Robotic Mechanisms and Dynamics

Robotic mechanisms and dynamics is concerned with understanding how robot arms and parallel machines move, bear loads, and respond to control signals — spanning the mathematical description of joint motion through kinematic analysis to the force and inertia relationships captured by dynamic models. Getting these models right determines whether a robot can place a surgical tool precisely, assemble a component at speed, or operate safely alongside people, so even small errors in calibration or trajectory planning carry real practical consequences. Redundant robots, which have more joints than a task strictly requires, open up useful flexibility but also complicate how controllers choose among infinitely many valid configurations. Active research is pushing into how neural networks can learn or refine dynamic models that are too complex to derive analytically, and how workspace geometry and stiffness can be co-optimized so that parallel mechanisms deliver both reach and rigidity without unnecessary bulk.

Works

68,034

Total citations

743,162

Keywords

Robot ManipulatorsKinematic AnalysisDynamic ModelingRedundant RobotsParallel MechanismsNeural Networks