Dynamics of Rigid-Flexible Robots and Multibody Systems

1.     Introduction

1.1.  Dynamic Modeling of Rigid and Flexible Systems

1.2.  Computational Efficiency

1.3.  Summary

2.     Dynamics of serial-chain system

2.1.  Equations of motion

2.2.  Geometric stiffness

2.3.  Shape functions

2.4.  Illustrations

2.4.1.     Spinning cantilever beam

2.4.2.     2-link manipulator

2.4.3.     3-link manipulator

2.4.4.     PUMA/Stanford Arm

2.5.  Summary

3.     Dynamics of closed-loop systems

3.1.  Formulation

3.1.1.     Forward dynamics

3.1.2.     Inverse dynamics

3.2.  Illustrations

3.2.1.     4-bar mechanism

3.2.2.     5-bar mechanism

3.2.3.     3RRR parallel manipulator

3.3.  Forced simulation

3.4.  Summary

4.     Dynamics of spatial 4-bar mechanism

4.1.  Formulation

4.2.  Illustration

4.3.  Summary

5.     Computational efficiency and numerical stability

5.1.   Criteria for numerical stability

5.2.   Stability and efficiency for rigid robot

5.3.   Stability and Efficiency for Rigid-Flexible Robots

5.4.  Summary

6.     Experimental Results

6.1.  Damping in Dynamic Model

6.2.  Damping Coefficients

6.2.1.     Joint Damping

6.2.2.     Structural Damping

6.3.  An Illustration: A Single Flexible Link

6.4.  Single Flexible-Link Arm

6.4.1.     Calibration of the Strain-Gauge Circuit

6.4.2.     Free-Fall

6.4.3.     Forced Response

6.5.  A Two Flexible-Link Robotic Arm

6.6.  Summary

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 publications in various international journals and conferences. A mechanical engineer by graduation from National Institute of Technology Bhopal (1997), he also holds a Master’s in Technology Management from IIT Delhi (2012).

Prof. Subir Kumar Saha received his mechanical engineering degree from RE College (now NIT), Durgapur, India, in 1983, prior to completing his M.Tech. at the Indian Institute of Technology (IIT) Kharagpur, India, and his Ph.D. at McGill University, Canada. After his studies, he joined Toshiba Corporation’s R&D Center in Japan. After four years of work experience in Japan, he has been with IIT Delhi since 1996, and is currently a Professor in the Department of Mechanical Engineering. Prof. Saha is additionally the Project Director of the newly formed Rs. 170 crores (USD 20.0 millions) non-profit company of IIT Delhi I-Hub Foundation for Cobotics (IHFC) funded by Department of Science and Technology, Government of India. For his research contributions, he has been awarded the 2020 Distinguished Alumnus Award by NIT Durgapur in January 2021. He also held the Naren Gupta Chair Professorship at IIT Delhi for 10 years since 2010. Prof. Saha awarded with the Humboldt Fellowship by the AvH Foundation, Germany, in 1999 to conduct research at the University of Stuttgart. Later, he has been visiting Canada, Australia, and Italy for short-term research assignments. Prof. Saha has authored more than 200 research publications in reputed journals/conference proceedings, and delivered equal number of invited/keynote lectures globally.