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Related Concept Videos

Kinematic Equations - II01:17

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The second kinematic equation expresses the final position of an object in terms of its initial position, the distance traveled with the initial constant velocity, and the distance traveled due to a change in velocity. Similar to the first kinematic equation, this equation is also only valid when the acceleration is constant throughout the motion of an object.
Suppose a car merges into freeway traffic on a 200 m long ramp. If its initial velocity is 10 m/s and it accelerates at 2 m/s2, then the...
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The first two kinematic equations have time as a variable, but the third kinematic equation is independent of time. This equation expresses final velocity as a function of the acceleration and distance over which it acts. The fourth kinematic equation does not have an acceleration term and provides the final position of the object at time t in terms of the initial and final velocities. This equation is useful when the value of the constant acceleration is unknown.
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When an object moves with constant acceleration, the velocity of the object changes at a constant rate throughout the motion. The kinematic equations of motions are derived for such cases where the acceleration of the object is constant. The first kinematic equation gives an insight into the relationship between velocity, acceleration, and time. We can see, for example:
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In mechanics, when one observes a rigid body in rotational motion with constant angular acceleration, it is possible to establish equations for its rotational kinematics. This process resembles how linear kinematics are dealt with in simpler motion studies.
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A slider-crank mechanism converts rotational motion from the crank into linear motion of the slider or vice versa. This mechanism consists of three main parts: the crank, the connecting rod, and the slider. The movement of the slider-crank is an example of general plane motion as the fluctuating angle between the crank and the connecting rod. Consider a segment AB where point A is at the end of the slider and point B is on the diametrically opposite end to point A, on a crack. The variance in...
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When analyzing one-dimensional motion with constant acceleration, the problem-solving strategy involves identifying the known quantities and choosing the appropriate kinematic equations to solve for the unknowns. Either one or two kinematic equations are needed to solve for the unknowns, depending on the known and unknown quantities. Generally, the number of equations required is the same as the number of unknown quantities in the given example. Two-body pursuit problems always require two...
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A Soft Parallel Kinematic Mechanism.

Edward L White1, Jennifer C Case1,2, Rebecca Kramer-Bottiglio1,2

  • 11 School of Mechanical Engineering, Purdue University , West Lafayette, Indiana.

Soft Robotics
|December 19, 2017
PubMed
Summary
This summary is machine-generated.

This study introduces a novel soft robotic structure using a simplified parallel kinematic mechanism. This new design achieves full six-degree-of-freedom motion with fewer parts, enabling complex soft robot development.

Keywords:
SMA actuatordeformable bodyelastomer strain sensorsparallel kinematicssoft body control

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Traditional parallel kinematic mechanisms, like the Stewart platform, are complex with numerous joints.
  • Soft robotics offers advantages in adaptability and safety but often faces challenges in precise control and fabrication.
  • Integrating compliant materials with precise motion control remains a key research area.

Purpose of the Study:

  • To present a novel holonomic soft robotic structure based on a simplified parallel kinematic mechanism.
  • To demonstrate full six-degree-of-freedom motion using a compliant elastomer body and flexible actuators.
  • To reduce the complexity and part count compared to traditional Stewart platforms.

Main Methods:

  • A novel design inspired by the Stewart platform, replacing traditional joints with a single deformable elastomer body.
  • Utilizing coiled-shape memory alloy actuators for actuation and capacitive elastomer strain gauges for state observation and feedback.
  • Developing an elastomer joint providing antagonistic force as the main structural element.

Main Results:

  • The robotic system successfully achieved full position control.
  • Individual responses of shape memory alloy actuators and capacitive elastomer strain gauges were characterized.
  • The integrated system demonstrated the feasibility of precise motion control in a soft robotic structure.

Conclusions:

  • The developed soft robotic structure offers a simplified and less complex alternative to traditional parallel kinematic mechanisms.
  • The demonstrated control capabilities could be extended to create chains of these bodies for advanced soft robotic systems.
  • Further research into responsive material actuators is needed to overcome current limitations.