This monograph represents the first book of the series entitled "SCI­ ENTIFIC FUNDAMENTALS OF ROBOTICS". The aim of this monograph is to ap­ proach the dynamics of active mechanisms from the standpoint of its application to the synthesis of complex motion and computer-aided de­ sign of manipulation mechanisms with some optimal performances. The rapid development of a new class of mechanisms, which may be referred to as active mechanisms, contributed to their application in various environments (from underwater to cosmic) . Because of some specific fea­ tures, these mechanisms require very careful description, both in a mechanical sense (kinematic and dynamic) and in the synthesis of algo­ rithms for precise tracking of the above motion under insufficiently defined operating conditions. Having also in mind the need for a very fast (even real-time) calculation of system dynamics and for eliminating, in principle, the errors made when forming mathematical models "by hand" this monograph will primarily present methods for automatic for­ mUlation of dynamic equations of motion of active spatial mechanisms. Apart from these computer-oriented methods, mention will be made of all those methods which have preceded the computer-oriented procedures, predominantly developed for different problems of rigid body dynamics. If we wish to systematically establish the origins of the scientific discipline, which could be called robot dynamics, we must recall some groups and individuals, who, by solving actual problems in the synthe­ sis and control of artificial motion, have contributed to a gradual formation of this discipline.

Inhalt

1 General Remarks about Robot and Manipulator Dynamics.- 1.1. Introduction.- 1.2. Classification of active mechanisms in robotics and some of their specifications.- 1.3. Previous results.- References.- 2 Computer-Aided Methods for Setting and Solving Mathematical Models of Active Mechanisms in Robotics.- 2.1. Introduction.- 2.2. The basic ideas of computer-aided formation and solution of a mathematical model.- Methods Based on General Theorems of Dynamics and Newton-Euler Equations.- 2.3. The method of general theorems.- 2.4. Method of block matrices.- 2.5. The method of the Newton-Euler equations.- 2.6. The method of Euler's angles.- Methods Based on the Lagrange Equations.- 2.7. Method of Lagrange's equations.- Methods Based On The Gauss' Principle And Appel's Equations.- 2.8. Method of Gauss' principle.- 2.9. The method of Appel's equations.- 2.10. Some problems of closed chain dynamics.- References.- 3 Simulation of Manipulator Dynamics and Adjusting to Functional Movements.- 3.1. Basic ideas.- 3.2. The general simulation algorithm.- 3.3. Classes of functional tasks and adjustment blocks.- 3.4. Elaboration of the different adjustment blocks.- 3.5. Calculation of other dynamical characteristics and values.- 3.6. Examples.- 3.7. Synthesis of nominal dynamics of manipulation movements.- 3.8. The complete dynamical model.- 3.9. Mathematical models of the actuator systems.- 3.10. Simulation algorithm for the synthesis of nominal dynamics.- 3.11. Example of the synthesis.- 3.12. Influence of actuator models complexity.- 3.13. One method for the optimal synthesis of functional movements.- References.- 4 Dynamics of Manipulators with Elastic Segments.- 4.1. Introduction.- 4.2. Basic ideas and postulates.- 4.3. Nominal dynamical characteristics.- 4.4. Deriving the model of elastic oscillations.- 4.5. Influence coefficients.- 4.6. Results of the method and their application.- 4.7. Example.- References.- 5 Dynamical Method for the Evaluation and Choice of Industrial Manipulators.- 5.1. Introduction.- 5.2. Defining the dynamical criteria.- 5.3. Definition of limitations.- 5.4. Examples.- References.