Rigid-Flexible Coupling Hoisting Robots

1 Introduction 1.1 The Evolution of Rigid-Flexible Coupling Robots 1.2 The History and Development of Rigid-Flexible Coupling Hoisting Robots 1.3 The Applications of Rigid-Flexible Coupling Hoisting Robots in Various Fields 1.3.1 Construction 1.3.2 Ocean 1.3.3 Storage 1.4 Scope and Organization of This Book References 2 Kinematics and Dynamic Modeling of Rigid-Flexible Coupled Hoisting Robots 2.1 Preamble 2.2 Mechanism Design and Kinematic Analysis of Rigid-Flexible Coupling Hoisting Robots 2.2.1 Mechanism Design of Rigid-Flexible Coupling Hoisting Robot 2.2.2 Kinematic Modeling of Rigid-Flexible Coupled Hoisting Robots 2.3 Dynamic Modeling of Rigid-Flexible Coupling Hoisting Robots 2.3.1 Dynamic Modeling of Rigid-Flexible Coupled Hoisting Robot Based on Lagrange Method 2.3.2 Dynamic Modeling of Rigid-Flexible Coupled Hoisting Robot Based on Newton-Euler Method 2.4 Conclusions References 3 Motion Decoupling, Reconfigurable Design of Rigid-Flexible Coupling Hoisting Robots3.1 Preamble 3.2 Motion Decoupling Design for a 7-DOF Rigid-Flexible Coupling Hoisting Robot 3.2.1 Coupling Characteristic Analysis and Motion-Decoupling Method 3.2.2 Mechanical design of 7-DOF Rigid-Flexible Coupling Hoisting Robot 3.3 Modular and Reconfigurable Mechanism Design of Rigid-Flexible Coupling Hoisting Robots 3.3.1 Design Methodology 3.3.2 Mechanical Description 3.3.3 Typical Configuration 3.4 Integrated Mechanism Design of Dual Machine Collaborative Rigid-Flexible Coupling Hoisting Robots 3.4.1 Mechanical Design 3.4.2 Kinematic Modeling 3.4.3 Dynamic Modeling 3.5 Conclusions References 4 Optimization Design of Rigid-Flexible Coupling Hoisting Robots 4.1 Preamble 4.2 Multi-Objective Optimization Design for Workspace and Dexterity 4.2.1 Kinematic Modeling and Static Modeling of RFCHR 4.2.2 Performance Indices of RFCHR 4.2.3 Multi-Objective Optimal Design 4.3 Multi-Objective Optimization Design for Reliability, Workspace, and Stiffness 4.3.1 Performance Indices of RFCHR 4.3.2 Multi-Objective Optimization Design 4.4 Experiment and Verification 4.5 Conclusions   References 5 Kinematic Analysis of Rigid-Flexible Coupling Hoisting Robots with Uncertainty 5.1 Preamble 5.2 Kinematic Uncertainty Analysis with Random Parameters 5.2.1 Mechanism Description 5.2.2 Inverse Kinematics 5.2.3 DACS Equilibrium Equation Under Narrowly Random Model 5.2.4 MHRM For Luffing Angular Response Field of the DACS With Narrow Uncertainty 5.2.5 Numerical examples 5.2.6 Conclusions 5.3 Kinematic Uncertainty Analysis with Interval Variables 5.3.1 Interval Kinematic Equilibrium Equation 5.3.2 Hybrid Compound Function/Subinterval Perturbation Method 5.3.3 Numerical Examples 5.3.4 Conclusions 5.4 Kinematic Uncertainty Analysis Based on Evidence Theory 5.4.1 Architecture and Kinematics 5.4.2 Error Transfer Model 5.4.3 Uncertainty Analysis Based on Evidence Theory 5.4.4 Simulation and Comparison 5.4.5 Conclusions 5.5 Kinematic Uncertainty Analysis with Hybrid Random and Interval Parameters5.5.1 Hybrid Uncertain DACS With Random and Interval Parameters 5.5.2 The LAR analysis of the DACS with small uncertainty 5.5.3 Hybrid LAR Field Calculation of the DACS 5.5.4 Numerical Examples 5.5.5 Conclusion 5.6 Conclusions References 6 Dynamic Analysis of Rigid-Flexible Coupling Hoisting Robots with Uncertainty 6.1 Preamble154 6.2 Static Uncertainty Analysis with Fuzzy Parameters 