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柔性机器人机构建模、设计与制造(英文版)

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柔性机器人机构建模、设计与制造(英文版)
  • 类别:
    先进制造技术
    | 关键字:
    柔性机器人 
  • This book formulates the large deformation of a 3-D compliant beam as a boundary value problem (BVP). Unlike other methods, such as finite element (FE) method, that formulate problems based on displacements and/or rotational angles, the BVP formulation has been derived using curvatures that are more fundamental in presenting nonlinear geometries. Since in the case of finite rotation, superposition holds for curvatures but not for rotational angles, the model is much simpler and the resulting computational process is more efficient. The above advantages have been employed in this research to analyze compliant mechanism designs using curvature-based beam models. Along with the method of deriving the compliant members in the same global reference frame, a generalized constraint acting on a compliant mechanism is presented to replace traditional boundary constraints (such as fixed, pinned or sliding constraint) where none or only one degree of freedom (DOF) is allowed.  Inspired by the dexterity of a natural biological joint that offers efficient multi-axis rotation, this research extends to the modeling method of a generalized constraint (or referred to here as a bio-joint constraint) to develop designs emulating commonly observed human motions of multi-DOFs . Using a multiple shooting method (MSM), the BVP is treated as an initial value problem and higher order accuracy can be achieved than finite element (FE) methods.
  • 作者:
    郭家杰,李国民
    出版社:
    华中科技大学出版社
    出版时间:
    2019-04-01
    定价:
    ¥128.00
    京东价:¥119.10
    版权说明:
    授权连载 不得转载
作者简介
Jiajie Guo received the B.S. degree from the Department of Mechanics and Engineering Science at Peking University, Beijing, in 2006, and M.S. and Ph.D. degrees from Mechanical Engineering, Georgia Institute of Technology, Atlanta, in 2009 and 2011, respectively.

1Introduction

  • 第一节 Background and Motivation
  • 第二节 Problem Description and Objectives
  • 第三节 Review of Related Work
  • 第四节 Book Outline

2Fundamentals of mathematics

  • 第一节 Differential Geometry
  • 第二节 Curvature of a 3D Beam
  • 第三节 Kinematics of a 3D Beam
  • 第四节 Kinematics of an Annular Plate
  • 第五节 Multiple Shooting Method
  • 第六节 Summary

3Flexible Elements

  • 第一节 Two-dimensional Beam
  • 第二节 Three-dimensional Beam
  • 第三节 Annular Plate
  • 第四节 General Constraint
  • 第五节 Summary

4Flexonic Mobile Node

  • 第一节 Design Concept
  • 第二节 Functionalities
  • 第三节 Experimental Validation
  • 第四节 Summary

5Intelligent Manufacturing

  • 第一节 Dynamic Analysis
  • 第二节 Parameter Identification and Sensing Configuration
  • 第三节 Formulation of Field Reconstruction
  • 第四节 Experiment Results and Illustrative Application
  • 第五节 Summary

6Bio-inspired Exoskeleton

  • 第一节 Human Knee Kinematics
  • 第二节 Knee Joint Dynamics
  • 第三节 Knee-exoskeleton Coupling
  • 第四节 Experimental Investigation
  • 第五节 Summary

7Musculoskeleton Modeling

  • 第一节 Musculoskeletal System
  • 第二节 Experimental Investigation
  • 第三节 Illustrative Application to Wing Manipulation
  • 第四节 Summary