Especially designed as self-sustaining oscillating systems, resonant robotic systems use the natural modes of oscillation of electromechanical modules for their movements. In fact, manipulator systems built on these principles demonstrate record-breaking characteristics in performance. The authors summarize the results and experience of research on, and development of, resonant robotic systems. For the readers convenience, a presentation of design concepts is followed by solutions to new dynamical and control problems. The book is intended for designers, researchers and graduate students.
1. Application of resonant systems.- 1.1 Load relief and balancing of robotic systems.- 1.2 Systems to relieve drives from inertia forces.- 1.3 Resonant robotic system components.- 1.4 Synthesis of spring accumulators.- 1.5 Design of resonant robotic systems.- 2. Dynamics of resonant robotic systems.- 2.1 Equations of motion for resonant robots.- 2.2 Resonant systems with ideal drives.- 2.3 Electromechanical drive for resonant systems.- 3. Optimal control of resonant systems.- 3.1 Statement of the optimisation problem. Efficiency criteria.- 3.2 Synthesis of optimal cyclic drive.- 3.3 Control of resonant drives with minimal energy consumption.- 3.4 Operating speed of cyclic resonant drives.- 3.5 Optimal control with minimal heat generation.- 3.6 Control to minimise cumulative angular momentum of the driver.- 3.7 Efficiency of control for resonant drives.- 4. Adaptive control of resonant robots.- 4.1 Introduction.- 4.2 Synthesis of regulator.- 4.3 Adaptive control.- 4.4 Simultaneous control of rotation and translation.- 4.5 Conclusion.