插电能量再生提高了低速制动扭矩,而不是动态能量再生
概括
与动态再生相比,插电电能再生为机器人假肢提供了更大的低速扭矩. 假肢设备中这种增强的制动扭矩可以帮助防止跌倒,并提高用户的稳定性.
科学领域:
- 生物医学工程 生物医学工程
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
背景情况:
- 机器人假肢以前使用动态能量再生.
- 动态能量再生在低转速时提供不够的扭矩,增加掉落风险.
研究的目的:
- 引入和评估插电式电能再生作为动态再生的替代方案.
- 为了解决机器人假肢中低转速低扭矩的限制.
主要方法:
- 开发了动态和插电能量再生的数学模型.
- 设计并实施了一种驱动电路,以测试这两种再生方法.
- 进行实验,以比较低转速时的制动扭矩.
主要成果:
- 与动态再生相比,插电能量再生在低转速时显示出明显更高的制动扭矩.
- 实验结果验证了来自数学模型的理论预测.
- 该研究证实,堵塞再生提供了更大的电流流失,从而增加了制动扭矩.
结论:
- 插电电能再生显示了提高机器人假肢性能的巨大潜力.
- 这种方法有效地克服了动态再生的低速扭矩限制.
- 增强的低速扭矩可以提高稳定性并减少假肢使用者的跌倒事故.
相关概念视频
Net Torque Calculations
9.2K
When a mechanic tries to remove a hex nut with a wrench, it is easier if the force is applied at the farthest end of the wrench handle. The lever arm is the distance from the pivot point (the hex nut in this case) to the person’s hand. If this distance is large, the torque is higher. Only the component of the force perpendicular to the lever arm contributes to the torque. Therefore, pushing the wrench perpendicular to the lever arm is more advantageous. If multiple people apply force to...
9.2K
Torque On A Current Loop In A Magnetic Field
4.1K
The most common application of magnetic force on current-carrying wires is in electric motors. These consist of loops of wire, which are placed between the magnets with a magnetic field. When current flows through the loops, the magnetic field applies torque, which causes the shaft to rotate, thus converting electrical energy to mechanical energy.
Consider a rectangular current-carrying loop containing N turns of wire, placed in a uniform magnetic field. The net force on a current-carrying loop...
Consider a rectangular current-carrying loop containing N turns of wire, placed in a uniform magnetic field. The net force on a current-carrying loop...
4.1K
Energy Losses in Transformers
883
In an ideal transformer, it is assumed that there are no energy losses, and, hence, all the power at the primary winding is transferred to the secondary winding. However, in reality, the transformers always have some energy losses, and, hence, the output power obtained at the secondary winding is less than the input power at the primary winding due to energy losses.
There are four main reasons for energy losses in transformers.
The first cause can be the high resistance of the...
There are four main reasons for energy losses in transformers.
The first cause can be the high resistance of the...
883
Rolling Resistance
297
When a solid cylinder rolls steadily on a rigid surface, the normal force applied by the surface on the cylinder is perpendicular to the tangent at the contact point. However, since no materials are entirely rigid, the surface's reaction to the cylinder involves a range of normal pressures.
For instance, imagine a hard cylinder rolling on a comparatively soft surface. The cylinder's weight compresses the surface beneath it. As the cylinder moves, the material in front of it slows down...
For instance, imagine a hard cylinder rolling on a comparatively soft surface. The cylinder's weight compresses the surface beneath it. As the cylinder moves, the material in front of it slows down...
297
Back EMF
3.0K
Generators convert mechanical energy into electrical energy, whereas motors convert electrical energy into mechanical energy. A motor works by sending a current through a loop of wire located in a magnetic field. As a result, the magnetic field exerts a torque on the loop. This rotates a shaft, extracting mechanical work from the electrical current sent in initially. When the coil of a motor is turned, magnetic flux changes through the coil, and an emf (consistent with Faraday's law) is...
3.0K
Energy Diagrams - II
4.6K
Energy diagrams are important to understand the dynamics of a system. The topology of an energy diagram helps illustrate the equilibrium points of the system.
The point in the energy diagram at which the system’s potential energy is the lowest is known as the local minima. The system tends to stay in this position indefinitely unless acted upon by a net force. The slope of the potential energy diagram at the local minima is zero, indicating that zero net force is acting on the system. The...
The point in the energy diagram at which the system’s potential energy is the lowest is known as the local minima. The system tends to stay in this position indefinitely unless acted upon by a net force. The slope of the potential energy diagram at the local minima is zero, indicating that zero net force is acting on the system. The...
4.6K


