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相关概念视频

Static and Kinetic Frictional Force01:05

Static and Kinetic Frictional Force

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One of the simpler characteristics of sliding friction is that it is parallel to the contact surfaces between systems, and is always in a direction that opposes the motion or attempted motion of the systems relative to each other. If two systems are in contact and moving relative to one another, then the friction between them is called kinetic friction. For example, kinetic friction slows a hockey puck sliding on ice.
However, if two systems are in contact and are stationary relative to one...
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Plastic Deformation in Circular Shafts01:20

Plastic Deformation in Circular Shafts

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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...
207
Deformation in a Circular Shaft01:10

Deformation in a Circular Shaft

381
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...
381
Kinetic Friction01:26

Kinetic Friction

953
Consider a truck trying to pull a stationary car. As the truck exerts a force on the car, static friction is created at the point of contact between the two surfaces. This frictional force resists the car's movement and keeps it at rest. However, when the applied force by the truck surpasses the limiting static frictional force, an interesting phenomenon occurs. The frictional force at the interface reduces to a lower value, known as the kinetic frictional force. At this point, the car...
953
Residual Stresses in Circular Shafts01:10

Residual Stresses in Circular Shafts

195
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...
195
Magnetic Damping01:17

Magnetic Damping

492
Eddy currents can produce significant drag on motion, called magnetic damping. For instance, when a metallic pendulum bob swings between the poles of a strong magnet, significant drag acts on the bob as it enters and leaves the field, quickly damping the motion.
If, however, the bob is a slotted metal plate, the magnet produces a much smaller effect. When a slotted metal plate enters the field, an emf is induced by the change in flux; however, it is less effective because the slots limit the...
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相关实验视频

Updated: Jul 18, 2025

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation
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基于旋转层阻塞的可变刚度软抓手.

Mingzhu Zhu1, Mengying Xie2, Yoshiki Mori3

  • 1School of Astronautics, Northwestern Polytechnical University, Xi'an, China.

Soft robotics
|August 25, 2023
PubMed
概括

这项研究介绍了一种新的软抓手,使用旋转层阻塞来实现可变硬度. 该设计增强了机器人手臂运动期间重物体的抓取强度.

关键词:
高速运动运动的速度.多种材料的3D打印.旋转层的干扰是因为旋转层的干扰.软机器人软机器人 软机器人变化的硬度变量.

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

  • 传统的层级阻塞软抓柄面临的挑战包括复杂的制造,集成问题和减少硬效应.
  • 需要柔软的抓器,以提高度控制和强度,特别是用于动态抓应用.

研究的目的:

  • 设计和制造一种可变刚度的软抓柄,利用旋转层阻塞.
  • 克服传统层堵塞技术的局限性,特别是减少层间滑动.
  • 为了评估抓器在抓住重物体和在机器人手臂运动期间保持强度的性能.

主要方法:

  • 一个两步制造过程,将软指体的多材料3D打印和真空室的模具造相结合.
  • 整合了旋转阻塞层,以增强刚度控制并最大限度地减少滑动.
  • 将软抓柄集成到机器人手臂上进行性能测试.

主要成果:

  • 开发的软抓手成功地抓住了重达360克的物体.
  • 即使机器人手臂经历了高达7米/秒2. 2的加速,抓取强度也保持不变.
  • 旋转干扰设计在高速抓取场景中表现出更好的性能.

结论:

  • 基于旋转层阻塞的可变刚度软抓柄提供了对传统设计局限性的可行解决方案.
  • 抓手表现出增强的抓取强度,使其适合动态机器人应用,涉及重载荷.
  • 这种制造方法有效地生产复杂的软抓柄设计.