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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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    • 作者: 郭家杰,李国民著 | 郭家杰,李国民编 | 郭家杰,李国民译 | 郭家杰,李国民绘
    • 出版社: 华中科技大学出版社
    • 出版时间:2019-02-01
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    • 作者: 郭家杰,李国民著| 郭家杰,李国民编| 郭家杰,李国民译| 郭家杰,李国民绘
    • 出版社:华中科技大学出版社
    • 出版时间:2019-02-01
    • 版次:1
    • 字数:358000
    • 开本:16开
    • ISBN:9787568040549
    • 版权提供:华中科技大学出版社
    • 作者:郭家杰,李国民
    • 著:郭家杰,李国民
    • 装帧:精装
    • 印次:暂无
    • 定价:128.00
    • ISBN:9787568040549
    • 出版社:华中科技大学出版社
    • 开本:16开
    • 印刷时间:暂无
    • 语种:暂无
    • 出版时间:2019-02-01
    • 页数:0
    • 外部编号:1201844132
    • 版次:1
    • 成品尺寸:暂无

    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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