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相关概念视频

The Movement of Organelles and Vesicles01:43

The Movement of Organelles and Vesicles

4.5K
In eukaryotic cells,  cytoskeletal filaments such as actin, microtubules, and intermediate filaments form a mesh-like cytoskeletal network. These filaments serve as tracks for transporting cellular cargo. Specialized motor proteins use the chemical energy stored in adenosine triphosphate (ATP) for this transport. During interphase, microtubules are polarized, with the plus-end towards the cell periphery and the minus-end towards the cell center. Two microtubule-associated motor proteins,...
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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.
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Stability of structures01:14

Stability of structures

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

Simplification of a Force and Couple System: II

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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...
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Kinetic Energy for a Rigid Body01:13

Kinetic Energy for a Rigid Body

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Imagine a solid object involved in a general planar movement, with its center of mass pinpointed at a spot labeled G. The object's kinetic energy relative to an arbitrary point A can be quantified for each of its particles - the ith particle in this case. This measurement is achieved through the employment of the relative velocity definition. The position vector, known as rA, extends from point A to the mass element i.
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Kinematic Equations: Problem Solving01:15

Kinematic Equations: Problem Solving

12.4K
When analyzing one-dimensional motion with constant acceleration, the problem-solving strategy involves identifying the known quantities and choosing the appropriate kinematic equations to solve for the unknowns. Either one or two kinematic equations are needed to solve for the unknowns, depending on the known and unknown quantities. Generally, the number of equations required is the same as the number of unknown quantities in the given example. Two-body pursuit problems always require two...
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相关实验视频

Updated: Jul 2, 2025

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms
10:32

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Published on: August 15, 2016

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对于圆心推拉机器人的动静态模型.

Jake A Childs1, Caleb Rucker2

  • 1EndoTheia, Inc., Nashville, TN.

IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society
|February 19, 2024
PubMed
概括
此摘要是机器生成的。

这项研究介绍了同心推拉机器人 (CPPR) 的新模型,它可以准确预测它们的3D形状,即使有多个管道,扭力和外部力. 这种先进的建模增强了CPPR的设计和控制.

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Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
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Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

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Investigating Motor Skill Learning Processes with a Robotic Manipulandum
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Investigating Motor Skill Learning Processes with a Robotic Manipulandum

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相关实验视频

Last Updated: Jul 2, 2025

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms
10:32

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Published on: August 15, 2016

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Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
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Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

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Investigating Motor Skill Learning Processes with a Robotic Manipulandum
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Investigating Motor Skill Learning Processes with a Robotic Manipulandum

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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
  • 应用物理 应用物理

背景情况:

  • 集中式推拉机器人 (CPPR) 使用嵌套的激光切割管,具有偏移的刚度中心来执行.
  • 现有的CPPR动力模型是有限的,假设只有两个管,平面配置,并忽略扭力和外部负载.
  • 这些局限性阻碍了更复杂的CPPR设计的开发和应用.

研究的目的:

  • 为集中式推拉机器人 (CPPRs) 开发一个通用的运动静止模型.
  • 新的模型可以考虑任意数量的管,可变曲率,3D形状,扭力和外部负荷.
  • 为了实现CPPR的先进设计,规划和控制.

主要方法:

  • 在每个嵌套管中使用修改后的Kirchhoff棒模型,并结合了偏移的刚度中心.
  • 集成的约束,以保持管道之间的度.
  • 利用一种能量方法,根据执行输入和外部力量推导出机器人的形状.

主要成果:

  • 开发并验证了CPPRs的新型,通用化的动静态模型.
  • 使用具有可变刚度和曲率的两管和三管原型的实验结果显示,与模型有很强的一致性.
  • 该模型准确地预测了CPPR在各种条件下的3D形状,包括扭力和外部负荷.

结论:

  • 开发的通用运动静止模型显著提升了CPPR的能力.
  • 该模型为优化CPPR设计,改进运动规划和增强控制策略提供了基础.
  • 它为集中式推拉机器人的更复杂和多功能应用铺平了道路.