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Dynamics of Rigid-Flexible Robots and Multibody Systems

Part of the book series: Intelligent Systems, Control and Automation: Science and Engineering ((ISCA,volume 100))

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Abstract

In this chapter, several robotic and multibody systems, which are used in practical applications, are introduced. The significance of the study on flexible system dynamics and its computational complexity is explained. Research work in the past on various issues relating to the dynamics of multibody systems is reviewed. The review is divided into following parts: dynamic modeling of rigid open-loop serial-chain systems, flexible systems, closed-loop systems, and computational efficiency. Modeling techniques used by other researchers to achieve high computational efficiency are also reported. Various discretization techniques used to kinematically model the deflections of flexible links are compared. Criteria used by various researchers to investigate the computational efficiency of simulation algorithms are reviewed as well. Finally, the advantages of the DeNOCbased methodology over others are described.

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Authors and Affiliations

  1. Department of Robotics and Automation Engineering, Sister Nivedita University, Kolkata, West Bengal, India

    Dr. Paramanand Vivekanand Nandihal

  2. Confederation of Indian Industry, New Delhi, Delhi, India

    Dr. Ashish Mohan

  3. Department of Mechanical Engineering, Indian Institute of Technology Delhi, New Delhi, Delhi, India

    Dr. Subir Kumar Saha

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  1. Dr. Paramanand Vivekanand Nandihal
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  2. Dr. Ashish Mohan
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  3. Dr. Subir Kumar Saha
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Correspondence to Paramanand Vivekanand Nandihal .

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Nandihal, P.V., Mohan, A., Saha, S.K. (2022). Introduction. In: Dynamics of Rigid-Flexible Robots and Multibody Systems. Intelligent Systems, Control and Automation: Science and Engineering, vol 100. Springer, Singapore. https://doi.org/10.1007/978-981-16-2798-9_1

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