{"product_id":"rigid-flexible-coupling-hoisting-robots-isbn-9781394308941","title":"Rigid-Flexible Coupling Hoisting Robots","description":"\u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e1 Introduction\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e1.1 The Evolution of Rigid-Flexible Coupling Robots\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e1.2 The History and Development of Rigid-Flexible Coupling Hoisting Robots\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e1.3 The Applications of Rigid-Flexible Coupling Hoisting Robots in Various Fields\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e1.3.1 Construction\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e1.3.2 Ocean\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e1.3.3 Storage\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e1.4 Scope and Organization of This Book\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003eReferences\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e2 Kinematics and Dynamic Modeling of Rigid-Flexible Coupled Hoisting Robots\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e2.1 Preamble\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e2.2 Mechanism Design and Kinematic Analysis of Rigid-Flexible Coupling Hoisting Robots\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e2.2.1 Mechanism Design of Rigid-Flexible Coupling Hoisting Robot\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e2.2.2 Kinematic Modeling of Rigid-Flexible Coupled Hoisting Robots\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e2.3 Dynamic Modeling of Rigid-Flexible Coupling Hoisting Robots\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e2.3.1 Dynamic Modeling of Rigid-Flexible Coupled Hoisting Robot Based on Lagrange Method\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e2.3.2 Dynamic Modeling of Rigid-Flexible Coupled Hoisting Robot Based on Newton-Euler Method\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e2.4 Conclusions\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003eReferences\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e3 Motion Decoupling, Reconfigurable Design of Rigid-Flexible Coupling Hoisting Robots3.1 Preamble\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e3.2 Motion Decoupling Design for a 7-DOF Rigid-Flexible Coupling Hoisting Robot\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e3.2.1 Coupling Characteristic Analysis and Motion-Decoupling Method\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e3.2.2 Mechanical design of 7-DOF Rigid-Flexible Coupling Hoisting Robot\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e3.3 Modular and Reconfigurable Mechanism Design of Rigid-Flexible Coupling Hoisting Robots\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e3.3.1 Design Methodology\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e3.3.2 Mechanical Description\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e3.3.3 Typical Configuration\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e3.4 Integrated Mechanism Design of Dual Machine Collaborative Rigid-Flexible Coupling Hoisting Robots\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e3.4.1 Mechanical Design\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e3.4.2 Kinematic Modeling\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e3.4.3 Dynamic Modeling\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e3.5 Conclusions\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003eReferences\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e4 Optimization Design of Rigid-Flexible Coupling Hoisting Robots\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e4.1 Preamble\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e4.2 Multi-Objective Optimization Design for Workspace and Dexterity\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e4.2.1 Kinematic Modeling and Static Modeling of RFCHR\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e4.2.2 Performance Indices of RFCHR\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e4.2.3 Multi-Objective Optimal Design\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e4.3 