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相关概念视频

Virtual Work for a System of Connected Rigid Bodies01:06

Virtual Work for a System of Connected Rigid Bodies

383
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.
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383

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软波基生物仿真执行器的准静态建模框架

Kelvin HoLam Heung1, Ting Lei1, Kaixin Liang1

  • 1Department of Building and Real Estate, Hong Kong Polytechnic University, Hong Kong.

Biomimetics (Basel, Switzerland)
|March 27, 2024
PubMed
概括

本研究介绍了基于的软流体执行器的准静态分析模型,使生物模拟机器人的设计和性能预测得到了优化. 该模型通过模拟和实验来验证.

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
  • 机械工程 机械工程

背景情况:

  • 软机器人利用弹性体矩阵和柔性材料来提高适应性和运动.
  • 形驱动器比纤维增强驱动器提供更高的效率,需要较少的输入压力来实现类似的运动.
  • 量化基于的软流体执行器性能是具有挑战性的,因为复杂的,不统一的结构.

研究的目的:

  • 开发一种准静态分析模型,用于分析具有线性延伸的基于的软执行器.
  • 为设计下层尺寸提供标准化的指导和标准.
  • 为了方便确定最佳的几何参数,有效的仿生机器人设计.

主要方法:

  • 基于的软执行器的准静态分析建模.
  • 通过有限元法 (FEM) 模拟进行验证.
  • 在流体加压和自由空间延伸下进行实验测试.

主要成果:

  • 开发的分析模型准确地预测了基于声的软执行器的性能.
  • FEM模拟和实验结果验证了模型的预测.
  • 这项研究为确定最佳低压执行器几何结构提供了一个框架.
关键词:
分析建模分析建模延伸 延伸 延伸 延伸 延伸有限元素方法 (FEM)气动延伸执行器 气动延伸执行器软机器人软机器人 软机器人

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结论:

  • 准静态分析模型提供了一个强大的方法来分析基于的软执行器.
  • 这项研究解决了下层尺寸缺乏标准化的设计标准的问题.
  • 这些发现使生物模拟机器人的性能预测和优化得到了改进.