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Related Concept Videos

Plastic Deformation in Circular Shafts01:20

Plastic Deformation in Circular Shafts

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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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Consider a system comprising several point masses. The coordinates of the center of mass for this system can be expressed as the summation of the product of each mass and its position vector divided by the total mass:
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In mechanical engineering, the stability of systems under various forces is critical for designing durable and efficient structures. One fundamental way to explore these concepts is by analyzing systems like two rods connected at a pivot point, O, with a torsional spring of spring constant k at the pivot point. This system is similar in appearance to a scissor jack used to change tires on a car. In this case, the arms of the linkage (equivalent to the rods in this system) are entirely vertical,...
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In materials that exhibit elastic and plastic behavior, known as elastoplastic materials, residual stresses can accumulate when these materials experience plastic deformation. This deformation arises from either high levels of shearing stress or significant strains. Residual stresses are internal stresses that persist within a material after removing the external force causing deformation. This phenomenon is demonstrated when observing the behavior of a shaft under torque; notably, the...
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The stability of equilibrium configurations is an important concept in physics, engineering, and other related fields. In simple terms, it refers to the tendency of an object or system to return to its equilibrium position after being disturbed. The stability of an equilibrium configuration can be analyzed by considering the potential energy function of the system and examining its behavior near the equilibrium point.
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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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Updated: Jan 13, 2026

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation
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Design criterion research and application based on grasping stability for shape self-adaptive ring gripper.

Shuangji Yao1,2,3, Yijv Luan4,5,6, Marco Ceccarelli7

  • 1School of Vehicle and Energy, Yanshan University, Qinhuangdao, P.R. China. buaayaoshuangji@163.com.

Scientific Reports
|January 7, 2026
PubMed
Summary
This summary is machine-generated.

A novel shape self-adaptive ring gripper enhances grasping stability for large cylindrical objects. Its design parameters, particularly spring stiffness and damping, are crucial for stable manipulation, validated by simulations and experiments.

Keywords:
Design criterionDynamic stabilityEnvelope graspGrasping systemShape self-adaptive

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Area of Science:

  • Robotics and Automation
  • Mechanical Engineering
  • Control Systems

Background:

  • Existing shape self-adaptive manipulators struggle with gripping large cylindrical objects.
  • Deficiencies exist in the design and research of manipulators for large cylindrical components.
  • External disturbances can easily affect grasping systems due to underactuated elements like springs.

Purpose of the Study:

  • To propose a shape self-adaptive ring gripper with a new underactuated grasping mechanism.
  • To investigate the dynamic grasping stability of the proposed gripper.
  • To analyze the relationship between spring design parameters and grasping stiffness.

Main Methods:

  • Development of dynamic stability equations and a Lyapunov energy function for analysis.
  • Calculation of equivalent contact stiffness using spring stiffness and damping parameters.
  • Validation through dynamic simulation and experimental testing.

Main Results:

  • Object stability is dependent on the design parameters of the spring.
  • A stability design criterion involving spring stiffness and damping parameters was deduced.
  • The proposed gripper design achieves envelope-stable grasping.

Conclusions:

  • The novel shape self-adaptive ring gripper effectively addresses limitations in gripping large cylindrical objects.
  • Spring stiffness and damping parameters are critical for ensuring dynamic grasping stability.
  • The study provides a validated method for designing stable grippers for challenging objects.