Research on Intelligent Manufacturing Editors-in-chief Han Ding, Huazhong University of Science and Technology, Wuhan, China Ronglei Sun, Huazhong University of Science and Technology, Wuhan, China Series editors Kok-Meng Lee, Georgia Institute of Technology, Atlanta, GA, USA Yusheng Shi, Huazhong University of Science and Technology, Wuhan, China Jihong Liu, Beijing University of Aeronautics and Astronautics, Beijing, China Hanwu He, Guangdong University of Technology, Guangzhou, China Yuwang Liu, Chinese Academy of Sciences, Shenyang, China Jiajie Guo, Huazhong University of Science and Technology, Wuhan, China Haibin Yin, Wuhan University of Technology, Wuhan, China Junzhi Yu, Chinese Academy of Sciences, Beijing, China Wenfeng Li, Wuhan University of Technology, Wuhan, China Jingjing Ji, Huazhong University of Science and Technology, Wuhan, China
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Research on Intelligent Manufacturing
Editors-in-chief
Han Ding, Huazhong University of Science and Technology, Wuhan, ChinaRonglei Sun, Huazhong University of Science and Technology, Wuhan, China
Series editors
Kok-Meng Lee, Georgia Institute of Technology, Atlanta, GA, USAYusheng Shi, Huazhong University of Science and Technology, Wuhan, ChinaJihong Liu, Beijing University of Aeronautics and Astronautics, Beijing, ChinaHanwu He, Guangdong University of Technology, Guangzhou, ChinaYuwang Liu, Chinese Academy of Sciences, Shenyang, ChinaJiajie Guo, Huazhong University of Science and Technology, Wuhan, ChinaHaibin Yin, Wuhan University of Technology, Wuhan, ChinaJunzhi Yu, Chinese Academy of Sciences, Beijing, ChinaWenfeng Li, Wuhan University of Technology, Wuhan, ChinaJingjing Ji, Huazhong University of Science and Technology, Wuhan, China
Research on Intelligent Manufacturing (RIM) publishes the latest developmentsand applications of research in intelligent manufacturing—rapidly, informally andin high quality. It combines theory and practice to analyse related cases in fieldsincluding but not limited to:
Intelligent design theory and technologiesIntelligent manufacturing equipment and technologiesIntelligent sensing and control technologiesIntelligent manufacturing systems and services
This book series aims to address hot technological spots and solve challengingproblems in the field of intelligent manufacturing. It brings together scientists andengineers working in all related branches from both East and West, under thesupport of national strategies like Industry 4.0 and Made in China 2025. With itswide coverage in all related branches, such as Industrial Internet of Things (IoT),Cloud Computing, 3D Printing and Virtual Reality Technology, we hope this bookseries can provide the researchers with a scientific platform to exchange and sharethe latest findings, ideas, and advances, and to chart the frontiers of intelligentmanufacturing.
The series’ scope includes monographs, professional books and graduatetextbooks, edited volumes, and reference works intended to support education inrelated areas at the graduate and post-graduate levels.
More information about this series at http://www.springer.com/series/15516
Flexonics for Manufacturingand RoboticsModeling, Design and Analysis Methods
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Jiajie GuoSchool of Mechanical Science andEngineering
Huazhong University of Science andTechnology
Wuhan, China
Kok-Meng LeeThe George W. Woodruff School ofMechanical Engineering
Georgia Institute of TechnologyAtlanta, GA, USA
ISSN 2523-3386 ISSN 2523-3394 (electronic)Research on Intelligent ManufacturingISBN 978-981-13-2666-0 ISBN 978-981-13-2667-7 (eBook)https://doi.org/10.1007/978-981-13-2667-7
Jointly published with Huazhong University of Science and Technology Press, Wuhan, ChinaISBN: 978-7-5680-4054-9
The print edition is not for sale in China Mainland. Customers from China Mainland please order theprint book from: Huazhong University of Science and Technology Press.
