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Related Concept Videos

Rolling Resistance: Problem Solving01:17

Rolling Resistance: Problem Solving

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Rolling resistance, also known as rolling friction, is the force that resists the motion of a rolling object, such as a wheel, tire, or ball, when it moves over a surface. It is caused by the deformation of the object and the surface in contact with each other, as well as other factors like internal friction, hysteresis, and energy losses within the materials. Rolling resistance opposes the object's motion, requiring additional energy to overcome it and maintain movement. In practical...
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Rolling Resistance01:21

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When a solid cylinder rolls steadily on a rigid surface, the normal force applied by the surface on the cylinder is perpendicular to the tangent at the contact point. However, since no materials are entirely rigid, the surface's reaction to the cylinder involves a range of normal pressures.
For instance, imagine a hard cylinder rolling on a comparatively soft surface. The cylinder's weight compresses the surface beneath it. As the cylinder moves, the material in front of it slows down due to...
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People have observed the rolling motion without slipping ever since the invention of the wheel. For example, one can look at the interaction between a car's tires and the surface of the road. If the driver presses the accelerator to the floor so that the tires spin without the car moving forward, there must be kinetic friction between the wheels and the road's surface. If the driver slowly presses the accelerator, causing the car to move forward, the tires roll without slipping. It is...
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Rolling With Slipping01:14

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Rolling with slipping is a physical phenomenon that occurs when a rolling object experiences both rotational and linear motion but also experiences frictional forces that cause slipping. This phenomenon can occur in various situations, such as when a tire rolls on a wet road or a ball rolls on a rough surface.
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Equation of Motion: General Plane motion - Problem Solving01:16

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Consider a lawn roller with a mass of 100 kg, a radius of 0.2 meters, and a radius of gyration of 0.15 meters. A force of 200 N is applied to this roller, angled at 60 degrees from the horizontal plane. What will be the angular acceleration of the lawn roller?
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Electrically Activated Soft Robots: Speed Up by Rolling.

Wen-Bo Li1, Wen-Ming Zhang1, Qiu-Hua Gao1

  • 1State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China.

Soft Robotics
|November 12, 2020
PubMed
Summary
This summary is machine-generated.

Researchers developed three novel soft rolling robots (RSRs) using dielectric elastomer actuators. These RSRs achieve significantly higher speeds than previous soft robots, offering a promising solution for fast, compliant locomotion.

Keywords:
DEMESdielectric elastomer actuatorsrolling mechanismssoft locomotion robots

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Area of Science:

  • Robotics
  • Materials Science
  • Actuation Technologies

Background:

  • Soft robots offer advantages in compliance and adaptability for unstructured environments and human interaction.
  • Current soft locomotion robots suffer from limited moving speeds compared to rigid counterparts.
  • Rolling locomotion presents a viable strategy for enhancing the speed of soft robots.

Purpose of the Study:

  • To design and fabricate novel soft rolling robot (RSR) prototypes.
  • To investigate different rolling mechanisms for achieving high-speed locomotion in soft robots.
  • To evaluate the speed, stability, and compliance of the developed RSRs.

Main Methods:

  • Fabrication of three RSR prototypes utilizing dielectric elastomer actuators.
  • Implementation of distinct rolling mechanisms: impulse-based, gravity-based, and ballistic.
  • Experimental testing to measure rolling speed, stability, and shock resistance.

Main Results:

  • Impulse-based and gravity-based RSRs achieved stable, continuous motion exceeding 1 body length per second (blps).
  • The ballistic RSR demonstrated a high rolling speed of approximately 4.59 blps.
  • Peak instantaneous speeds reached up to 13.21 blps (0.65 m/s), surpassing most existing soft robots.

Conclusions:

  • The developed RSRs exhibit enhanced speed, simplicity, lightweight design, compliance, and shock resistance.
  • The proposed rolling mechanisms and designs offer a pathway for creating faster soft robots.
  • This work provides inspiration for future fast-moving and hybrid mobility soft robotic systems.