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相关概念视频

Angle of Twist: Problem Solving01:13

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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...
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The torque-free motion refers to the movement of a rigid body in space when no external torques are acting upon it. This type of motion can be observed in environments where there are no external forces or frictions, like in outer space. For example, a rotation of Mars in space is a torque-free motion. Mars is an axisymmetric object, meaning it has an axis of symmetry along which it rotates, designated as the z-axis. The rotating frame of reference is defined such that the center of mass of...
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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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高性能扭曲尼龙执行器用于软机器人

Jin Sun1, Shijing Zhang1, Jie Deng1

  • 1State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China.

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概括
此摘要是机器生成的。

研究人员开发了新的扭曲尼龙执行器 (TNA),灵感来自染色体结构. 这些增强的软执行器展示了高级软机器人应用的优越变形,力输出和负载能力.

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科学领域:

  • 软机器人软机器人 软机器人
  • 材料科学是一种材料科学.
  • 生物仿真工程 生物仿真工程

背景情况:

  • 扭曲尼龙执行器 (TNA) 在软机器人技术中提供了高负载-重量比和成本效益.
  • 目前的TNA面临着变形和输出力的局限性,阻碍了先进的应用.

研究的目的:

  • 通过创新的结构设计,提高扭曲尼龙执行器 (TNA) 的性能.
  • 探索染色体启发的策略,以改善执行器变形,力和负载能力.

主要方法:

  • 为TNAs设计了一种双层螺旋结构.
  • 开发了一种用于TNA制造的并行扭曲方法.
  • 组合双层螺旋和并行扭曲结构,以获得最佳的性能.

主要成果:

  • 双层螺旋TNA实现了60.2%的垂直和~100%的水平变形.
  • 平行扭转的TNA在15N负载下产生了11.0N的输出力和12.1%的收缩.
  • 组合结构显示,负载能力提高了439.7%.

结论:

  • 染色体启发的策略显著提高了TNA的性能.
  • 新型TNA能够实现高级软机器人功能,如高跳和精确的运动.
  • 这项工作为多功能软机器人中的高性能软执行器提供了途径.