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

Preface vii
Main Symbol Table ix

1 Introduction 1
1.1 The Evolution of Rigidâ"Flexible Coupling Robots 1
1.2 The History and Development of Rigidâ"Flexible Coupling Hoisting Robots 8
1.3 The Applications of RFCHRs in Various Fields 11
1.4 Scope and Organization of This Book 17

2 Kinematics and Dynamic Modeling of Rigidâ"Flexible Coupled Hoisting Robots 27
2.1 Preamble 27
2.2 Mechanism Design and Kinematic Analysis of RFCHRs 29
2.3 Dynamic Modeling of RFCHRs 42
2.4 Conclusion 49

3 Motion Decoupling, Reconfigurable Design of Rigidâ"Flexible Coupling Hoisting Robots 51
3.1 Preamble 51
3.2 Motion-decoupling Design for a 7-DOF RFCHR 53
3.3 Modular and Reconfigurable Mechanism Design of RFCHRs 61
3.4 Integrated Mechanism Design of Dual-machine Collaborative RFCHRs 65
3.5 Conclusion 72

4 Optimization Design of Rigidâ"Flexible Coupling Hoisting Robots 75
4.1 Preamble 75
4.2 Multi-objective Optimization Design for Workspace and Dexterity 76
4.3 Multi-objective Optimization Design for Reliability, Workspace, and Stiffness 89
4.4 Experiment and Verification 109
4.5 Conclusion 114

5 Kinematic Analysis of Rigidâ"Flexible Coupling Hoisting Robots with Uncertainty 117
5.1 Preamble 117
5.2 Kinematic Uncertainty Analysis with Random Parameters 119
5.3 Kinematic Uncertainty Analysis with Interval Variables 133
5.4 Kinematic Uncertainty Analysis Based on Evidence Theory 143
5.5 Kinematic Uncertainty Analysis with Hybrid Random and Interval Parameters 160
5.6 Conclusion 177

6 Dynamic Analysis of Rigidâ"Flexible Coupling Hoisting Robots with Uncertainty 181
6.1 Preamble 181
6.2 Static Uncertainty Analysis with Fuzzy Parameters 183
6.3 Dynamic Uncertainty Analysis with Hybrid Random and Interval Parameters 201
6.4 Conclusion 238

7 Trajectory Planning and Tracking Control of Rigidâ"Flexible Coupling Hoisting Robots 241
7.1 Preamble 241
7.2 Trajectory Planning for RFCHRs 244
7.3 Fuzzy Control for RFCHRs 264
7.4 Force Control for RFCHRs 275
7.5 Conclusion 282

8 Platform Development and Application for Rigidâ"Flexible Coupling Hoisting Robots 285
8.1 Preamble 285
8.2 Platform Development and Performance Verification of an RFCHR for Yard Operations 287
8.3 Platform Development and Performance Verification for the 7-DOF RFCHR 293
8.4 Conclusion 298

References 299
Index 301