This Springer imprint is published by the registered company Springer Nature Singapore Pte Ltd.The registered company address is: 152 Beach Road, #21-01/04 Gateway East, Singapore 189721,Singapore
With the increasing demands for smart machines and intelligent equipmentadaptable to humans and environments, compliant structures and flexible elec-tronics have been widely developed in robotics and thin-wall components with alarge strength-to-weight ratio are common in manufacturing. Among differentchallenges in flexible mechatronics (flexonics), modelling, design and analysis arestill critical issues to be dealt with because of the nonlinear complexity of con-tinuum. This book formulates distributed models in both time and spatial domainsusing a geometric approach, along with practical field-based sensing methods forrobotics and manufacturing. Applications are illustrated by examples of exoskele-tons, mobile sensor network, intelligent sensing, and so on. This book is written foruniversity researchers, R&D engineers and graduate students in engineering andscience, who wish to learn the core principles, theories, technologies, and appli-cations of flexonics. It can be served as a textbook or reference for a graduate levelcourse on mechatronics, which may require prerequisites of linear algebra,mechanics of materials, ordinary and partial differential equations, numericalmethods, and vibrations.
The text is organized into seven chapters. Chapter 1 is an introduction to flex-onics with basic concepts, problems and reviews of related work. Chapter 2 pre-sents fundamentals of mathematics for modelling, design and analysis of flexonics.Chapter 3 formulates the boundary value problems for basic flexible elements ofbeams and plates. Application examples are given in the last four chapters. Chapter4 illustrates the design of a mobile node as an application of flexonics for structuralhealth monitoring, where design concepts, functionalities, experimental validationand demonstrative examples are included. Chapter 5 presents a distributed-parameter method for intelligent sensing of displacement and strain distributionsacross a flexible thin-wall workpiece and their field reconstruction for real-timemanufacturing applications. Chapter 6 provides a bio-joint model to capture thekinematic and dynamic features of a biological joint, based on which an adaptiveexoskeleton is designed to eliminate negative effects associated with the closedleg-exoskeleton kinematic chain on a human knee. Chapter 7 presents a modellingmethod to capture musculoskeletal deformations and its immediate application is
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illustrated with poultry meat deboning in food processing. As a unified modellingand analysis approach is developed in Chaps. 2 and 3, readers can find commonsamong the various examples in subsequent chapters and may probably extend thepresented method to applications that are not covered in this book. Chapters 4–7 aresomewhat independent from each other, so some of them can be skipped or chosenbased on readers’ application needs and interests.
Many findings in this book are based on the last decade of research conducted atGeorgia Institute of Technology and Huazhong University of Science andTechnology, and they were obtained under research grants supported by theGeorgia Agricultural Technology Research Program, National Science Foundation(Grant CMMI-0928095) and more recently, the National Basic Research Programof China (973 Program, Grant 2013CB035803) and the National Natural ScienceFoundation of China (Grants 51505164, 51875221). The authors wish toacknowledge with great appreciation the colleagues and graduate students for theircollaboration or suggestions in the presented research, like Prof. Yang Wang, Dr.Dapeng Zhu, Dr. Xiaohua Yi and Yang Xie for Chap. 4, Prof. Kun Bai, Prof.Jingjing Ji, Man Yu, Wuguang Liu, Ruochu Liuand Bo Wang for Chap. 5, Dr.Donghai Wang for Chap. 6, and Dr. Jungyoul Lim and Mark Claffee for Chap. 7.The writing of this book is funded by Hubei Academic Works Publishing SpecialFund and National Science and Technology Academic Works Publishing Fund.The authors would also like to thank Daokai Yu from HUST Press and all thecommittee members for their efforts to organize this book series which makespublication of this book possible.
Jiajie Guo received the B.S. degree from theDepartment of Engineering Mechanics and Science atPeking University, Beijing, China, in 2006, and M.S.and Ph.D. degrees from Mechanical Engineering,Georgia Institute of Technology, Atlanta, GA, USA,in 2009 and 2011, respectively. He is currently anAssociate Professor in the State Key Lab of DigitalManufacturing Equipment and Technology and theSchool of Mechanical Science and Engineering atHuazhong University of Science and Technology,Wuhan, Hubei, China. He is IEEE and ASME memberand a program committee member of IEEE/ASMEInternational Conference on Advanced IntelligentMechatronics. His current research interests includehuman-centered robotics, flexible mechatronics, manu-facturing, and system dynamics/control. He has pub-lished more than thirty peer-reviewed technical papersin journals and conferences and has been awarded thebest paper award from IEEE/ASME Transaction onMechatronics in 2015 and the “Most Practical SHMSolution for Civil Infrastructures” Video Award inAction session of the 8th International Workshop forStructural Health Monitoring in 2011.
