Abstract
In this chapter robotic applications of general multibody system (MBS) simulation methods, based on absolute coordinates formalism, are presented. Three typical problems, often encountered in robotics, are discussed: kinematic analysis with singular configuration detection, simulation of parallel robot dynamics investigated jointly with the robot control systems properties, and finally, simulation of a robot with flexibility effects taken into account. In case of singular configuration detection simplest types of singular configurations are analyzed – turning point and bifurcation point. The second case of MBS application is an example of parallel robot dynamic analysis when model based control is taken into account. The last part of the chapter is devoted to the analysis of complex, flexible power transmission mechanism carried out with general MBS formalism.
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Acknowledgements
The project was co-financed by the European Regional Development Fund within the framework of the 1. priority axis of the Innovative Economy Operational Programme, 2007–2013, through grant PO IG 01.02.01-00-014/08-00, and by the Institute of Aeronautics and Applied Mechanics statutory funds.
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Frączek, J., Wojtyra, M. (2011). Application of General Multibody Methods to Robotics. In: Arczewski, K., Blajer, W., Fraczek, J., Wojtyra, M. (eds) Multibody Dynamics. Computational Methods in Applied Sciences, vol 23. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-9971-6_7
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DOI: https://doi.org/10.1007/978-90-481-9971-6_7
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