Multi-Objective Optimization Design for Reliability, Workspace, and Stiffness\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e4.3.1 Performance Indices of RFCHR\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e4.3.2 Multi-Objective Optimization Design\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e4.4 Experiment and Verification\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e4.5 Conclusions\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e  References\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5 Kinematic Analysis of Rigid-Flexible Coupling Hoisting Robots with Uncertainty\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.1 Preamble\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.2 Kinematic Uncertainty Analysis with Random Parameters\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.2.1 Mechanism Description\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.2.2 Inverse Kinematics\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.2.3 DACS Equilibrium Equation Under Narrowly Random Model\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.2.4 MHRM For Luffing Angular Response Field of the DACS With Narrow Uncertainty\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.2.5 Numerical examples\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.2.6 Conclusions\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.3 Kinematic Uncertainty Analysis with Interval Variables\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.3.1 Interval Kinematic Equilibrium Equation\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.3.2 Hybrid Compound Function\/Subinterval Perturbation Method\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.3.3 Numerical Examples\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.3.4 Conclusions\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.4 Kinematic Uncertainty Analysis Based on Evidence Theory\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.4.1 Architecture and Kinematics\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.4.2 Error Transfer Model\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.4.3 Uncertainty Analysis Based on Evidence Theory\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.4.4 Simulation and Comparison\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.4.5 Conclusions\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.5 Kinematic Uncertainty Analysis with Hybrid Random and Interval Parameters5.5.1 Hybrid Uncertain DACS With Random and Interval Parameters\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.5.2 The LAR analysis of the DACS with small uncertainty\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.5.3 Hybrid LAR Field Calculation of the DACS\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.5.4 Numerical Examples\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.5.5 Conclusion\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e5.6 Conclusions\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003eReferences\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e6 Dynamic Analysis of Rigid-Flexible Coupling Hoisting Robots with Uncertainty\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e6.1 Preamble154\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e6.2 Static Uncertainty Analysis with Fuzzy Parameters\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e6.2.1 Fuzzy Static Equilibrium Equation\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e6.2.2 CFFPM\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e6.2.3 MCFFPM\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e6.2.4 Numerical Examples\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e6.2.5 Conclusions\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e6.3 Dynamic Uncertainty Analysis with Hybrid Random and Interval Parameters6.3.1 LSOAAC Equilibrium Equation Under the Hybrid Uncertain Model\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e6.3.2 MHUAM for the Dynamic Response Analysis of LSOAAC\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e6.3.3 Hybrid LSOAAC Response Field