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Related Concept Videos

Stress on an Oblique Plane01:16

Stress on an Oblique Plane

Understanding stress on an oblique plane under axial loading is pivotal in material mechanics. This analysis offers insight into a material's durability and strength, which is crucial for civil engineering and structural design. Axial loading refers to force application along the material's central axis, causing compression or elongation and leading to normal stress. Normal stress occurs when a force acts perpendicularly to the material's area, resulting in compressive or tensile stress. When...
Virtual Work for a System of Connected Rigid Bodies01:06

Virtual Work for a System of Connected Rigid Bodies

Virtual work is a powerful method used to solve problems involving several connected rigid bodies. When the system is in equilibrium, virtual work is zero. This allows the calculation of the resulting forces when a system undergoes a virtual displacement. When attempting to analyze such a system, first, use a free-body diagram, where an independent coordinate represents the configuration of the links, and mark its deflected position resulting from the positive virtual displacement.
Next,...
Elastic Strain Energy for Normal Stresses01:22

Elastic Strain Energy for Normal Stresses

Strain energy quantifies the energy stored within a material due to deformation under loading conditions, a fundamental concept in materials science and engineering. The strain energy can be modeled when a material is subjected to axial loading with uniformly distributed stress. In this scenario, the stress experienced by the material is the internal force divided by the cross-sectional area, and the strain induced is directly proportional to this stress through the modulus of elasticity.
If...
Elastic Strain Energy for Shearing Stresses01:20

Elastic Strain Energy for Shearing Stresses

As discussed in previous lessons, strain energy in a material is the energy stored when it is elastically deformed, a concept crucial in materials science and mechanical engineering. This energy results from the internal work done against the cohesive forces within the material. When a material undergoes shearing stress and corresponding shearing strain, the strain energy density, which is the energy stored per unit volume, is calculated. Within the elastic limit, where the stress is...
Transformation of Plane Stress01:18

Transformation of Plane Stress

Studying stress transformation is essential in understanding how stress components within a material, like a cube under plane stress, change with rotation. This change is analyzed by considering a prismatic element within the cube. As the element rotates, the stress components acting on it—both normal and shearing stresses—change in magnitude and orientation. This change is quantified using trigonometric functions of the rotation angle, relating the forces acting on the rotated element's faces...
Stress: General Loading Conditions01:15

Stress: General Loading Conditions

To grasp the intricacy of real-world conditions where multiple loads are applied simultaneously to a structure, one might visualize a section passing through a specific point within a body, aligned parallel to the xy plane. This section is subjected to various forces, including original loads, normal forces, and shearing forces.
The shearing force, possessing potential directionality within the plane of the section, is simplified into two component forces running parallel to the x and y axes.

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Related Experiment Video

Updated: May 14, 2026

A Virtual Simulation Experiment of Mechanics: Material Deformation and Failure Based on Scanning Electron Microscopy
06:54

A Virtual Simulation Experiment of Mechanics: Material Deformation and Failure Based on Scanning Electron Microscopy

Published on: January 20, 2023

Realization of spatial compliant virtual fixture using eigenscrews.

Dongwen Zhang1, Lei Wang, Jia Gu

  • 1Shenzhen Institutes of Advanced Technology, CAS, Shenzhen, 518055, China. dw.zhang@siat.ac.cn

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
|February 1, 2013
PubMed
Summary
This summary is machine-generated.

This study introduces virtual fixtures, an assistance mechanism for human-machine interaction. These fixtures enhance control by filtering manual input and guiding movements along desired paths using screw theory.

Related Experiment Videos

Last Updated: May 14, 2026

A Virtual Simulation Experiment of Mechanics: Material Deformation and Failure Based on Scanning Electron Microscopy
06:54

A Virtual Simulation Experiment of Mechanics: Material Deformation and Failure Based on Scanning Electron Microscopy

Published on: January 20, 2023

Area of Science:

  • Robotics
  • Human-Machine Interaction
  • Control Theory

Background:

  • Virtual fixtures assist in human-machine interactive operations by constraining movement.
  • Existing methods may not fully integrate rotational and translational guidance.
  • Analysis of geometric and dynamic constraints is crucial for effective virtual fixture design.

Purpose of the Study:

  • To develop a novel virtual fixture system using screw theory.
  • To enable seamless guidance along desired trajectories and restriction within defined regions.
  • To analyze the impact of control parameters on system performance.

Main Methods:

  • Screw theory was employed to analyze task constraints.
  • Elastic coupling via virtual screw springs connected the end-effector and reference frame.
  • Spatial compliance and stiffness matrices were synthesized from an allowable motion screw set.
  • Dynamic contour tracking experiments were conducted.

Main Results:

  • The proposed virtual fixtures successfully integrated rotation and translation.
  • Task-unrelated motion components were filtered, while task-related components were augmented.
  • Control parameter effects on system performance were analyzed.

Conclusions:

  • The developed virtual fixture system offers enhanced control in human-machine interaction.
  • The method provides a robust framework for synthesizing spatial compliance and stiffness.
  • This approach improves the precision and safety of interactive robotic tasks.