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相关概念视频

One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

487
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
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Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

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Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
401
Planar Rigid-Body Motion01:22

Planar Rigid-Body Motion

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Understanding the movement of a rigid body in planar motion involves recognizing that every particle within this body is traversing a path that maintains a consistent distance from a specific plane. This concept is fundamental in the study of physics and mechanical engineering, and it allows us to comprehend better how objects move in space.
Planar motion is typically divided into three distinct categories. The first is rectilinear translation, demonstrated by a subway train that moves along...
440
Relative Motion Analysis using Rotating Axes01:25

Relative Motion Analysis using Rotating Axes

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Consider a component AB undergoing a linear motion. Along with a linear motion, point B also rotates around point A. To comprehend this complex movement, position vectors for both points A and B are established using a stationary reference frame.
However, to express the relative position of point B relative to point A, an additional frame of reference, denoted as x'y', is necessary. This additional frame not only translates but also rotates relative to the fixed frame, making it...
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Kinematic Equations: Problem Solving01:15

Kinematic Equations: Problem Solving

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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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Absolute Motion Analysis- General Plane Motion01:24

Absolute Motion Analysis- General Plane Motion

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Visualize a drone, with its propellers spinning rapidly, hovering mid-air. The fascinating movements and operations of this drone can be comprehended by applying the principle of general plane motion.
As the drone's propellers rotate, an upward force is generated that counteracts the force of gravity, enabling the drone to lift off from the ground. This initial movement of the drone is along a straight path, representing a form of translational motion. In this phase, every point on the...
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相关实验视频

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Operation of the Collaborative Composite Manufacturing CCM System
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一个符合标准的连续机器人的基于模型的轨迹跟踪.

Solomon Pekris1, Robert D Williams1, Thibaud Atkins1

  • 1Department of Mechanical Engineering, University of Bath, Bath, United Kingdom.

Frontiers in robotics and AI
|May 1, 2024
PubMed
概括

这项研究介绍了一种用于肌驱动连续机器人的新型前控制,实现9.5%的轨迹跟踪精度. 这提高了微创手术应用的精度.

科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 医疗工程 医疗工程
  • 控制系统 控制系统

背景情况:

  • 连续机器人对于微创手术至关重要,提供自主导航和降低碰撞风险.
  • 需要有效的控制策略来提高这些合规机制的操作精度.

研究的目的:

  • 开发和验证一种用于肌驱动连续机器人的新型前控制方法.
  • 为了提高轨迹跟踪的准确性和可重复性,用于增强的外科应用.

主要方法:

  • 利用Cosserat的棒理论来进行机器人行为的数学模型.
  • 实现隐式时间分类,以简化实时效率的管理方程.
  • 为机器人尖端的二维轨迹跟踪设计了一个控制策略.

主要成果:

  • 在六个轨迹上的实验验证证明了对照方法的有效性.
  • 使用运动捕捉系统,实现了在9.5%以内的轨迹跟踪精度.
  • 在多个实验运行中展示了一致的重复性.

结论:

  • 拟议的控制方法代表了对符合连续机器人的精确控制的重大进步.
关键词:
符合要求的机器人连续机器人机器人连续机器人机器人控制机器人控制机器人机器人建模机器人建模轨迹跟踪 轨迹跟踪 轨迹跟踪

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  • 经过证明的准确性和可重复性提高了这些机器人的潜力,在最少的侵入性手术.
  • 这项研究为外科手术机器人技术的进一步开发和应用铺平了道路.