Calculation\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e6.3.4 Numerical Examples\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e6.3.5 Conclusions\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e6.4 Conclusions\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003eReferences\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e7 Trajectory Planning and Tracking Control of Rigid-Flexible Coupling Hoisting Robots\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e7.1 Preamble\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e7.2 Trajectory Planning for Rigid-Flexible Coupling Hoisting Robots\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e7.2.1 Inverse Kinematic Modeling\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e7.2.2 Dynamic Modeling\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e7.2.3 Point-To-Point Trajectory Planning\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e7.2.4 Numerical Simulation and Experiments\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e7.2.5 Conclusions\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e7.3 Fuzzy Control for Rigid-Flexible Coupling Hoisting Robots\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e7.3.1 Fuzzy Trajectory Tracking Control\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e7.3.2 Numerical Simulations\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e7.3.3 Experiment Validation\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e7.3.4 Conclusion\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e7.4 Force Control for Rigid-Flexible Coupling Hoisting Robots\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e7.4.1 Construction of Experimental Platform\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e7.4.2 Cable Driving Force Control Method\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e7.4.3 Control and Monitoring Program Design\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e7.4.4 Test and Verification Experiment\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e7.4.5 Conclusion\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e7.5 Conclusions\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003eReferences\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e8 Platform Development and Application for Rigid-Flexible Coupling Hoisting Robots248\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e8.1 Preamble\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e8.2 Platform Development and Performance Verification of a Rigid-Flexible Coupling Robot for Yard Operations\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e8.2.1 Physical Prototype Development\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e8.2.2 Robot Motion Performance Experiment\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e8.3 Platform Development and Performance Verification for the 7-DOF Rigid-Flexible Coupling Hoisting Robot\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e8.3.1 Physical Prototype Development\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e8.3.2 Verification of Decoupling Performance\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e8.3.3 Overall Performance\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003e8.4 Conclusions\u003c\/div\u003e \u003cdiv id=\"_mcePaste\" style=\"position: absolute; left: -10000px; top: 0px; width: 1px; height: 1px; overflow: hidden;\"\u003eReferences\u003c\/div\u003e \u003cdiv\u003e1 Introduction\u003c\/div\u003e \u003cdiv\u003e1.1 The Evolution of Rigid-Flexible Coupling Robots\u003c\/div\u003e \u003cdiv\u003e1.2 The History and Development of Rigid-Flexible Coupling Hoisting Robots\u003c\/div\u003e \u003cdiv\u003e1.3 The Applications of Rigid-Flexible Coupling Hoisting Robots in Various Fields\u003c\/div\u003e \u003cdiv\u003e1.3.1 Construction\u003c\/div\u003e \u003cdiv\u003e1.3.2 Ocean\u003c\/div\u003e \u003cdiv\u003e1.3.3 Storage\u003c\/div\u003e \u003cdiv\u003e1.4 Scope and Organization of This Book\u003c\/div\u003e \u003cdiv\u003eReferences\u003c\/div\u003e \u003cdiv\u003e2 Kinematics and Dynamic Modeling of Rigid-Flexible Coupled Hoisting