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Related Concept Videos

Free Body Diagrams: Examples01:07

Free Body Diagrams: Examples

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Solving problems that involve forces is easy using free-body diagrams. A free-body diagram is a sketch showing all the external forces that are acting on an object or system. The object or system is represented by a single isolated point (or free body). Only those forces acting on it that originate outside of the object or system—the external forces—are shown. The forces are represented by vectors extending outward from the free body. Imagine a person sitting on a chair. Here, the...
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Steps for Free-Body Diagram01:22

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When it comes to studying the behavior of objects in mechanics, one of the most important tools available is the free-body diagram. Consider a simple example of a system of two blocks coupled by a massless string over a frictionless pulley. Block 1 is sliding over a table pulled by block 2 as block 2 falls under gravity.
To find the acceleration of the system, it is first necessary to calculate the net force on the system. In order to accomplish this, a free-body diagram can be created to...
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Free-body Diagram01:28

Free-body Diagram

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In mechanics, understanding the motion of objects is essential, and one tool that helps solve this problem is the free-body diagram. It is a simple but powerful graphical representation that succinctly represents all the forces acting on an object. A free-body diagram can represent a stationary or moving object, and is used in mechanics to explain the cause of an object's motion.
A free-body diagram transforms a complex problem into a simple representation, making it easy to understand the...
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Drawing Free-body Diagrams: Rules01:16

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The first step in describing and analyzing most phenomena in physics involves the careful drawing of a free-body diagram. Free-body diagrams are useful in analyzing forces acting on an object or system, and are employed extensively in the study and application of Newton's laws of motion. The steps to draw a free-body diagram are listed below:
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Mechanistic Models: Overview of Compartment Models01:21

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Mechanistic models, a category encompassing both physiological and compartmental modeling, differ from empirical models' approaches to incorporating known factors about the systems being modeled. Empirical models describe data with minimal assumptions, while mechanistic models aim to provide a robust description of available data by specifying assumptions and integrating known factors about the system. Compartmental analysis is a key example of a mechanistic model in pharmacokinetics and...
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Three-Dimensional Force System:Problem Solving01:30

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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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Related Experiment Video

Updated: Jan 16, 2026

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms
10:32

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Published on: August 15, 2016

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Diagrammatic physical robot models.

Alvaro Miyazawa1, Sharar Ahmadi2, Ana Cavalcanti1

  • 1Department of Computer Science, University of York, York, UK.

Software and Systems Modeling
|September 29, 2025
PubMed
Summary
This summary is machine-generated.

RoboSim offers a new way to model robotic systems, improving simulation efficiency and usability. This domain-specific language enhances robot development by integrating physical models with control software for automated simulations.

Keywords:
Diagrammatic modelsHybrid modelsSDFSimulationVerification

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Related Experiment Videos

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Area of Science:

  • Robotics
  • Software Engineering
  • Control Systems

Background:

  • Simulation is crucial in robotics but faces challenges with development time, standardization, and portability.
  • Existing tools often lack a unified approach for modeling both robotic platforms and their control software.

Purpose of the Study:

  • To introduce RoboSim, a tool-independent, domain-specific language for modeling robotic platforms and controllers.
  • To present a novel notation for specifying physical models using block diagrams, integrated with software models.
  • To enable automatic generation of simulations and mathematical models for robotic systems.

Main Methods:

  • Developed RoboSim as a profile of UML/SysML, incorporating time primitives, differential equations, and mathematical semantics.
  • Introduced a diagrammatic notation for physical models (block diagrams) linked to platform-independent software models.
  • Defined validation rules for well-formed models and a model-to-model transformation to common simulator formats.

Main Results:

  • A modular and extensible diagrammatic notation for explicit specification of physical behaviors in robotic systems.
  • A set of validation rules to ensure the integrity and correctness of RoboSim models.
  • Successful transformation of RoboSim models to formats compatible with multiple simulators, facilitating broader adoption.

Conclusions:

  • RoboSim addresses the limitations of current robotics simulation tools by providing a standardized, portable, and efficient modeling approach.
  • The integration of physical and software models through RoboSim enables automated simulation and mathematical analysis, advancing robotic system development.