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Related Concept Videos

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The design of a transmission shaft is governed by two primary specifications: the power it transmits and its rotational speed. These parameters guide the selection of the shaft's material and cross-sectional dimensions, ensuring that the material's maximum shearing stress remains within the elastic limit while transmitting the desired power at the given speed. The system's power is intrinsically linked to the applied torque. The torque applied to the shaft can be calculated by...
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A toggle clamp is a mechanical device commonly used for holding and clamping objects in various applications, such as woodworking, metalworking, and assembly operations. Consider a toggle clamp subjected to a force of 200 N at the handle. The vertical clamping force can be calculated, provided the dimensions of the toggle clamp are known.
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Design Example: Managing Concrete Workability01:14

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This example deals with managing the workability of concrete for a raft foundation project under hot weather conditions. Workability is crucial for ensuring the concrete is easy to place, compact, and finish. In this scenario, a slump test — a common method to measure the workability of fresh concrete — initially indicated low workability. This was attributed to the rapid water loss from the concrete mix, exacerbated by the high temperatures causing the course aggregates to heat up.
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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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Machines are complex structures consisting of movable, pin-connected multi-force members that work together to transmit forces. Consider a lifting tong carrying a 100 kg load. It comprises movable sections DAF and CBG linked together with member AB.
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In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
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Related Experiment Video

Updated: Sep 11, 2025

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Optimization-Driven Design of Monolithic Soft-Rigid Grippers.

Pierluigi Mansueto1, Mihai Dragusanu2, Anjum Saeed2

  • 1Department of Information Engineering, University of Florence, Firenze, Italy.

Soft Robotics
|August 13, 2025
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Summary
This summary is machine-generated.

Bridging the sim-to-real gap in soft robotics is crucial. This study introduces a novel method using advanced rapid prototyping and optimization to reduce manufacturing errors and speed up development for soft robotic systems.

Keywords:
compliant mechanismssim-to-real design of soft gripperssoft-rigid grippers

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Area of Science:

  • Soft robotics
  • Robotics engineering
  • Manufacturing processes

Background:

  • Sim-to-real transfer is a major hurdle in soft robotics.
  • Manufacturing methods like 3D printing and molding introduce unpredictability and design deviations.
  • This necessitates multiple prototypes, slowing down development.

Purpose of the Study:

  • To propose a novel methodology for improving sim-to-real transfer in soft robotics.
  • To reduce the iterations required in the design and prototyping process.
  • To identify practical stiffness parameters achievable with current manufacturing.

Main Methods:

  • Utilizing rapid prototyping techniques, typically for rigid structures, for precise fabrication of compliant components.
  • Implementing an efficient optimization framework to minimize the need for extensive prototyping.
  • Focusing on identifying stiffness parameters that align with manufacturing capabilities.

Main Results:

  • Reduced manufacturing errors in compliant components.
  • Significant decrease in the iterative design and prototyping cycle.
  • Successful identification of achievable stiffness parameters.
  • Demonstrated improvement in prototype development efficiency without compromising performance.

Conclusions:

  • The proposed methodology effectively bridges the sim-to-real gap in soft robotics.
  • Advanced rapid prototyping and optimization enhance the reliability and speed of soft robotic system development.
  • This approach facilitates faster and more dependable deployment of soft robotic technologies.