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Related Concept Videos

Deformation of Member under Multiple Loadings01:11

Deformation of Member under Multiple Loadings

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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.
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Plastic Deformation in Circular Shafts01:20

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When materials are subjected to forces that surpass their yield strength, they undergo a process known as plastic deformation. This results in a permanent alteration or strain in their structure. This concept can be specifically applied to circular shafts, where the deformation leads to a change in its shape. The precise evaluation of this plastic deformation requires understanding the stress distribution within the circular shaft, which is achieved by calculating the maximum shearing stress in...
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Plastic Deformations01:14

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It is essential to understand how structural members behave under plastic deformation when the bending stress exceeds the material's yield strength. This state of deformation permanently alters the shape of the member, in contrast to the linear elastic behavior observed before yielding. The strain at any point in the member is expressed in terms of maximum strain. Notably, the neutral axis, which coincides with the centroid during elastic bending, shifts away from the centroid under plastic...
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Plastic Deformations01:19

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Plastic deformation represents a fundamental concept in materials science, which explains the irreversible change in the shape of a material when it experiences stress beyond its elastic capability. This phenomenon is important in structural engineering, especially in designing and analyzing cantilever beams—structures that are securely fixed at one end and bear loads at the opposite end. When these beams are subjected to loads within their elastic range, they will return to their...
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Deformation in a Circular Shaft01:10

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One of the distinctive characteristics of circular shafts is their ability to maintain their cross-sectional integrity under torsion. In other words, each cross-section continues to exist as a flat, unaltered entity, simply rotating like a solid, rigid slab. To understand the distribution of shearing stress within such a shaft, consider a cylindrical section inside this circular shaft. This section has a length of L and a radius of R, with one end fixed. The radius of the cylindrical section is...
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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.
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Modeling of Deformable Objects for Robotic Manipulation: A Tutorial and Review.

Veronica E Arriola-Rios1, Puren Guler2, Fanny Ficuciello3

  • 1Department of Mathematics, Faculty of Science, UNAM Universidad Nacional Autonoma de Mexico, Ciudad de México, Mexico.

Frontiers in Robotics and AI
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Summary
This summary is machine-generated.

This survey reviews robotic manipulation of deformable objects, covering shape modeling, material properties, and control strategies. It highlights challenges and future research directions in this complex robotics field.

Keywords:
control of deformable objectsdeformable objectslearning of deformationregistration of shape deformationshape representationtracking of deformation

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Area of Science:

  • Robotics
  • Computer Science
  • Mechanical Engineering

Background:

  • Robotic manipulation of deformable objects presents significant challenges.
  • Applications span diverse fields like surgery, manufacturing, and household tasks.
  • Key research areas include object modeling, state estimation, and motion planning.

Purpose of the Study:

  • To provide a comprehensive survey of deformable object manipulation in robotics.
  • To review foundational models of shape and shape dynamics.
  • To discuss existing work on learning, estimation, planning, and control for deformable objects.

Main Methods:

  • Tutorial on foundational models of shape and shape dynamics.
  • Review of existing literature on learning and estimation of these models.
  • Analysis of motion planning and control strategies for achieving desired deformations.

Main Results:

  • Established foundational concepts in deformable object modeling.
  • Summarized current approaches to learning and estimating object properties.
  • Detailed methods for motion planning and control in manipulation tasks.

Conclusions:

  • Deformable object manipulation is a critical area in robotics with broad applications.
  • Further research is needed in advanced modeling, learning, and control techniques.
  • The survey provides a basis for future advancements in the field.