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Kok-Meng Lee received the B.S. degree from theState University of New York, Buffalo, NY, USA, in1980, and the S.M. and Ph.D. degrees from theMassachusetts Institute of Technology, Cambridge,MA, USA, in 1982 and 1985, respectively. Currently,he is a Professor in the George W. Woodruff School ofMechanical Engineering at the Georgia Institute ofTechnology, Atlanta, a member of the ThousandTalents Plan in the Organization Department of theCentral Committee, and a Distinguished Professor inthe School of Mechanical Science and Engineering atHuazhong University of Science and Technology,Wuhan, China. His research interests include systemdynamics/control, robotics, automation, and mecha-tronics. He is a world renowned researcher with morethan 30 years of research experience in magnetic fieldmodeling and design, optimization and implementationof electromagnetic actuators. He has published over150 peer-reviewed papers and he holds eight patents inmachine vision, three degrees of freedom (DOF)spherical motor/encoder, and live-bird handling system.He is IEEE/ASME Fellow and was the Editor-in-Chieffor the IEEE/ASME Transactions on Mechatronicsfrom 2008 to 2013. Recognitions of his researchcontributions include the National Science Foundation(NSF) Presidential Young Investigator, Sigma XiJunior Faculty Research, International Hall of FameNew Technology, and Kayamori Best Paper awards.
xii About the Authors
Abbreviations
2D Two dimensional3D Three dimensionalAWM Automated wing manipulationBJC Bio-joint constraintBVP Boundary value problemCBM Curvature-based beam modelDOF Degrees of freedomFEA Finite element analysisIVP Initial value problemMSM Multiple shooting methodODE Ordinary differential equationPDE Partial differential equationSHM Structure health monitoring
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Symbols
Capitalized SymbolsA Cross-sectional areaC An instantaneous contact pointE Young’s modulusG Shear modulusI1, I2, I3 Moment of inertiaJ Moment of inertiaL Beam lengthNr Number of rigid bodies in a multi-body systemNc Number of compliant beam in a multi-body systemPs Material point on the initial beam axisQs Material point on the deformed beam axisXYZ Global reference coordinate frameE1, E2, and E3 Unit vectors along global reference frame X, Y, and
Z axes, respectivelyF = [F1 F2 F3]
T External force acting on a compliant beamK(0) Curvature of the initial beamK(e) Curvature change due to elastic deformationK Curvature of the deformed beamSkew(K) 0 k3 �k2
�k3 0 k1k2 �k1 0
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M = [M1 M2 M3]T External moment acting on a compliant beam
R, R(0) Rotational matrixX State variables
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Lower Case Symbolsa, b, c Length of principal axis of an ellipsoidb Beam widthh Beam thicknessk Curvaturem Massp Pitchr Radius of an osculating circle at contact pointrw Wheel radiuss Undeformed path length from the beam root to the
reference pointt Timexs, ys, and zs xs is the longitudinal axis; ys and zs are the principal
axes of the cross-sectional area in the initial beam
eð0Þ1 ; eð0Þ2 and eð0Þ3Unit vectors along principal axes of xs, ys, and zs,respectively
e1; e2 and e3 Unit vectors along principal axes of ns, ηs, and fs,respectively
[eT, eN, eB] Frenet–Serret frame where eT is the tangent unitvector, eN is the normal unit vector, and eB is thebinormal unit vector
f External force acting on a rigid bodyqF Distributed forceqM Distributed moment
xð0Þ ¼ xð0Þ1 xð0Þ2 xð0Þ3
h iT Global nodal coordinates of initial beam shape
x = [x1 x2 x3]T Global nodal coordinates of deformed beam shape
Greek SymbolsC Boundary of a rigid bodya, b Anglesj Curvatures Torsion, external moment acting on a rigid bodyw, h and u Euler anglesns, ηs, and fs ns is the longitudinal axis; ηs and fs are the principal
axes of the cross-sectional area in the deformed beamq Densityt Poisson ratiox Angular velocitye Longitudinal strain on the beam axisl Friction coefficient
xvi Symbols
Subscripts and Superscripts(e) Elastic deformation(0) Initial state