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Related Concept Videos

Bending of Members Made of Several Materials01:11

Bending of Members Made of Several Materials

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In analyzing a structural member composed of two different materials with identical cross-sectional areas, it is crucial to understand how their distinct elastic properties affect the member's response under load. The analysis involves assessing stress and strain distributions using the transformed section concept, which accounts for variations in material properties.
Hooke's Law determines stress in each material, stating that stress is proportional to strain but varies due to each material's...
519
Temperature Dependent Deformation01:12

Temperature Dependent Deformation

337
In a nonhomogeneous rod made up of steel and brass, restrained at both ends and subjected to a temperature change, several steps are involved in calculating the stress and compressive load. Due to the problem's static indeterminacy, one end support is disconnected, allowing the rod to experience the temperature change freely. Next, an unknown force is applied at the free end, triggering deformations in the rod's steel and brass portions. These deformations are then calculated and added...
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Members Made of Elastoplastic Material01:19

Members Made of Elastoplastic Material

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The behavior of elastoplastic materials under bending stresses, particularly in structural members with rectangular cross-sections, is crucial for predicting material responses and understanding failure modes. Initially, when a bending moment is applied, the stress distribution across the section follows Hooke's Law and is linear and elastic. This distribution means the stress increases from the neutral axis to the maximum at the outer fibers, up to the elastic limit.
As the bending moment...
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Deformation of Member under Multiple Loadings01:11

Deformation of Member under Multiple Loadings

410
When a rod is made of different materials or has various cross-sections, it must be divided into parts that meet the necessary conditions for determining the deformation. These parts are each characterized by their internal force, cross-sectional area, length, and modulus of elasticity. These parameters are then used to compute the deformation of the entire rod.
In the case of a member with a variable cross-section, the strain is not constant but depends on the position. The deformation of an...
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Bending of Material: Problem Solving01:09

Bending of Material: Problem Solving

455
In this lesson, determine the ratio of the maximum bending moments applied to two metal pipes, given that both pipes can withstand a maximum stress of 100 MPa. Both pipes have an outer radius of 1.8 cm. Pipe A has an inner radius of 1.5 cm, and Pipe B has an inner radius of 1 cm. The ratio of the maximum bending moment applied to two metallic pipes, each with a different inner and outer radius, is determined by considering their dimensions. The inner radius of the first pipe is 1.5 cm, and for...
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Unsymmetric Bending01:18

Unsymmetric Bending

732
Unsymmetrical bending occurs when the bending moment applied to a structural member does not align with its principal axis. This misalignment leads to complex stress distributions and deflection patterns that differ from those in symmetrical bending, and are essential for designing structures to withstand different loading conditions. In unsymmetrical bending, the neutral axis—where stress is zero—does not necessarily align with the geometric axes of the cross-section. The...
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Fabrication of a Bioactive, PCL-based "Self-fitting" Shape Memory Polymer Scaffold
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Shape Memory Alloy-Based Soft Finger with Changeable Bending Length Using Targeted Variable Stiffness.

Wei Wang1, Chak Yuk Yu2, Pablo Antonio Abrego Serrano2

  • 1Department of Mechanical Engineering, Hanyang University, Seoul, Republic of Korea.

Soft Robotics
|November 22, 2019
PubMed
Summary

This study presents a soft robotic finger using shape memory polymer and Nichrome wires to adjust bending length for versatile object gripping. This novel design significantly enhances grasping performance for various object sizes and weights.

Keywords:
shape memory materialssoft grippersoft roboticsvariable lengthvariable stiffness

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Area of Science:

  • Robotics
  • Materials Science
  • Biomimetics

Background:

  • Traditional robotic grippers often lack adaptability to irregularly shaped or sized objects.
  • Soft robotics offers potential for compliant and adaptable manipulation, but controlling stiffness and bending remains a challenge.

Purpose of the Study:

  • To develop a bioinspired soft robotic finger with variable bending length.
  • To achieve object conformity by selectively varying the stiffness of the finger's segments.
  • To enhance robotic gripper performance through adaptable grasping.

Main Methods:

  • Designed a soft actuator using shape memory polymer (SMP) with embedded Nichrome (Ni-Cr) heating wires.
  • Utilized Joule heating of SMP via Ni-Cr wires to transition stiffness from glassy (E=125.65 MPa) to rubbery (E=3.33 MPa) state.
  • Segmentally controlled heating through multiple solder tabs on Ni-Cr wires to achieve variable stiffness and bending length.
  • Fabricated a three-segment finger, measured its deformation and actuation force.
  • Assembled a gripper with two fingers, adjusted inter-finger angle, and measured grasping force.

Main Results:

  • Demonstrated selective stiffness reduction in SMP segments, enabling variable bending lengths.
  • Successfully fabricated and tested a multi-segment soft robotic finger.
  • Assembled a gripper capable of adapting its configuration for different objects.
  • Showcased markedly improved gripping performance in terms of size and weight handling compared to non-variable grippers.

Conclusions:

  • The developed soft robotic finger with variable bending length offers enhanced adaptability for object manipulation.
  • The bioinspired design utilizing shape memory materials provides a promising approach for next-generation robotic grippers.
  • This technology has the potential to improve robotic handling in diverse applications requiring variable grasping.