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Plastic Deformation in Circular Shafts

Plastic Deformation in Circular Shafts

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...

One-Degree-of-Freedom System

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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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Consider a scenario where a circular shaft is subject to torque that remains within the boundaries of Hooke's Law, avoiding any permanent deformation. So, the formula for shearing strain is revisited. This formula is multiplied by the modulus of rigidity, and then Hooke's Law for the shearing stress and strain is applied. As a result, the equation for shearing stress in a shaft can be derived.

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Related Experiment Video

Updated: Jun 13, 2026

Operation of the Collaborative Composite Manufacturing (CCM) System

Operation of the Collaborative Composite Manufacturing (CCM) System

Published on: October 1, 2019

Continuum Robot Segments with High Output Stiffness via Diagonal Backbones.

Ethan Eisenhauer¹, Eli Milam¹, Joshua Gaston¹

¹University of Tennessee, Department of Mechanical and Aerospace Engineering.

IEEE Robotics and Automation Letters

|June 12, 2026

Summary

This summary is machine-generated.

Continuum robots with a diagonal backbone and push-pull rods eliminate passive s-shape deformation, improving load capacity and reducing vibration. This design enhances stability for applications like minimally invasive surgery.

Keywords:

Flexible Robotics Modeling, Control, and Learning for Soft Robots Soft Robot Materials and Design Tendon/Wire Mechanism

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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Published on: November 14, 2015

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Last Updated: Jun 13, 2026

Operation of the Collaborative Composite Manufacturing (CCM) System

Operation of the Collaborative Composite Manufacturing (CCM) System

Published on: October 1, 2019

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Published on: November 14, 2015

Area of Science:

Robotics
Mechanical Engineering
Medical Devices

Background:

Continuum robots offer advantages in surgery and confined space navigation.
Conventional designs passively deform into an s-shape under load, causing vibration.
This deformation limits payload capacity and dynamic performance.

Purpose of the Study:

To propose a novel continuum robot segment design to overcome passive s-shaped deformation and vibration.
To enhance load-handling capabilities and dynamic stability of continuum robot segments.
To develop and validate kinematic models for the new design.

Main Methods:

Introduced a continuum robot segment with a diagonal backbone and flexible push-pull actuation rods.
Developed and validated 1-DOF and 2-DOF kinematic models for the modified segment.
Experimentally verified the models, increased output stiffness, and demonstrated on a multi-segment robot.

Main Results:

The diagonal backbone design eliminated passive s-shaped deformation and reduced vibration.
The modified segment demonstrated significantly improved load handling without increased actuation force.
Validated kinematic models accurately predicted tip position and orientation.

Conclusions:

The proposed design offers a simple yet effective solution to improve continuum robot performance under load.
This advancement enables more stable and precise operation in challenging environments and applications.
The design holds potential for enhanced minimally invasive surgical robots and other complex robotic systems.