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相关概念视频

Plastic Deformation in Circular Shafts01:20

Plastic Deformation in Circular Shafts

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When materials are subjected to forces that surpass their yield strength, they undergo a process known as plastic deformation. This results in a permanent alteration or strain in their structure. This concept can be specifically applied to circular shafts, where the deformation leads to a change in its shape. The precise evaluation of this plastic deformation requires understanding the stress distribution within the circular shaft, which is achieved by calculating the maximum shearing stress in...
182
Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

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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...
657
Kinematic Equations for Rotation01:30

Kinematic Equations for Rotation

320
In mechanics, when one observes a rigid body in rotational motion with constant angular acceleration, it is possible to establish equations for its rotational kinematics. This process resembles how linear kinematics are dealt with in simpler motion studies.
For instance, imagine a point A on a rigid body engaged in circular motion. The translational velocity of this particular point can be calculated by taking the time derivatives of the displacement equation, which essentially measures the...
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One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

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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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Simplification of a Force and Couple System: II01:23

Simplification of a Force and Couple System: II

276
In a three-dimensional system, multiple forces can act on an object. These forces can be combined into a single equivalent force, known as the resultant force. Similarly, the moments generated by these forces can be combined into a single equivalent moment, the resultant couple moment. In certain situations, these two entities may not be mutually perpendicular, meaning they do not have a 90-degree angle between them. This unique condition requires a deeper understanding of the interplay between...
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Deformation of Member under Multiple Loadings01:11

Deformation of Member under Multiple Loadings

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When a rod is made of different materials or has various cross-sections, it must be divided into parts that meet the necessary conditions for determining the deformation. These parts are each characterized by their internal force, cross-sectional area, length, and modulus of elasticity. These parameters are then used to compute the deformation of the entire rod.
In the case of a member with a variable cross-section, the strain is not constant but depends on the position. The deformation of an...
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相关实验视频

Updated: Jun 14, 2025

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms
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机器人SDF:用于机器人手臂的隐式形态建模

Yusheng Yang1,2, Jiajia Liu1,2, Hongpeng Zhou3

  • 1School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China.

Sensors (Basel, Switzerland)
|August 29, 2024
PubMed
概括

机器人SDF使用集成的关节模型精确地模拟任何姿势中的机器人手臂形状. 这种隐式方法改善了动态形状表示,以更好地规划运动和避免碰撞.

关键词:
碰撞检测,碰撞检测,碰撞检测.机器人形态表示机器人形态表示签名的距离函数函数

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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
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Author Spotlight: Revolutionizing Remote Surgery with Augmented Reality and Robotics for Enhanced Precision and Accessibility
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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 计算机视觉 计算机视觉
  • 计算几何学的计算几何学

背景情况:

  • 准确的机器人手臂形态对于运动规划和避免碰撞至关重要.
  • 传统的方法在计算成本和动态形状的细节之间的权衡中扎.
  • 签名距离功能提供了优势,但面临着无限机器人姿势的挑战.

研究的目的:

  • 介绍RobotSDF,一种隐式建模方法,用于在任意姿势中精确地表达机器人形态.
  • 解决现有代表动态机器人形状的方法的局限性.
  • 提高机器人运动规划和避免碰撞的效率和准确性.

主要方法:

  • 机器人SDF模型将机器人形态作为由关节配置驱动的集成隐性关节模型.
  • 动态形状变化是通过联合坐标系统中的查询点的坐标转换来处理的.
  • 使用一种隐性,姿势意识的方法,避免对每个姿势进行独立建模.

主要成果:

  • 机器人SDF准确地描绘了不同姿势的机器人形状,直至毫米级.
  • 与神经-JSDF和配置空间距离场算法相比,分别实现了38.65%和66.24%的改进.
  • 在模拟和现实世界的人机器人协作中证明了有效的避免碰撞.

结论:

  • 机器人SDF为隐式机器人形态建模提供了精确有效的方法.
  • 该方法有效地处理动态形状变化和任意机器人姿势.
  • 机器人SDF显著提升了机器人运动规划和安全的人机交互的能力.