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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...
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Residual Stresses in Bending01:18

Residual Stresses in Bending

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In the study of elastoplastic members subjected to bending moments, understanding the loading and unloading phases is crucial for assessing material behavior and structural integrity. During the loading phase, as the bending moment increases, the material initially responds elastically, adhering to Hooke's Law, where stress is directly proportional to strain. When the load exceeds the yield strength, plastic deformation occurs, resulting in permanent strain and deformation that remains even...
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Bending and Torsional Moments01:20

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Bending and torsional moments are two fundamental concepts in structural engineering. They play an important role in understanding the behavior of materials and structures under different loading conditions.
The reaction developed in a structural element when subjected to an external force causes the element to bend. When a structural element bends upwards, it creates compressive normal forces on the top and tensile normal forces on the bottom, resulting in a couple that determines the bending...
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Mechanical Systems01:22

Mechanical Systems

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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...
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Virtual Work for a System of Connected Rigid Bodies01:06

Virtual Work for a System of Connected Rigid Bodies

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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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Eccentric Axial Loading in a Plane of Symmetry01:16

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Eccentric axial loading occurs when an axial load is applied away from the centroidal axis of a structural member. This scenario is common in engineering, where structural elements may not be directly aligned due to various design or functional requirements.
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一个滚动的软机器人,由本地快速穿过曲驱动.

Pengfei Yang1, Yuqing Mao1, Hong Liu1

  • 1School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China.

Soft robotics
|December 12, 2024
PubMed
概括
此摘要是机器生成的。

这项研究介绍了一种新的滚动软机器人,利用快速穿来提高速度和能源效率. 该机器人在多样化和复杂的地形上表现出了显著的适应能力.

关键词:
这是一个可视化的可视化.气动驱动的执行方式滚动机制的滚动机制软机器人的软机器人

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 软机器人软机器人 软机器人软机器人
  • 机械工程 机械工程

背景情况:

  • 现有的滚动软机器人在平衡机动车速,能源效率和地形适应性方面面临着挑战.
  • 当前设计的局限性阻碍了它们在各种环境条件下的性能.

研究的目的:

  • 提出和分析一款由本地快速穿越曲驱动的新型滚动软机器人.
  • 为了提高软机器人的机动性能,速度和能源效率.
  • 调查和验证机器人适应复杂地形的适应性.

主要方法:

  • 开发一个滚动软机器人,使用可变结构来增强机动.
  • 建立基于分叉和能量原理的理论框架来分析滚动机制.
  • 试验调查和验证负载位置和几何参数对滚动性能的影响.

主要成果:

  • 软机器人可以实现每秒0.95个身体长度 (BL/s) 的运动速度.
  • 由于滚动过程中的稳定配置,观察到最小的能量损失.
  • 在复杂的地形上表现出适应能力,包括爬上15毫米的台阶,驾驶18.36°的斜坡,穿越90毫米的间隙 (0.443 BL).

结论:

  • 拟议的滚动软机器人由快速曲驱动,提供卓越的机车运动速度和能源效率.
  • 机器人对具有挑战性和复杂的地形表现出显著的适应能力.
  • 这项研究为探索和医学应用的滚动软机器人技术的未来发展提供了宝贵的见解和灵感.