从应力触觉传感器阵列进行三轴接触力估计的硬件实现:一种高效的设计方法

The general state of stress within a material can be accurately depicted using a stress tensor. This tensor encapsulates the internal forces distributed within a material subjected to external forces or deformations.
Specifically, consider a tetrahedral element where one face, labeled XYZ, is perpendicular to the line OA, and the remaining faces align with the coordinate axes with point O as the origin. At any point, such as point O, the stress tensor can be used to determine the stress...

To grasp the intricacy of real-world conditions where multiple loads are applied simultaneously to a structure, one might visualize a section passing through a specific point within a body, aligned parallel to the xy plane. This section is subjected to various forces, including original loads, normal forces, and shearing forces.
The shearing force, possessing potential directionality within the plane of the section, is simplified into two component forces running parallel to the x and y axes....

Stress analysis under multiple loading conditions is intricate, necessitating a comprehensive grasp of normal and shearing stresses. Consider a small cube at point O, subjected to stress on all six faces, visible or not. Normal stress components σx, σy, σz act perpendicularly to the x, y, and z axes. Shearing stress components τxy and τxz are exerted on faces perpendicular to these axes.
Interestingly, the hidden cube faces also experience these stresses, equal and...