Robots\u003c\/div\u003e \u003cdiv\u003e2.1 Preamble\u003c\/div\u003e \u003cdiv\u003e2.2 Mechanism Design and Kinematic Analysis of Rigid-Flexible Coupling Hoisting Robots\u003c\/div\u003e \u003cdiv\u003e2.2.1 Mechanism Design of Rigid-Flexible Coupling Hoisting Robot\u003c\/div\u003e \u003cdiv\u003e2.2.2 Kinematic Modeling of Rigid-Flexible Coupled Hoisting Robots\u003c\/div\u003e \u003cdiv\u003e2.3 Dynamic Modeling of Rigid-Flexible Coupling Hoisting Robots\u003c\/div\u003e \u003cdiv\u003e2.3.1 Dynamic Modeling of Rigid-Flexible Coupled Hoisting Robot Based on Lagrange Method\u003c\/div\u003e \u003cdiv\u003e2.3.2 Dynamic Modeling of Rigid-Flexible Coupled Hoisting Robot Based on Newton-Euler Method\u003c\/div\u003e \u003cdiv\u003e2.4 Conclusions\u003c\/div\u003e \u003cdiv\u003eReferences\u003c\/div\u003e \u003cdiv\u003e3 Motion Decoupling, Reconfigurable Design of Rigid-Flexible Coupling Hoisting Robots \u003cbr\u003e3.1 Preamble\u003c\/div\u003e \u003cdiv\u003e3.2 Motion Decoupling Design for a 7-DOF Rigid-Flexible Coupling Hoisting Robot\u003c\/div\u003e \u003cdiv\u003e3.2.1 Coupling Characteristic Analysis and Motion-Decoupling Method\u003c\/div\u003e \u003cdiv\u003e3.2.2 Mechanical design of 7-DOF Rigid-Flexible Coupling Hoisting Robot\u003c\/div\u003e \u003cdiv\u003e3.3 Modular and Reconfigurable Mechanism Design of Rigid-Flexible Coupling Hoisting Robots\u003c\/div\u003e \u003cdiv\u003e3.3.1 Design Methodology\u003c\/div\u003e \u003cdiv\u003e3.3.2 Mechanical Description\u003c\/div\u003e \u003cdiv\u003e3.3.3 Typical Configuration\u003c\/div\u003e \u003cdiv\u003e3.4 Integrated Mechanism Design of Dual Machine Collaborative Rigid-Flexible Coupling Hoisting Robots\u003c\/div\u003e \u003cdiv\u003e3.4.1 Mechanical Design\u003c\/div\u003e \u003cdiv\u003e3.4.2 Kinematic Modeling\u003c\/div\u003e \u003cdiv\u003e3.4.3 Dynamic Modeling\u003c\/div\u003e \u003cdiv\u003e3.5 Conclusions\u003c\/div\u003e \u003cdiv\u003eReferences\u003c\/div\u003e \u003cdiv\u003e4 Optimization Design of Rigid-Flexible Coupling Hoisting Robots\u003c\/div\u003e \u003cdiv\u003e4.1 Preamble\u003c\/div\u003e \u003cdiv\u003e4.2 Multi-Objective Optimization Design for Workspace and Dexterity\u003c\/div\u003e \u003cdiv\u003e4.2.1 Kinematic Modeling and Static Modeling of RFCHR\u003c\/div\u003e \u003cdiv\u003e4.2.2 Performance Indices of RFCHR\u003c\/div\u003e \u003cdiv\u003e4.2.3 Multi-Objective Optimal Design\u003c\/div\u003e \u003cdiv\u003e4.3 Multi-Objective Optimization Design for Reliability, Workspace, and Stiffness\u003c\/div\u003e \u003cdiv\u003e4.3.1 Performance Indices of RFCHR\u003c\/div\u003e \u003cdiv\u003e4.3.2 Multi-Objective Optimization Design\u003c\/div\u003e \u003cdiv\u003e4.4 Experiment and Verification\u003c\/div\u003e \u003cdiv\u003e4.5 Conclusions\u003c\/div\u003e \u003cdiv\u003eReferences\u003c\/div\u003e \u003cdiv\u003e5 Kinematic Analysis of Rigid-Flexible Coupling Hoisting Robots with Uncertainty\u003c\/div\u003e \u003cdiv\u003e5.1 Preamble\u003c\/div\u003e \u003cdiv\u003e5.2 Kinematic Uncertainty Analysis with Random Parameters\u003c\/div\u003e \u003cdiv\u003e5.2.1 Mechanism Description\u003c\/div\u003e \u003cdiv\u003e5.2.2 Inverse Kinematics\u003c\/div\u003e \u003cdiv\u003e5.2.3 DACS Equilibrium Equation Under Narrowly Random Model\u003c\/div\u003e \u003cdiv\u003e5.2.4 MHRM For Luffing Angular Response Field of the DACS With Narrow Uncertainty\u003c\/div\u003e \u003cdiv\u003e5.2.5 Numerical examples\u003c\/div\u003e \u003cdiv\u003e5.2.6 Conclusions\u003c\/div\u003e \u003cdiv\u003e5.3 Kinematic Uncertainty Analysis with Interval Variables\u003c\/div\u003e \u003cdiv\u003e5.3.1 Interval Kinematic Equilibrium Equation\u003c\/div\u003e \u003cdiv\u003e5.3.2 Hybrid Compound Function\/Subinterval Perturbation Method\u003c\/div\u003e \u003cdiv\u003e5.3.3 Numerical Examples\u003c\/div\u003e \u003cdiv\u003e5.3.4 Conclusions\u003c\/div\u003e \u003cdiv\u003e5.4 Kinematic Uncertainty Analysis Based on Evidence Theory\u003c\/div\u003e \u003cdiv\u003e5.4.1 Architecture and Kinematics\u003c\/div\u003e \u003cdiv\u003e5.4.2 Error Transfer Model\u003c\/div\u003e \u003cdiv\u003e5.4.3 Uncertainty Analysis Based