6.2.1 Fuzzy Static Equilibrium Equation 6.2.2 CFFPM 6.2.3 MCFFPM 6.2.4 Numerical Examples 6.2.5 Conclusions 6.3 Dynamic Uncertainty Analysis with Hybrid Random and Interval Parameters6.3.1 LSOAAC Equilibrium Equation Under the Hybrid Uncertain Model 6.3.2 MHUAM for the Dynamic Response Analysis of LSOAAC 6.3.3 Hybrid LSOAAC Response Field Calculation 6.3.4 Numerical Examples 6.3.5 Conclusions 6.4 Conclusions References 7 Trajectory Planning and Tracking Control of Rigid-Flexible Coupling Hoisting Robots 7.1 Preamble 7.2 Trajectory Planning for Rigid-Flexible Coupling Hoisting Robots 7.2.1 Inverse Kinematic Modeling 7.2.2 Dynamic Modeling 7.2.3 Point-To-Point Trajectory Planning 7.2.4 Numerical Simulation and Experiments 7.2.5 Conclusions 7.3 Fuzzy Control for Rigid-Flexible Coupling Hoisting Robots 7.3.1 Fuzzy Trajectory Tracking Control 7.3.2 Numerical Simulations 7.3.3 Experiment Validation 7.3.4 Conclusion 7.4 Force Control for Rigid-Flexible Coupling Hoisting Robots 7.4.1 Construction of Experimental Platform 7.4.2 Cable Driving Force Control Method 7.4.3 Control and Monitoring Program Design 7.4.4 Test and Verification Experiment 7.4.5 Conclusion 7.5 Conclusions References 8 Platform Development and Application for Rigid-Flexible Coupling Hoisting Robots248 8.1 Preamble 8.2 Platform Development and Performance Verification of a Rigid-Flexible Coupling Robot for Yard Operations 8.2.1 Physical Prototype Development 8.2.2 Robot Motion Performance Experiment 8.3 Platform Development and Performance Verification for the 7-DOF Rigid-Flexible Coupling Hoisting Robot 8.3.1 Physical Prototype Development 8.3.2 Verification of Decoupling Performance 8.3.3 Overall Performance 8.4 Conclusions References 1 Introduction 1.1 The Evolution of Rigid-Flexible Coupling Robots 1.2 The History and Development of Rigid-Flexible Coupling Hoisting Robots 1.3 The Applications of Rigid-Flexible Coupling Hoisting Robots in Various Fields 1.3.1 Construction 1.3.2 Ocean 1.3.3 Storage 1.4 Scope and Organization of This Book References 2 Kinematics and Dynamic Modeling of Rigid-Flexible Coupled Hoisting Robots 2.1 Preamble 2.2 Mechanism Design and Kinematic Analysis of Rigid-Flexible Coupling Hoisting Robots 2.2.1 Mechanism Design of Rigid-Flexible Coupling Hoisting Robot 2.2.2 Kinematic Modeling of Rigid-Flexible Coupled Hoisting Robots 2.3 Dynamic Modeling of Rigid-Flexible Coupling Hoisting Robots 2.3.1 Dynamic Modeling of Rigid-Flexible Coupled Hoisting Robot Based on Lagrange Method 2.3.2 Dynamic Modeling of Rigid-Flexible Coupled Hoisting Robot Based on Newton-Euler Method 2.4 Conclusions References 3 Motion Decoupling, Reconfigurable Design of Rigid-Flexible Coupling Hoisting Robots
3.1 Preamble 3.2 Motion Decoupling Design for a 7-DOF Rigid-Flexible Coupling Hoisting Robot 3.2.1 Coupling Characteristic Analysis and Motion-Decoupling Method 3.2.2 Mechanical design of 7-DOF Rigid-Flexible Coupling Hoisting Robot 3.3 Modular and Reconfigurable Mechanism Design of Rigid-Flexible Coupling Hoisting Robots 3.3.1 Design Methodology 3.3.2 Mechanical Description 3.3.3 Typical Configuration 3.4 Integrated Mechanism Design of Dual Machine Collaborative Rigid-Flexible Coupling Hoisting Robots 3.4.1 Mechanical Design 3.4.2 Kinematic Modeling 3.4.3 Dynamic Modeling 3.5 Conclusions References 4 Optimization Design of Rigid-Flexible Coupling Hoisting Robots 4.1 Preamble 4.2 