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相关概念视频

Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

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...

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A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study
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A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study

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与障碍物互动使用生物灵感,灵活,低调的多链路操纵器.

Amit Prigozin1, Amir Degani1,2

  • 1Faculty of Civil and Environmental Engineering, Technion-Israel Institute of Technology, Haifa 3200003, Israel.

Biomimetics (Basel, Switzerland)
|February 23, 2024
PubMed
概括

这项研究展示了一种生物灵感的机器人操纵器,能够在充满障碍的环境中导航. 使用单个执行器的多连接设计,在模拟和硬件实验中表现出强大的性能.

科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 生物启发工程 生物启发工程
  • 控制系统 控制系统

背景情况:

  • 在复杂的,充满障碍的环境中,对机器人操纵器的需求日益增加.
  • 需要适应性设计,能够与障碍物进行导航和交互.
  • 传统操纵器在非结构化的环境中的局限性.

研究的目的:

  • 展示一个生物灵感,低效的多链接操纵器的能力.
  • 在有固定和可移动障碍的环境中评估性能.
  • 为此类系统提出建模和轨迹规划方法.

主要方法:

  • 开发了一种模拟方法,用于具有障碍互动的灵活,低功率的多连接操纵器.
  • 实施了固定障碍环境的轨迹规划.
  • 分析了对状态和障碍物位置不确定性的操纵器强度.
  • 模拟和实验验证的性能与可移动障碍物和物体拾取任务.

主要成果:

  • 成功建模和模拟了操纵者与障碍物的相互作用.
  • 在杂乱的工作空间中展示了有效的轨迹规划.
  • 对不确定性进行验证的稳定性.
关键词:
生物灵感和仿生机器人机器人技术机器人操纵机器人的操纵机器人技术 机器人工程 机器人工程软机器人 软机器人 软机器人

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  • 在充满障碍的环境中展示了成功的物体检索.
  • 硬件实验证实了模拟结果.

    • 结论:

    • 这种生物灵感,低效的多连接操纵器在充满障碍的环境中是有效的.
    • 提出的建模和规划方法适用于复杂的场景.
    • 该系统表现出强度和实际适用性,用于诸如对象操纵等任务.