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Related Concept Videos

Method of Joints: Problem Solving II01:30

Method of Joints: Problem Solving II

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Consider a truss structure with frictionless joints fixed to a wall and roller support. If a force of 150 N is applied to joint A, the forces in each member of the truss can be determined using the method of joints.
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Thin-Walled Hollow Shafts01:15

Thin-Walled Hollow Shafts

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In analyzing a thin-walled hollow shaft subjected to torsional loading, a segment with width dx is isolated for examination. Despite its equilibrium state, this segment faces torsional shearing forces at its ends. These forces are quantitatively described by the product of the longitudinal shearing stress on the segment's minor surface and the area of this surface, leading to the concept of shear flow. This shear flow is consistent throughout the structure, indicating a uniform distribution...
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Method of Joints: Problem Solving I01:30

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The method of joints is a commonly used technique to analyze the forces in structural trusses. The method is based on the principle of equilibrium, which assumes that the truss members are connected by frictionless pins. The forces at each joint can be determined by considering the equilibrium of the forces acting on that joint. Consider a truss structure with two forces of 20 N and 10 N acting at joints C and D, respectively. The method of joints can be used to determine the forces FCB, FDC,...
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Method of Joints01:30

Method of Joints

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The method of joints is a commonly used technique to analyze the forces in structural trusses. The method is based on the principle of equilibrium, which assumes that the truss members are connected by frictionless pins. The forces at each joint can be determined by considering the equilibrium of the forces acting on that joint.
Since plane truss members are in the same plane, each joint is subjected to a coplanar and concurrent force system. To apply the method of joints, the first step is to...
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Structural Joints: Synovial Joints01:16

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Synovial joints are the most common type of joint in the body. A key structural characteristic for a synovial joint is the presence of a joint cavity. This fluid-filled space is where the articulating surfaces of the bones contact each other. Also, unlike fibrous or cartilaginous joints, the articulating bone surfaces at a synovial joint are not directly connected to each other with fibrous connective tissue or cartilage. This gives the bones of a synovial joint the ability to move smoothly...
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Bending of Curved Members - Strain Analysis01:14

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The mechanics of deformation in curved members, such as beams or arches, under bending moments, involve complex responses. When such a member, symmetric about the y-axis and shaped like a segment of a circle centered at point C, is subjected to equal and opposite forces, its curvature and surface lengths change significantly. This alteration results in the shift of the curvature's center from C to C', indicating a tighter curve.
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Updated: Jun 5, 2025

Author Spotlight: Advancing Tendon Tissue Engineering with 3D Organoid Models
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A Computational Approach for Internal Tendon Routing Channels in a Tendon-Driven Continuum Joint.

Jens Reinecke1, Bastian Deutschmann1, Alexander Dietrich1

  • 1Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany.

Soft Robotics
|December 13, 2024
PubMed
Summary
This summary is machine-generated.

This study introduces a novel model-based design for tendon channels in soft robots, overcoming friction and interference issues. This innovation enables precise control and enhanced workspace for tendon-driven continuum robots.

Keywords:
continuum soft robotsmodel-based designtendon-driven joints

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Materials Science

Background:

  • Tendon-driven continuum soft robots offer promising applications but face challenges with tendon routing.
  • Existing methods like internal Bowden sheaths cause friction, while external routing risks tendon damage.
  • These issues limit the robots' performance and workspace.

Purpose of the Study:

  • To develop a new model-based method for designing integrated tendon channels in continuum soft robots.
  • To establish a manufacturing process for these novel tendon channels.
  • To demonstrate the effectiveness of the proposed method through a prototype and experimental validation.

Main Methods:

  • A model-based design approach was employed to compute tendon channels within the continuum structure.
  • Channels were eroded into the continuum to ensure tendons move without interacting with the structure.
  • A continuum joint module prototype was manufactured and tested.

Main Results:

  • The integrated tendon channels effectively eliminated friction and interference issues.
  • The designed continuum joint module achieved roll-pitch-yaw motions with a large workspace.
  • Experimental validation confirmed the system's capabilities, including walking experiments on the ANYmal robot.

Conclusions:

  • The proposed model-based design method for integrated tendon channels is a significant advancement in soft robotics.
  • This approach enhances the performance, control, and workspace of tendon-driven continuum robots.
  • The developed method and prototype pave the way for more robust and versatile soft robotic systems.