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