柔性机器人机构建模设计与制造(英文版)(精)/智能制造与机器人理论及技术研究丛书

郭家杰、李国民著的《柔性机器人机构建模设计 与制造(英文版)(精)/智能制造与机器人理论及技术研 究丛书》介绍了柔性机电一体化（柔性）研究的理论 研究和应用成果。利用几何方法建立时空域分布式模 型，提出了一种简单实用的机器人制造领域传感方法 ，并以外骨骼、移动传感器网络和智能传感等实例说 明了其应用。本书适用于制造和自动化工程研究生、 工程师和柔性机器人相关领域感兴趣的读者。

1 Introduction 1.1 Background and Motivation 1.2 Problem Description and Objectives 1.3 Review of Related Work 1.3.1 Compliant mechanisms 1.3.2 Joint constraint 1.3.3 Numerical methods for boundary valueproblems 1.3.4 Flexible robotics for structuralhealth monitoring 1.3.5 Human-centered equipment(Exoskeleton) 1.3.6 Process state monitoring formanufacturing 1.3.7 Poultry-meat processing 1.4 Book Outline 2 Fundamentals of mathematics 2.1 Differential Geometry 2.2 Curvature of a 3D Beam 2.3 Kinematics of a 3D Beam 2.4 Kinematics of an Annular Plate 2.5 Multiple Shooting Method 2.6 Summary 3 Flexible Elements 3.1 Two-dimensional Beam 3.2 Three-dimensional Beam 3.3 Annular Plate 3.4 General Constraint 3.5 Summary 4 Flexonic Mobile Node 4.1 Design Concept 4.1.1 Dimension 4.1.2 Attachment 4.1.3 Flexibility 4.2 Functionalities 4.2.1 Sensor attachment 4.2.2 Convex corner negotiation (2D) 4.2.3 Convex corner negotiation (3D) 4.2.4 Concave corner negotiation 4.2.5 Environment monitoring 4.3 Experimental Validation 4.3.1 First prototype of FMN 4.3.2 Second prototype of FMN 4.4 Structural Health Monitoring 4.4.1 Steel frame structure 4.4.2 Space frame bridge 4.5 Summary 5 Intelligent Manufacturing 5.1 Dynamic Analysis 5.1.1 Parametric Effects on |A(ωnm)|(DC1) 5.1.2 Illustrative example (DC1) 5.1.3 Numerical Verification (DC1 andDC2) 5.2 Parameter Identification and SensingConfiguration 5.2.1 Modal Damping Coefficients