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相关概念视频

Members Made of Elastoplastic Material01:19

Members Made of Elastoplastic Material

121
The behavior of elastoplastic materials under bending stresses, particularly in structural members with rectangular cross-sections, is crucial for predicting material responses and understanding failure modes. Initially, when a bending moment is applied, the stress distribution across the section follows Hooke's Law and is linear and elastic. This distribution means the stress increases from the neutral axis to the maximum at the outer fibers, up to the elastic limit.
As the bending moment...
121
Stability of structures01:14

Stability of structures

195
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,...
195
Virtual Work for a System of Connected Rigid Bodies01:06

Virtual Work for a System of Connected Rigid Bodies

410
Virtual work is a powerful method used to solve problems involving several connected rigid bodies. When the system is in equilibrium, virtual work is zero. This allows the calculation of the resulting forces when a system undergoes a virtual displacement. When attempting to analyze such a system, first, use a free-body diagram, where an independent coordinate represents the configuration of the links, and mark its deflected position resulting from the positive virtual displacement.
Next,...
410
Circular Shafts - Elastoplastic Materials01:24

Circular Shafts - Elastoplastic Materials

124
The study of solid circular shafts under stress shows that within the elastic limit, stress increases directly to the distance from the shaft's center. This relationship holds until the shaft reaches a critical point of stress, beyond which it begins to yield, marking the transition from elastic to plastic deformation. At this crucial juncture, the maximum torque the shaft can endure without permanent deformation is determined, signifying the limit of its elastic behavior.
As torque on the...
124
Deformation of Member under Multiple Loadings01:11

Deformation of Member under Multiple Loadings

186
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...
186
Mechanical Systems01:22

Mechanical Systems

231
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...
231

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Fabrication of Soft Pneumatic Network Actuators with Oblique Chambers
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轻量级气动弹性脊柱结构,具有模块化结构和软执行器的非线性相互作用.

Yang Yang1,2,3, Jiewen Lai1, Chaochao Xu2,4

  • 1Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, China.

Soft robotics
|August 25, 2023
PubMed
概括
此摘要是机器生成的。

本研究介绍了用于软执行器的轻量级气动弹性骨干结构 (PEBS). 这种新的设计解决了系统不稳定性和非线性相互作用的问题,使得对力敏感任务的精确控制成为可能.

关键词:
生物医学工程 生物医学工程非线性相互作用是非线性的.数字模拟的数字模拟.气动驱动的执行方式软机器人 软机器人 软机器人

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相关实验视频

Last Updated: Jul 18, 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
  • 机械工程 机械工程

背景情况:

  • 软机器人在应力敏感任务的适应性和控制方面提供了独特的优势.
  • 系统不稳定性和非线性相互作用是轻量级软执行器设计的关键挑战.
  • 现有的软执行器需要进一步研究它们的控制和稳定性.

研究的目的:

  • 为模块化软执行器提供轻型气动弹性骨干结构 (PEBS) 的设计原理.
  • 研究和克服软执行器中的系统不稳定性和非线性相互作用现象.
  • 验证开发的理论和数值模型的准确性和适用性.

主要方法:

  • 设计和原型一个轻量级 (<80g) 软执行器,使用模块化结构的气动弹性骨干结构 (PEBS).
  • 对非线性相互作用和系统不稳定性进行实验,数值和参数研究.
  • 根据实验结果推导和验证了一个理论非线性模型和一个数值模型.

主要成果:

  • 开发了一种轻量级软执行器原型 (<80g),能够以显著的输出力 (~20倍自重) 曲运动.
  • 在实验模型,数值模型和理论模型之间取得了令人满意的一致性,验证了数值模型的准确性.
  • 通过软喉镜,机器人手臂和远程手术系统中的应用来证明精确的可控性,安全性,模块化和协作能力.

结论:

  • 拟议的PEBS设计原则为控制软执行器中的系统不稳定性和非线性相互作用提供了可行的解决方案.
  • 经过验证的非线性模型为软执行器的设计和优化提供了强大的工具.
  • 在软机器人领域,PEBS显示出了多种应用的巨大潜力,包括医疗设备和协作机器人.