Rigid-Flexible Coupling Hoisting Robots: Modeling, Analysis, and Control

Comprehensive resource detailing the technology of rigid-flexible coupling robots and their applications

Rigid-Flexible Coupling Hoisting Robots: Modeling, Analysis, and Control introduces the configuration and optimization design, mechanics and fundamental mechanical issues, uncertainty analysis, trajectory planning, control, and applications of rigid-flexible coupling hoisting robots. The book also reviews kinematics and dynamics modeling as well as design methods to enhance overall performance including motion decoupling, reconfigurable design, and optimization design. A series of numerical simulations and specific experiments on real prototypes are included to help readers quickly grasp both theory and practical application.

Summarizing the numerous achievements the authors have made in the field in recent years, Rigid-Flexible Coupling Hoisting Robots: Modeling, Analysis, and Control includes information on:

• Fundamental challenges including trajectory planning, tracking control, and force control
• Multi-objective optimization design for workspace dexterity and stiffness
• Kinematic uncertainty analysis with random parameters, narrowly bounded uncertainty, and large-bounded uncertainty
• Dynamic uncertainty analysis with hybrid-random and interval parameters
• Controller design and platform development

Rigid-Flexible Coupling Hoisting Robots: Modeling, Analysis, and Control is an essential reference on the subject for researchers and engineers in the field as well as graduate students in related programs of study.

BIN ZI is currently a Professor with the School of Mechano-Electronic Engineering, Xidian University, Xi’an, China. He has published 5 monographs, more than 200 papers and more than 100 authorized invention patents. His research interests include the theory, technology and equipment of intelligent rigid-flexible coupling robots, and automation of intelligent manufacturing system.

BIN ZHOU is currently an Associate Professor with the School of Mechanical Engineering, Hefei University of Technology, Hefei, China. He has authored more than 20 papers and more than 15 authorized invention patents. His research interests include uncertainty analysis and reliability-based optimization design, and intelligent control of rigid-flexible coupling robots.