on Evidence Theory\u003c\/div\u003e \u003cdiv\u003e5.4.4 Simulation and Comparison\u003c\/div\u003e \u003cdiv\u003e5.4.5 Conclusions\u003c\/div\u003e \u003cdiv\u003e5.5 Kinematic Uncertainty Analysis with Hybrid Random and Interval Parameters \u003cbr\u003e5.5.1 Hybrid Uncertain DACS With Random and Interval Parameters\u003c\/div\u003e \u003cdiv\u003e5.5.2 The LAR analysis of the DACS with small uncertainty\u003c\/div\u003e \u003cdiv\u003e5.5.3 Hybrid LAR Field Calculation of the DACS\u003c\/div\u003e \u003cdiv\u003e5.5.4 Numerical Examples\u003c\/div\u003e \u003cdiv\u003e5.5.5 Conclusion\u003c\/div\u003e \u003cdiv\u003e5.6 Conclusions\u003c\/div\u003e \u003cdiv\u003eReferences\u003c\/div\u003e \u003cdiv\u003e6 Dynamic Analysis of Rigid-Flexible Coupling Hoisting Robots with Uncertainty\u003c\/div\u003e \u003cdiv\u003e6.1 Preamble154\u003c\/div\u003e \u003cdiv\u003e6.2 Static Uncertainty Analysis with Fuzzy Parameters\u003c\/div\u003e \u003cdiv\u003e6.2.1 Fuzzy Static Equilibrium Equation\u003c\/div\u003e \u003cdiv\u003e6.2.2 CFFPM\u003c\/div\u003e \u003cdiv\u003e6.2.3 MCFFPM\u003c\/div\u003e \u003cdiv\u003e6.2.4 Numerical Examples\u003c\/div\u003e \u003cdiv\u003e6.2.5 Conclusions\u003c\/div\u003e \u003cdiv\u003e6.3 Dynamic Uncertainty Analysis with Hybrid Random and Interval Parameters \u003cbr\u003e6.3.1 LSOAAC Equilibrium Equation Under the Hybrid Uncertain Model\u003c\/div\u003e \u003cdiv\u003e6.3.2 MHUAM for the Dynamic Response Analysis of LSOAAC\u003c\/div\u003e \u003cdiv\u003e6.3.3 Hybrid LSOAAC Response Field Calculation\u003c\/div\u003e \u003cdiv\u003e6.3.4 Numerical Examples\u003c\/div\u003e \u003cdiv\u003e6.3.5 Conclusions\u003c\/div\u003e \u003cdiv\u003e6.4 Conclusions\u003c\/div\u003e \u003cdiv\u003eReferences\u003c\/div\u003e \u003cdiv\u003e7 Trajectory Planning and Tracking Control of Rigid-Flexible Coupling Hoisting Robots\u003c\/div\u003e \u003cdiv\u003e7.1 Preamble\u003c\/div\u003e \u003cdiv\u003e7.2 Trajectory Planning for Rigid-Flexible Coupling Hoisting Robots\u003c\/div\u003e \u003cdiv\u003e7.2.1 Inverse Kinematic Modeling\u003c\/div\u003e \u003cdiv\u003e7.2.2 Dynamic Modeling\u003c\/div\u003e \u003cdiv\u003e7.2.3 Point-To-Point Trajectory Planning\u003c\/div\u003e \u003cdiv\u003e7.2.4 Numerical Simulation and Experiments\u003c\/div\u003e \u003cdiv\u003e7.2.5 Conclusions\u003c\/div\u003e \u003cdiv\u003e7.3 Fuzzy Control for Rigid-Flexible Coupling Hoisting Robots\u003c\/div\u003e \u003cdiv\u003e7.3.1 Fuzzy Trajectory Tracking Control\u003c\/div\u003e \u003cdiv\u003e7.3.2 Numerical Simulations\u003c\/div\u003e \u003cdiv\u003e7.3.3 Experiment Validation\u003c\/div\u003e \u003cdiv\u003e7.3.4 Conclusion\u003c\/div\u003e \u003cdiv\u003e7.4 Force Control for Rigid-Flexible Coupling Hoisting Robots\u003c\/div\u003e \u003cdiv\u003e7.4.1 Construction of Experimental Platform\u003c\/div\u003e \u003cdiv\u003e7.4.2 Cable Driving Force Control Method\u003c\/div\u003e \u003cdiv\u003e7.4.3 Control and Monitoring Program Design\u003c\/div\u003e \u003cdiv\u003e7.4.4 Test and Verification Experiment\u003c\/div\u003e \u003cdiv\u003e7.4.5 Conclusion\u003c\/div\u003e \u003cdiv\u003e7.5 Conclusions\u003c\/div\u003e \u003cdiv\u003eReferences\u003c\/div\u003e \u003cdiv\u003e8 Platform Development and Application for Rigid-Flexible Coupling Hoisting Robots\u003c\/div\u003e \u003cdiv\u003e8.1 Preamble\u003c\/div\u003e \u003cdiv\u003e8.2 Platform Development and Performance Verification of a Rigid-Flexible Coupling Robot for Yard Operations\u003c\/div\u003e \u003cdiv\u003e8.2.1 Physical Prototype Development\u003c\/div\u003e \u003cdiv\u003e8.2.2 Robot Motion Performance Experiment\u003c\/div\u003e \u003cdiv\u003e8.3 Platform Development and Performance Verification for the 7-DOF Rigid-Flexible Coupling Hoisting Robot\u003c\/div\u003e \u003cdiv\u003e8.3.1 Physical Prototype Development\u003c\/div\u003e \u003cdiv\u003e8.3.2 Verification of Decoupling Performance\u003c\/div\u003e \u003cdiv\u003e8.3.3 Overall Performance\u003c\/div\u003e \u003cdiv\u003e8.4 Conclusions\u003c\/div\u003e \u003cdiv\u003eReferences\u003c\/div\u003e 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