract

Design and structure of machines and mechanisms are determined by the processes they perform. Therefore, it makes sense to consider the combined dynamics of both partners on the basis of the same rules, i.e. the machine has to follow the dynamics of the process and vice versa. A well-known example is the projection of arbitrary many robot degrees of freedom on a given path resulting in a set of nonlinear equations with one degree of freedom only, the path coordinate s. The resulting set allows to construct a mobility space for any combination of coordinates and constraints. For more general configurations with a multidimensional path system on the process side and any setup on the machine side, the corresponding projections lead to quadratic forms representing a multidimensional mobility space. The chapter presents a corresponding approach for machine and process configurations by applying multibody system theory. Practical aspects are discussed, and an example of an n-link robot is given.

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Author information

Authors and Affiliations

  1. Lehrstuhl fuer Angewandte Mechanik, TU-Muenchen, Munich, Germany

    Friedrich Pfeiffer

Authors
  1. Friedrich Pfeiffer
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Correspondence to Friedrich Pfeiffer .

Editor information

Editors and Affiliations

  1. Department of Structural and Geotechnical Engineering, Sapienza University of Rome, Rome, Italy

    Walter Lacarbonara

  2. Department of Mechanical Engineering, University of Maryland, College Park, MD, USA

    Balakumar Balachandran

  3. Department of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA

    Michael J. Leamy

  4. Department of Physics, Lanzhou University of Technology, Lanzhou, Gansu, China

    Jun Ma

  5. ISEP-Institute of Engineering, Polytechnic of Porto, Porto, Portugal

    J. A. Tenreiro Machado

  6. Department of Applied Mechanics, Budapest University of Technology and Economics, Budapest, Hungary

    Gabor Stepan

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Pfeiffer, F. (2022). On the Mobility of a Robot-Trajectory Process. In: Lacarbonara, W., Balachandran, B., Leamy, M.J., Ma, J., Tenreiro Machado, J.A., Stepan, G. (eds) Advances in Nonlinear Dynamics. NODYCON Conference Proceedings Series. Springer, Cham. https://doi.org/10.1007/978-3-030-81166-2_46

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  • DOI: https://doi.org/10.1007/978-3-030-81166-2_46

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-81165-5

  • Online ISBN: 978-3-030-81166-2

  • eBook Packages: EngineeringEngineering (R0)

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