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相关概念视频

Stability of structures01:14

Stability of structures

196
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,...
196
Simplification of a Force and Couple System: II01:23

Simplification of a Force and Couple System: II

305
In a three-dimensional system, multiple forces can act on an object. These forces can be combined into a single equivalent force, known as the resultant force. Similarly, the moments generated by these forces can be combined into a single equivalent moment, the resultant couple moment. In certain situations, these two entities may not be mutually perpendicular, meaning they do not have a 90-degree angle between them. This unique condition requires a deeper understanding of the interplay between...
305
Machines: Problem Solving II01:30

Machines: Problem Solving II

336
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.
336
Machines: Problem Solving I01:22

Machines: Problem Solving I

356
A toggle clamp is a mechanical device commonly used for holding and clamping objects in various applications, such as woodworking, metalworking, and assembly operations. Consider a toggle clamp subjected to a force of 200 N at the handle. The vertical clamping force can be calculated, provided the dimensions of the toggle clamp are known.
The toggle clamp system is a machine structure consisting of movable, pin-connected multi-force members that form a stabilized system to transmit forces. The...
356
Constraints and Statical Determinacy01:26

Constraints and Statical Determinacy

639
In structural engineering, the equilibrium of a system is not only determined by its equations of equilibrium but also with the help of constraints. Constraints refer to restrictions on the motion of a system. The proper combinations of constraints can minimize the total number of constraints needed to maintain a system in mechanical equilibrium. When this happens, the system is said to be statically determinate. For such systems, the unknown reaction supports can be estimated using equilibrium...
639
Deformation of Member under Multiple Loadings01:11

Deformation of Member under Multiple Loadings

192
When a rod is made of different materials or has various cross-sections, it must be divided into parts that meet the necessary conditions for determining the deformation. These parts are each characterized by their internal force, cross-sectional area, length, and modulus of elasticity. These parameters are then used to compute the deformation of the entire rod.
In the case of a member with a variable cross-section, the strain is not constant but depends on the position. The deformation of an...
192

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相关实验视频

Updated: Jul 23, 2025

A Modeling and Simulation Method for Preliminary Design of an Electro-Variable Displacement Pump
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研究冗余过度约束并行机制的高精度刚度建模方法.

Sen Wang1,2, Haoran Li1,2, Xueyan Han1,2

  • 1Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, China.

Sensors (Basel, Switzerland)
|July 14, 2023
PubMed
概括
此摘要是机器生成的。

本研究引入了一种新的全球度模型,用于平行机制 (PMs),以计算关节清除和变形. 该方法增强了复杂机器人系统的刚度评估.

关键词:
联合通行证的通行证.关节接触变形的变形概率统计模型的概率统计模型一个多余的平行机制.硬性 硬性 硬性

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相关实验视频

Last Updated: Jul 23, 2025

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 机械工程 机械工程
  • 计算力学 计算力学 计算力学

背景情况:

  • 现有的平行机制 (PM) 刚度建模方法是分散的,缺乏统一的,全球性的方法.
  • 这些方法往往无法全面考虑关节清除和变形等因素,限制了准确性.

研究的目的:

  • 为冗余,过度约束的并行机制 (PMs) 开发一个统一的,全球静态刚度建模方法,其中包括关节清除和变形.
  • 提供一种高精度的方法来评估复杂的PM的刚性性能.

主要方法:

  • 利用螺丝理论,应变能量和虚拟工作原理来建立全球刚性模型.
  • 将驱动度,分支变形,冗余驱动,关节空隙和关节接触变形纳入模型.
  • 采用概率统计模型来解决由于合分支约束力的联合偏移和接触区域的不确定性.
  • 在2UPR-RR-2RPU冗余的PM上通过有限元分析 (FEA) 验证了该方法.

主要成果:

  • 通过使用应变能量和卡斯蒂格里亚诺的第二定理,成功开发了理想关节机制的全球刚度矩阵.
  • 建立了关节清除,接触变形和终端效应器变形之间的数学关系.
  • 在合力下,量化了与关节空隙和接触变形相关的不确定性.
  • FEA模拟证实了拟议的高精度刚度建模方法的准确性和有效性.

结论:

  • 提出的刚性建模方法为冗余,过度约束的并行机制提供了一个全面和统一的方法.
  • 该方法准确评估PM的刚性性能,解决传统方法的局限性.
  • 该研究为设计和分析高精度机器人系统提供了宝贵的工具.