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相关概念视频

Support Reactions in Three Dimensions01:27

Support Reactions in Three Dimensions

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Support reactions in three dimensions help maintain the stability and equilibrium of various structures and systems. These reactions prevent the system from translating and rotating, ensuring the design can withstand external forces and perform its intended function efficiently and safely. Some of the supports providing support reactions in three dimensions are discussed below:
Ball and Socket Joint is one of the supports allowing free rotation about any axis. This freedom of rotation is...
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Updated: Jul 2, 2025

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation
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生物启发的双向硬化软执行器可以实现多功能和坚固的抓取.

Jianfeng Lin1, Jingwei Ke1, Ruikang Xiao1

  • 1School of Power and Mechanical Engineering, Wuhan University, Wuhan, China.

Soft robotics
|February 22, 2024
PubMed
概括

这项研究介绍了一种生物启发的双向硬软执行器 (BISA),可以增强软抓柄的曲和侧面硬性. 新的设计改善了对各种任务的掌握多功能性和稳定性.

关键词:
双向硬化 双向硬化生物灵感驱动器执行器软的抓手软的抓手变化的硬度变量.

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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
  • 生物模拟学是一种生物模拟学.

背景情况:

  • 软的抓手需要适应性刚性,以实现多功能抓取.
  • 在软执行器中同时控制曲和侧面刚度仍然是一个挑战.
  • 现有的设计在优化曲刚性时,往往会损害横向稳定性.

研究的目的:

  • 介绍一款新的生物灵感双向硬化软执行器 (BISA).
  • 通过调节曲和侧面硬性,使软具具有合规和稳定的性能.
  • 为了增强掌握的多功能性,容量和稳定性.

主要方法:

  • 在BISA集成的空气动 (ATA) 曲刚度调制.
  • 一个类似骨的结构 (BLS),灵感来自phalanx形态,用于横向度调节.
  • 通过测量刚度调制和位置错误来测试执行器的性能.

主要成果:

  • ATA实现了0.7N/mm的最大曲刚度和在45°曲时的三倍放大.
  • 与没有BLS的执行器相比,BLS的侧面刚度提高了大约3.9倍.
  • 证明了侧向刚度调制,脱范围为1.3倍.

结论:

  • BISA有效调节曲和侧面硬性,克服了以前软执行器的局限性.
  • 生物灵感设计为软抓柄提供了增强的稳定性和多功能性.
  • 开发的抓器对涉及多尺度,多重量和多模式物体的复杂抓任务具有前景.