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商品コード: 9780128036877

Cellular Actuators: Modularity and Variability

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書名

Cellular Actuators: Modularity and Variability in Muscle-inspired Actuation
著者・編者 Schultz, J. et al.
出版社/発行元 Butterworth-Heinemann
発行年/月 2017年1月   
装丁 Softcover
ページ数/巻数 382 ページ
ISBN 978-0-12-803687-7
発送予定 海外倉庫よりお取り寄せ 2-3週間以内に発送します

 

 

Desciption

 

Cellular Actuators: Modularity and Variability in Muscle-Inspired Actuation describes the roles actuators play in robotics and their insufficiency in emerging new robotic applications, such as wearable devices and human co-working robots where compactness and compliance are important.

Piezoelectric actuators, the topic of this book, provide advantages like displacement scale, force, reliability, and compactness, and rely on material properties to provide displacement and force as reactions to electric stimulation. The authors, renowned researchers in the area, present the fundamentals of muscle-like movement and a system-wide study that includes the design, analysis, and control of biologically inspired actuators. This book is the perfect guide for researchers and practitioners who would like to deploy this technology into their research and products.

Features

- Introduces Piezoelectric Actuators concepts in a system wide integrated approach
- Acts as a single source for the design, analysis, and control of actuator arrays
- Presents applications to illustrate concepts and the potential of the technology
- Details the physical assembly possibilities of Piezo actuators
- Presents fundamentals of bio inspired actuation
- Introduces the concept of cellular actuators

 

 

Contents:

 

Introduction

1: Structure of cellular actuators
1.1. Strain amplified piezoelectric actuators
1.2. Nested rhombus exponential strain amplification
1.3. Design of nested-rhombus cellular actuators

2: Modeling of cellular actuators
2.1. Two-port networks for single cell modeling
2.2. Calibration of two-port network models
2.3. Modeling of actuator arrays: the nesting theorem: three-layer structure
2.4. Representation and characterization of complex actuator arrays

3: Control of cellular actuators
3.1. Minimum switching discrete switching vibration suppression
3.2. Broadcast control for cellular actuator arrays
3.3. Hysteresis loop control of hysteretic actuator arrays
3.4. Supermartingale theory for broadcast control of distributed hysteretic systems
3.5. Signal-dependent variability of actuator arrays with floating-point quantization

4: Application of cellular actuators
4.1. Variable stiffness cellular actuators
4.2. Bipolar buckling actuators
4.3. Self-sensing piezoelectric grasper
4.4. Biologically inspired robotic camera orientation system

5: Conclusion
5.1. Summary and future directions

Appendix

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