Motivated by the recent developments and increasing interst in robotics and manufacturing, this book intends to report the theories and application results of the study on Flexible Mechatronics Flexonics.
內容簡介：
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 andor 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.
關於作者：
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. He is currently an Associate Professor in the State Key Laboratory of Digital Manufacturing and Equipment and the School of Mechanical Science and Engineering at Huazhong University of Science and Technology, Wuhan, China. He is an IEEE and ASME member, and a program committee member of the IEEEASME International Conference on Advanced Intelligent Mechatronics. His current research interests include human-centered robotics, flexible mechatronics, manufacturing and system dynamicscontrol. He has published more than thirty peer-reviewed technical papers in journals and conferences, and has been awarded the best paper award from IEEEASME Transactions on Mechatronics in 2015. Kok-Meng Lee?earned his B.S. degree from the University of Buffalo, the State University of New York, Buffalo, NY, USA, in 1980, and S. M. and Ph. D. degrees from Massachusetts Institute of Technology, Cambridge, MA, USA, in 1982 and 1985, respectively. He is currently Professor of Mechanical Engineering at Georgia Institute of Technology, Atlanta, GA, USA. He is also Distinguished Professor with the State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, China, under Thousand Talents Plan. Prof. Lees research interests include system dynamicscontrol, robotics, automation, and mechatronics. He is a world renowned researcher with more than 30 years of research experience in magnetic field modeling and design, optimization and implementation of electromagnetic actuators. He has published over 150 peer-reviewed papers and he holds eight patents in machine vision, three degrees of freedom DOF spherical motorencoder, and live-bird handling system. He is IEEEASME Fellow and was the Editor-in-Chief for the IEEEASME Transactions on Mechatronics from 2008 to 2013. Recognitions of his research contributions include the National Science Foundation NSF Presidential Young Investigator, Sigma Xi Junior Faculty Research, International Hall of Fame New Technology, and Kayamori Best Paper awards.?
目錄：
Acknowledgementsii
Table of contentsiii
LIST OF TABLESvi
LIST OF FIGURESvii
List of SYMBOLSxi
List of ABBREVIATIONSxiii
Prefacexv
CHAPTER I Introduction1
1.1 Background and Motivation1
1.2 Problem Description and Objectives1
1.3 Review of Related Work2
1.3.1 Compliant mechanisms3
1.3.2 Joint constraint4
1.3.3 Numerical methods for boundary value problems6
1.3.4 Flexible robotics for structural health monitoring7
1.3.5 Human-centered equipment Exoskeleton9
1.3.6 Process state monitoring for manufacturing10
1.3.7 Poultry-meat processing13
1.4 Book Outline14
CHAPTER II Fundamentals of mathematics15
2.1 Differential Geometry15
2.2 Curvature of a 3D Beam16
2.3 Kinematics of a 3D Beam18
2.4 Kinematics of an Annular Plate23
2.5 Multiple Shooting Method26
2.6 Summary27
CHAPTER III Flexible Elements28
3.1 Two-dimensional Beam28
3.2 Three-dimensional Beam31
3.3 Annular Plate38
3.4 General Constraint44
3.5 Summary54
CHAPTER IV Flexonic Mobile Node55
4.1 Design Concept55
4.1.1 Dimension56
4.1.2 Attachment57
4.1.3 Flexibility57
4.2 Functionalities59
4.2.1 Sensor attachment60
4.2.2 Convex corner negotiation 2D63
4.2.3 Convex corner negotiation 3D66
4.2.4 Concave corner negotiation69
4.2.5 Environment monitoring70
4.3 Experimental Validation74
4.3.1 First prototype of FMN74
4.3.2 Second prototype of FMN82
4.4 Structural Health Monitoring85
4.4.1 Steel frame structure86
4.4.2 Space frame bridge88
4.5 Summary93
CHAPTER V Intelligent Manufacturing94
5.1 Dynamic Analysis94
5.1.1 Parametric Effects on |Anm| DC196
5.1.2 Illustrative example DC197
5.1.3 Numerical Verification DC1 and DC299
5.2 Parameter Identification and Sensing Configuration101
5.2.1 Modal Damping Coefficients102
5.2.2 Step Response104
5.2.3 Robustness of Sensor Performance105
5.2.4 Sensor Configuration Design106
5.3 Formulation of Field Reconstruction108
5.3.1 Field Reconstruction Algorithm110
5.3.2 Numerical Verification111
5.3.3 Numerical Evaluation of Reconstruction Algorithm113
5.4 Experiment Results and Illustrative Application114
5.4.1 Free Vibration of Non-rotating Plate115
5.4.2 Field Reconstruction for Machining118
5.5 Summary121
CHAPTER VI Bio-inspired Exoskeleton122
6.1 Human Knee Kinematics122
6.2 Knee Joint Dynamics125
6.3 Knee-exoskeleton Coupling129
6.3.1 Coupled Kinematics131
6.3.2 Coupled Dynamics132
6.4 Experimental Investigation132
6.4.1 Design Configurations133
6.4.2 Experimental Test Bed134
6.4.3 Experimental Methods135
6.4.4 Results and Discussion137
6.5 Summary145
CHAPTER VII Musculoskeleton Modeling146
7.1 Musculoskeletal System146
7.1.1 Coordinates147
7.1.2 Bio-joint Constraint148
7.1.3 Clavicle Model150
7.1.4 Soft Tissue Mechanics154
7.2 Experimental Investigation155
7.2.1 Elastic modulus of clavicle155
7.2.2 Ligament mechanics159
7.3 Illustrative Application to Wing Manipulation162
7.4 Summary165
References167
Authors176
內容試閱：
Motivated by the recent developments and increasing interst in robotics and manufacturing, this book intends to report the theories and application results of the study on Flexible Mechatronics Flexonics. Distributed models are formulated in both time and spatial domains using a geometric approach, and a simple yet practical field-based sensing method is developed for robotics and manufacturing, which applications will be illustrated by examples of exoskeletons, mobile sensor network, intelligent sensing, and so on. The book is likely to be of interest to university researchers, R&D engineers and graduate students in engineering and science who wish to learn the core principles, theories, technologies, and applications of Flexonics.
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