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相关概念视频

Mechanical Systems01:22

Mechanical Systems

243
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...
243
Torque Free Motion01:15

Torque Free Motion

516
The torque-free motion refers to the movement of a rigid body in space when no external torques are acting upon it. This type of motion can be observed in environments where there are no external forces or frictions, like in outer space. For example, a rotation of Mars in space is a torque-free motion. Mars is an axisymmetric object, meaning it has an axis of symmetry along which it rotates, designated as the z-axis. The rotating frame of reference is defined such that the center of mass of...
516
Angle of Twist: Problem Solving01:13

Angle of Twist: Problem Solving

351
An electric motor applies a torque of 700 N·m to an aluminum shaft, triggering a stable rotation. Two pulleys, B and C, are subjected to torques of 300 N·m and 400 N·m, respectively. The modulus of rigidity is provided as 25 GPa. With the knowledge of the length and diameter of each segment, the twist angle between the two pulleys can be computed. First, a section cut is made between pulleys B and C, and the cut cross-section is analyzed using a free-body diagram. Given that the...
351
Electro-mechanical Systems01:19

Electro-mechanical Systems

1.0K
Electromechanical systems are intricate configurations that effectively combine electrical and mechanical elements to achieve a desired outcome. Central to many of these systems is the DC motor, a device that converts electrical energy into mechanical motion, enabling various applications ranging from simple fans to complex robotic mechanisms.
A key component of the DC motor is the armature, a rotating circuit positioned within a magnetic field. As an electric current passes through the...
1.0K
Plastic Deformation in Circular Shafts01:20

Plastic Deformation in Circular Shafts

209
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...
209
Torsional Pendulum01:09

Torsional Pendulum

5.6K
A torsional pendulum involves the oscillation of a rigid body in which the restoring force is provided by the torsion in the string from which the rigid body is suspended. Ideally, the string should be massless; practically, its mass is much smaller than the rigid body's mass and is neglected.
As long as the rigid body's angular displacement is small, its oscillation can be modeled as a linear angular oscillation. The amplitude of the oscillation is an angle. The role of mass is played...
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相关实验视频

Updated: Jul 25, 2025

Fabrication of Soft Pneumatic Network Actuators with Oblique Chambers
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一个TEC冷却软机器人,由扭弦执行器驱动.

Shun Zhao1, Xuewei Lu1, Kunyang Wang1,2,3

  • 1Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130025, China.

Biomimetics (Basel, Switzerland)
|June 27, 2023
PubMed
概括

这项研究引入了人工肌肉的新冷却系统,使软机器人能够实现更高的运动频率. 该系统还允许自传感功能,提高机器人的性能和控制.

关键词:
自觉感应是一种自我感应.对于机器人系统的软硬件集成.热电冷却器是一种热电冷却器.扭曲的聚合物执行器执行器

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相关实验视频

Last Updated: Jul 25, 2025

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 材料科学 材料科学 材料科学
  • 生物模拟学是一种生物模拟学.

背景情况:

  • 人工肌肉为生物机器人提供了优势,但落后于生物肌肉性能.
  • 扭曲聚合物执行器 (TPA) 提供高能效和大的应变/应力输出,但受到热敏度的限制.
  • 现有的使用TPA的软机器人由于热限制,其运动频率较低.

研究的目的:

  • 开发一个简单的,轻量级的,低成本的,自传感软机器人,由TPAs提供动力.
  • 通过有效的冷却系统,提高TPA驱动机器人的运动频率.
  • 根据收缩长度和阻力研究TPA的自我感应能力.

主要方法:

  • 热电冷却器 (TEC) 和温度传感器的集成,以创建一个闭环温度控制系统.
  • 保持机器人的内部温度在5°C以快速冷却TPA.
  • 通过将TPA收缩长度和电阻与机器人运动相关联,开发了一种自我传感机制.

主要成果:

  • 开发的闭环冷却系统使TPA驱动的机器人能够达到1赫兹的运动频率.
  • 自传感软机器人表现出很好的准确性,其平方根平均误差小于0.01Hz的测量振幅的3.89%.
  • 该研究成功验证了TPAs的自身动力学性能和改进的操作频率.

结论:

  • 使用TEC的新冷却方法显著提高了TPA驱动软机器人的运动频率.
  • 拟议的基于TPA的自传感机制为机器人运动提供了准确的反.
  • 这项研究有助于开发更有能力,更高效的生物机器人.