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相关概念视频

One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

490
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
490
Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

667
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
667
Mechanical Systems01:22

Mechanical Systems

199
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...
199
Virtual Work for a System of Connected Rigid Bodies01:06

Virtual Work for a System of Connected Rigid Bodies

385
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,...
385
Sequence Networks of Rotating Machines01:24

Sequence Networks of Rotating Machines

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A Y-connected synchronous generator, grounded through a neutral impedance, is designed to produce balanced internal phase voltages with only positive-sequence components. The generator's sequence networks include a source voltage that is exclusively in the positive-sequence network. The sequence components of line-to-ground voltages at the generator terminals illustrate this configuration.
Zero-sequence current induces a voltage drop across the generator's neutral impedance and other...
103

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相关实验视频

Updated: Jul 4, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
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生物启发的手持式时间共享驱动机器人,具有可扩展的DoFs.

Yunjiang Wang1, Xinben Hu2,3, Luhang Cui1

  • 1Key Laboratory of Fluid Power and Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, 310058, Hangzhou, China.

Nature communications
|January 26, 2024
PubMed
概括

本研究介绍了一种由单一电机和形状记忆合金 (SMA) 电线驱动的新型手持机器人. 这种创新的设计可以实现多个自由度的控制,以增强机器人手术能力.

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11:53

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 生物医学工程 生物医学工程
  • 材料科学 材料科学 材料科学

背景情况:

  • 手持机器人提供了可访问性和易用性,但自由度受到执行器空间的限制.
  • 现有的机器人系统通常需要多个执行器,增加复杂性和尺寸.
  • 对于微创手术的灵巧,紧的机器人解决方案的需求正在增长.

研究的目的:

  • 开发一个具有多个自由度的手持机器人,使用一种新的时间共享驱动机制.
  • 为了克服手持机器人设备中执行器空间的局限性.
  • 为了证明这个机器人系统在远程外科手术的临床场景中的适用性.

主要方法:

  • 一个单一的电机通过时间共享驱动系统为多个运动模块提供动力.
  • 形状记忆合金 (SMA) 电线充当"神经",可以选择性地激活运动模块.
  • 一个由顺序连接的曲模块 (BM) 组成的紧型操纵器被设计成并与电机底部集成.

主要成果:

  • 手持机器人通过单一电机和SMA电线驱动实现了多度自由控制.
  • 操纵器展示了量身定制的长度和现场仪器集成能力.
  • 在人类胃模型和ex vivo猪胃上进行了成功的透光实验.

结论:

  • 时间共享驱动机制为创建多个自由度的手持机器人提供了实际解决方案.
  • 这项技术在远程外科环境中促进了非侵入性访问和高精度手术.
  • 开发的机器人显示出在微创手术及其他领域更广泛应用的巨大潜力.