Resonant Robotic Systems [Paperback]

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 summarize the results and experience of research on, and development of, resonant robotic systems. For the readers convenience, a presentation of design concepts is followed by solutions to new dynamical and control problems. The book is intended for designers, researchers and graduate students.

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 summarize the results and experience of research on, and development of, resonant robotic systems. For the readers convenience, a presentation of design concepts is followed by solutions to new dynamical and control problems. The book is intended for designers, researchers and graduate students.

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 enl“©