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相关概念视频

Distribution Reliability and Automation01:25

Distribution Reliability and Automation

107
Distribution reliability in electrical power systems is critical for ensuring an uninterrupted power supply to consumers at minimal cost. According to IEEE Standard Terms, reliability is the probability that a device will function without failure over a specified time period or amount of usage. For electric power distribution, this translates to maintaining continuous power supply and addressing customer concerns over power outages. Several indices, as defined by IEEE Standard 1366-2012, are...
107
Mechanical Systems01:22

Mechanical Systems

193
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...
193
Electro-mechanical Systems01:19

Electro-mechanical Systems

946
Electromechanical systems are intricate configurations that effectively combine electrical and mechanical elements to achieve a desired outcome. Central to many of these systems is the DC motor, a device that converts electrical energy into mechanical motion, enabling various applications ranging from simple fans to complex robotic mechanisms.
A key component of the DC motor is the armature, a rotating circuit positioned within a magnetic field. As an electric current passes through the...
946
Mechanical Efficiency of Real Machines01:14

Mechanical Efficiency of Real Machines

688
The mechanical efficiency of a machine is a fundamental concept that describes how effectively a machine can convert input work into output work. According to this concept, the efficiency of a machine is equal to the ratio of the output work to the input work. An ideal machine, meaning a machine that has no energy losses, has an efficiency of one. This implies that the input work and the output work are equal.
However, in reality, no machine can be truly ideal, and all of them experience some...
688
Distributed Loads: Problem Solving01:21

Distributed Loads: Problem Solving

645
Beams are structural elements commonly employed in engineering applications requiring different load-carrying capacities. The first step in analyzing a beam under a distributed load is to simplify the problem by dividing the load into smaller regions, which allows one to consider each region separately and calculate the magnitude of the equivalent resultant load acting on each portion of the beam. The magnitude of the equivalent resultant load for each region can be determined by calculating...
645
Machines: Problem Solving II01:30

Machines: Problem Solving II

308
Machines are complex structures consisting of movable, pin-connected multi-force members that work together to transmit forces. Consider a lifting tong carrying a 100 kg load. It comprises movable sections DAF and CBG linked together with member AB.
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Updated: Jun 29, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
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通过模块化现场机器人实现对故障的稳定性.

Troy Cordie1,2, Jonathan Roberts2, Matthew Dunbabin2

  • 1CSIRO Robotics, Data61, Pullenvale, QLD, Australia.

Frontiers in robotics and AI
|March 28, 2024
PubMed
概括
此摘要是机器生成的。

模块化机器人可以弹出故障的部件,以提高任务长度和强度. 这种模块化机器人架构在具有挑战性的环境中提高了机器人的性能,即使在执行器故障的情况下也是如此.

关键词:
蜂式和模块化机器人 机器人现场机器人 现场机器人机器人的形态结构太空漫游者 太空漫游者无人驾驶的自动驾驶汽车是无人驾驶的

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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

背景情况:

  • 远程部署机器人的执行器故障会降低效率和可操作性.
  • 增加机器人的自主性和远程操作需要增强的故障强度.

研究的目的:

  • 介绍模块化机器人架构方法,以提高执行器故障的稳定性.
  • 为了增强固定配置和模块化可重新配置的机器人.

主要方法:

  • 利用模块化可重新配置的机器人,通过弹出模块来改变机动和形态.
  • 在 Gazebo 模拟和物理现场试验中实施了测试.
  • 与具有固定的配置和控制器的机器人相比,性能比较.

主要成果:

  • 模块化机器人展示了改善的距离旅行和减少环境穿越努力.
  • 与固定控制器机器人相比,具有可适应的机动机器人对执行器故障表现出更大的稳定性.
  • 能够改变运动和形态的机器人远远超过了固定形态的机器人.

结论:

  • 弹出模块化故障组件可以提高总体任务持续时间.
  • 模块化机器人系统提供了一个可行的解决方案,用于提高机器人在自主操作中的弹性.
  • 适应性移动和形态是面对组件故障时机器人性能强大的关键.