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Related Concept Videos

Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

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A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
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Three-Dimensional Force System01:30

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In mechanical engineering, a three-dimensional force system is a system of forces acting in three dimensions, with forces applied along the x, y, and z coordinate axes. The three-dimensional force system is an important concept in mechanical engineering, as it allows engineers to understand and analyze the behavior of objects and structures in three dimensions. By understanding the forces acting on a system, engineers can design more efficient and effective mechanical systems that can withstand...
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Mechanical Systems01:22

Mechanical Systems

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Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
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Support Reactions in Three Dimensions01:27

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Support reactions in three dimensions help maintain the stability and equilibrium of various structures and systems. These reactions prevent the system from translating and rotating, ensuring the design can withstand external forces and perform its intended function efficiently and safely. Some of the supports providing support reactions in three dimensions are discussed below:
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Prismatic Beams: Problem Solving01:15

Prismatic Beams: Problem Solving

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In the design of a supported timber beam subjected to a distributed load, both the beam's physical dimensions and the timber's characteristics, such as its grade and species, are critical. These factors determine the allowable stress values, which are crucial for calculating the necessary beam depth to ensure structural integrity and safety.
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Design of Prismatic Beams for Bending01:23

Design of Prismatic Beams for Bending

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The design of prismatic beams, structural elements with a uniform cross-section, focuses on ensuring safety and structural integrity under load. The design process begins by determining the allowable stress, either from material properties tables, or by dividing the material's ultimate strength by a safety factor. This safety factor is essential for accommodating uncertainties, and varies depending on the material—timber, steel, or concrete—with each having unique strength and...
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Origami Inspired Self-assembly of Patterned and Reconfigurable Particles
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Tri-Prism Origami Enabled Soft Modular Actuator for Reconfigurable Robots.

Shuang Gao1, Jun Zhang2, Rong Zhang3

  • 1Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China.

Soft Robotics
|January 16, 2025
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Summary

This study presents a novel fabric-based origami soft pneumatic actuator with enhanced force and dynamic response. Modularized and programmable, these actuators enable versatile soft robotic applications like gripping and navigation.

Keywords:
modular actuationorigamireconfigurable robotssoft pneumatic actuatorssoft robots

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Soft actuators are crucial for surgery, prosthetics, and manipulation but face limitations in force output and dynamic response.
  • Existing soft actuator designs often struggle with complex movements and durability.

Purpose of the Study:

  • To introduce a novel soft pneumatic actuator utilizing triangular prism origami and fabric-based creases.
  • To enhance actuator performance, enabling swift response, fatigue resistance, and improved output force.
  • To demonstrate the actuator's modularity and programmability for complex robotic tasks.

Main Methods:

  • Fabric-based triangular prism origami for actuator construction.
  • Series connection of actuators to achieve combined extension and compound bending.
  • Modularization using mortise and tenon joints for programmable configurations.
  • Demonstration of applications in reconfigurable robots.

Main Results:

  • The fabric origami design provides swift response and fatigue resistance.
  • Series connection enables complex motions like extension and diversified compound bending.
  • Modularized actuators can be programmed for intricate tasks through timed sequences.
  • Successful application in reconfigurable robots for soft gripping, navigation, and obstacle avoidance.

Conclusions:

  • The developed soft pneumatic actuator offers significant improvements in performance and versatility.
  • Its modular and programmable nature facilitates diverse applications in soft robotics.
  • This design represents a significant advancement for developing adaptable and capable soft robotic systems.