Multi-Objective Optimization Design for Workspace and Dexterity 4.2.1 Kinematic Modeling and Static Modeling of RFCHR 4.2.2 Performance Indices of RFCHR 4.2.3 Multi-Objective Optimal Design 4.3 Multi-Objective Optimization Design for Reliability, Workspace, and Stiffness 4.3.1 Performance Indices of RFCHR 4.3.2 Multi-Objective Optimization Design 4.4 Experiment and Verification 4.5 Conclusions References 5 Kinematic Analysis of Rigid-Flexible Coupling Hoisting Robots with Uncertainty 5.1 Preamble 5.2 Kinematic Uncertainty Analysis with Random Parameters 5.2.1 Mechanism Description 5.2.2 Inverse Kinematics 5.2.3 DACS Equilibrium Equation Under Narrowly Random Model 5.2.4 MHRM For Luffing Angular Response Field of the DACS With Narrow Uncertainty 5.2.5 Numerical examples 5.2.6 Conclusions 5.3 Kinematic Uncertainty Analysis with Interval Variables 5.3.1 Interval Kinematic Equilibrium Equation 5.3.2 Hybrid Compound Function/Subinterval Perturbation Method 5.3.3 Numerical Examples 5.3.4 Conclusions 5.4 Kinematic Uncertainty Analysis Based on Evidence Theory 5.4.1 Architecture and Kinematics 5.4.2 Error Transfer Model 5.4.3 Uncertainty Analysis Based on Evidence Theory 5.4.4 Simulation and Comparison 5.4.5 Conclusions 5.5 Kinematic Uncertainty Analysis with Hybrid Random and Interval Parameters
5.5.1 Hybrid Uncertain DACS With Random and Interval Parameters 5.5.2 The LAR analysis of the DACS with small uncertainty 5.5.3 Hybrid LAR Field Calculation of the DACS 5.5.4 Numerical Examples 5.5.5 Conclusion 5.6 Conclusions References 6 Dynamic Analysis of Rigid-Flexible Coupling Hoisting Robots with Uncertainty 6.1 Preamble154 6.2 Static Uncertainty Analysis with Fuzzy Parameters 6.2.1 Fuzzy Static Equilibrium Equation 6.2.2 CFFPM 6.2.3 MCFFPM 6.2.4 Numerical Examples 6.2.5 Conclusions 6.3 Dynamic Uncertainty Analysis with Hybrid Random and Interval Parameters
6.3.1 LSOAAC Equilibrium Equation Under the Hybrid Uncertain Model 6.3.2 MHUAM for the Dynamic Response Analysis of LSOAAC 6.3.3 Hybrid LSOAAC Response Field Calculation 6.3.4 Numerical Examples 6.3.5 Conclusions 6.4 Conclusions References 7 Trajectory Planning and Tracking Control of Rigid-Flexible Coupling Hoisting Robots 7.1 Preamble 7.2 Trajectory Planning for Rigid-Flexible Coupling Hoisting Robots 7.2.1 Inverse Kinematic Modeling 7.2.2 Dynamic Modeling 7.2.3 Point-To-Point Trajectory Planning 7.2.4 Numerical Simulation and Experiments 7.2.5 Conclusions 7.3 Fuzzy Control for Rigid-Flexible Coupling Hoisting Robots 7.3.1 Fuzzy Trajectory Tracking Control 7.3.2 Numerical Simulations 7.3.3 Experiment Validation 7.3.4 Conclusion 7.4 Force Control for Rigid-Flexible Coupling Hoisting Robots 7.4.1 Construction of Experimental Platform 7.4.2 Cable Driving Force Control Method 7.4.3 Control and Monitoring Program Design 7.4.4 Test and Verification Experiment 7.4.5 Conclusion 7.5 Conclusions References 8 Platform Development and Application for Rigid-Flexible Coupling Hoisting Robots 8.1 Preamble 8.2 Platform Development and Performance Verification of a Rigid-Flexible Coupling Robot for Yard Operations 8.2.1 Physical Prototype Development 8.2.2 Robot Motion Performance Experiment 8.3 Platform Development and Performance Verification for the 7-DOF Rigid-Flexible Coupling Hoisting Robot 8.3.1 Physical Prototype Development 8.3.2 Verification of Decoupling Performance 8.3.3 Overall Performance 8.4 Conclusions References