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相关概念视频

Method of Joints: Problem Solving II01:30

Method of Joints: Problem Solving II

480
Consider a truss structure with frictionless joints fixed to a wall and roller support. If a force of 150 N is applied to joint A, the forces in each member of the truss can be determined using the method of joints.
480
Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

379
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...
379
Method of Joints: Problem Solving I01:30

Method of Joints: Problem Solving I

1.0K
The method of joints is a commonly used technique to analyze the forces in structural trusses. The method is based on the principle of equilibrium, which assumes that the truss members are connected by frictionless pins. The forces at each joint can be determined by considering the equilibrium of the forces acting on that joint. Consider a truss structure with two forces of 20 N and 10 N acting at joints C and D, respectively. The method of joints can be used to determine the forces FCB, FDC,...
1.0K
Design Example: Traverse Angle Computations01:25

Design Example: Traverse Angle Computations

48
Traverse angle computations are a critical component of surveying, used to compute the internal angles within a closed traverse. A traverse consists of a series of connected lines forming a closed loop, often used for land boundary delineation or mapping. Calculating the internal angles ensures accuracy in the traverse geometry and is essential for checking survey data integrity.The process begins with known azimuths and bearings of the traverse sides. Internal angles at each vertex are...
48
Angle of Twist: Problem Solving01:13

Angle of Twist: Problem Solving

250
An electric motor applies a torque of 700 N·m to an aluminum shaft, triggering a stable rotation. Two pulleys, B and C, are subjected to torques of 300 N·m and 400 N·m, respectively. The modulus of rigidity is provided as 25 GPa. With the knowledge of the length and diameter of each segment, the twist angle between the two pulleys can be computed. First, a section cut is made between pulleys B and C, and the cut cross-section is analyzed using a free-body diagram. Given that the...
250
One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

444
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...
444

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CP-QRRT*:一个路径规划算法,用于超冗余操纵器,考虑关联角度限制.

Tianya Wang1, Guoliang Ma1, Lisong Xu1

  • 1School of Energy and Power Engineering, Nanjing University of Science and Technology, Nanjing 210094, China.

Sensors (Basel, Switzerland)
|March 17, 2025
PubMed
概括

一个新的算法,CP-QRRT*,改善了在狭窄的空间中超冗余操纵器 (HRMs) 的路径规划. 它确保了关节角度的约束,创造了更短,更快的路径.

科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 人工智能的人工智能
  • 机械工程 机械工程

背景情况:

  • 超冗余操纵器 (HRMs) 在狭窄空间中的路径规划面临挑战.
  • 现有的算法在关节角度约束,路径冗余和长时间计算方面遇到了困难.

研究的目的:

  • 提出一种新的算法,CP-QRRT*,用于HRM的高效和限制意识的路径规划.
  • 在路径质量和规划效率方面解决以前方法的局限性.

主要方法:

  • 利用粒子群集优化 (PSO) 来增强RRT算法的定向采样.
  • 集成的祖先节点从Quick-RRT*向后追踪,以防止本地最佳状态.
  • 实施了一个约束模块,以强制执行HRM的最大关节角度限制.

主要成果:

  • CP-QRRT*算法成功满足了HRM的关节角度约束.
  • 与现有方法相比,计划的路径被发现更短,需要更少的规划时间.
  • 在复杂路径规划任务的模拟实验中表现得更好.

结论:

  • CP-QRRT*为HRM在封闭环境中的路径规划提供了一个强大的解决方案.
关键词:
公共服务人员 (PSO)在RRT上,RRT是RRT.超多余的操纵器是超多余的关节角度的限制 关节角度的限制路径规划路径规划路径规划

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  • 该算法提高了规划效率,并确保遵守关键关节角度限制.
  • 这一进步有助于在受限制的环境中更有效地操纵机器人.