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醉染图书柔机器人机构建模、设计与制造9787568040549
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Acknowledgements/ii
Table of contents/iii
LIST OF TABLES/vi
LIST OF FIGURES/vii
List of SYMBOLS/xi
List of ABBREVIATIONS/xiii
Preface/xv
CHAPTER I Introduction/1
1.1 Background and Motivation/1
1.2 Problem Description and Objectives/1
1.3 Review of Related Work/2
1.3.1 Compliant mechanisms/3
1.3.2 Joint constraint/4
1.3.3 Numerical methods for boundary value problems/6
1.3.4 Flexible robotics for structural health monitoring/7
1.3.5 Human-centered equipment (Exoskeleton)/9
1.3.6 Process state monitoring for manufacturing/10
1.3.7 Poultry-meat processing/13
1.4 Book Outline/14
CHAPTER II Fundamentals of mathematics/15
2.1 Differential Geometry/15
2.2 Curvature of a 3D Beam/16
. Kinematics of a 3D Beam/18
2.4 Kinematics of an Annular Plate/
2.5 Multiple Shooting Method/26
2.6 Summary/27
CHAPTER III Flexible Elements/28
3.1 Two-dimensional Beam/28
3.2 Three-dimensional Beam/31
3.3 Annular Plate/38
3.4 General Constraint/44
3.5 Summary/54
CHAPTER IV Flexonic Mobile Node/55
4.1 Design Concept/55
4.1.1 Dimension/56
4.1.2 Attachment/57
4.1.3 Flelity/57
4.2 Functionalities/59
4.2.1 Sensor attachment/60
4.2.2 Convex corner negotiation (2D)/63
4.. Convex corner negotiation (3D)/66
4.2.4 Concave corner negotiation/69
4.2.5 Environment monitoring/70
4.3 Experimental Validation/74
4.3.1 First prototype of FMN/74
4.3.2 Second prototype of FMN/82
4.4 Structural Health Monitoring/85
4.4.1 Steel frame structure/86
4.4.2 Space frame bridge/88
4.5 Summary/93
CHAPTER V Intelligent Manufacturing/94
5.1 Dynamic Analysis/94
5.1.1 Parametric Effects on |A(ωnm)| (DC1)/96
5.1.2 Illustrative example (DC1)/97
5.1.3 Numerical Verification (DC1 and DC2)/99
5.2 Parameter Identification and Sensing Configuration/101
5.2.1 Mo Dmpng Coefficients/102
5.2.2 Step Response/104
5.. Robustness of Sensor Performance/105
5.2.4 Sensor Configuration Design/106
5.3 Formulation of Field Reconstruction/108
5.3.1 Field Reconstruction Algorithm/110
5.3.2 Numerical Verification/111
5.3.3 Numerical Evaluation of Reconstruction Algorithm/113
5.4 Experiment Results and Illustrative Application/114
5.4.1 Free Vibration of Non-rotating Plate/115
5.4.2 Field Reconstruction for Machining/118
5.5 Summary/121
CHAPTER VI Bio-inspired Exoskeleton/122
6.1 Human Knee Kinematics/122
6.2 Knee Joint Dynamics/125
6.3 Knee-exoskeleton Coupling/129
6.3.1 Coupled Kinematics/131
6.3.2 Coupled Dynamics/132
6.4 Experimental Investigation/132
6.4.1 Design Configurations/133
6.4.2 Experimental Test Bed/134
6.4.3 Experimental Methods/135
6.4.4 Results and Discussion/137
6.5 Summary/145
CHAPTER VII Musculoskeleton Modeling/146
7.1 Musculoskeletal System/146
7.1.1 Coordinates/147
7.1.2 Bio-joint Constraint/148
7.1.3 Clavicle Model/150
7.1.4 Soft Tissue Mechanics/154
7.2 Experimental Investigation/155
7.2.1 Elastic modulus of clavicle/155
7.2.2 Ligament mechanics/159
7.3 Illustrative Application to Wing Manipulation/162
7.4 Summary/165
References/167
Authors/176
Motivated by the recent developments and increasing interst in robotics and manufacturing, this book intends to report the theories an ppicton results of the study on Flexible Mechatronics (Flexonics).
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