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Related Concept Videos

Stability of structures01:14

Stability of structures

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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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Residual Stresses in Circular Shafts01:10

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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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Applications of Stress01:04

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Consider a structure made of a boom and a rod designed to support a load. These two components are connected by a pin and stabilized by brackets and pins. The boom and the rod are detached from their supports to assess the different stresses imposed on this structure, and a free-body diagram is drawn. Then, all the forces applied, including the load acting on the structure, are identified. The reaction forces exerted on both the boom and the rod are computed using the equilibrium equations.
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Design of Transmission Shafts - Stress Analysis01:15

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Designing a transmission shaft requires a thorough understanding of the stresses induced by bending moments and torques, especially in systems where power is transferred through gears. These forces create force-couple systems at the centers of the shaft's cross-sections, leading to both transverse and torsional loading. Although shearing stresses from transverse loads are typically smaller than those from torques and are often overlooked, the significant normal stresses from these loads...
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Internal Loadings in Structural Members: Problem Solving01:28

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When designing or analyzing a structural member, it is important to consider the internal loadings developed within the member. These internal loadings include normal force, shear force, and bending moment. Engineers can ensure that the structural member can support the applied external forces by calculating these internal loadings.
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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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Updated: Mar 6, 2026

Subject-specific Musculoskeletal Model for Studying Bone Strain During Dynamic Motion
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Transfer Learning-Based Stiffness Modelling of Spherical Scissor Linkage Remote-Centre-of-Motion Mechanism for

Baoyue Lu1,2, Sihan Wang1,2, Shuxin Wang1,2

  • 1School of Mechanical Engineering, Tianjin University, Tianjin, China.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
|March 5, 2026
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Summary
This summary is machine-generated.

This study developed an accurate stiffness model for spherical scissor linkage remote-centre-of-motion (SSL-RCM) mechanisms using the virtual joint method and transfer learning. The optimized SSL-RCM mechanism shows improved performance and load-bearing capacity.

Keywords:
minimally invasive surgeryspherical scissor linkage remote‐centre‐of‐motion mechanismstiffness modellingstructural optimisationtransfer learningvirtual joint modelling

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Biomechanics

Background:

  • Spherical scissor linkage remote-centre-of-motion (SSL-RCM) mechanisms suffer from low stiffness, impacting load-bearing capacity and motion accuracy.
  • Accurate stiffness modeling is crucial for effective SSL-RCM mechanism design and optimization.

Purpose of the Study:

  • To develop an accurate stiffness model for SSL-RCM mechanisms.
  • To guide the structural optimization and design of SSL-RCM mechanisms.

Main Methods:

  • A stiffness model was established using the virtual joint method, incorporating passive joints.
  • Transfer learning was employed to extend limited finite element data, creating a high-accuracy stiffness model.
  • A multi-objective genetic algorithm was utilized for structural optimization based on stiffness factors.

Main Results:

  • The developed stiffness model demonstrated a 12.2% improvement in fitting accuracy compared to baseline models.
  • The optimized SSL-RCM mechanism exhibited enhanced overall performance and load-bearing capabilities.

Conclusions:

  • The stiffness model provides an analytical relationship between geometric dimensions and corrected stiffness for SSL-RCM mechanisms.
  • This model serves as a valuable tool for structural optimization and design guidance in SSL-RCM mechanism development.