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相关概念视频

One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

470
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...
470
Controller Configurations01:22

Controller Configurations

89
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
89
Support Reactions in Three Dimensions01:27

Support Reactions in Three Dimensions

943
Support reactions in three dimensions help maintain the stability and equilibrium of various structures and systems. These reactions prevent the system from translating and rotating, ensuring the design can withstand external forces and perform its intended function efficiently and safely. Some of the supports providing support reactions in three dimensions are discussed below:
Ball and Socket Joint is one of the supports allowing free rotation about any axis. This freedom of rotation is...
943
Feedback control systems01:26

Feedback control systems

296
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
296
Stability of structures01:14

Stability of structures

157
In mechanical engineering, the stability of systems under various forces is critical for designing durable and efficient structures. One fundamental way to explore these concepts is by analyzing systems like two rods connected at a pivot point, O, with a torsional spring of spring constant k at the pivot point. This system is similar in appearance to a scissor jack used to change tires on a car. In this case, the arms of the linkage (equivalent to the rods in this system) are entirely vertical,...
157
PD Controller: Design01:26

PD Controller: Design

199
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
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低档折叠机制用于多DoF反控制.

Hwayeong Jeong1, Jung Kim2, Jamie Paik1

  • 1Reconfigurable Robotics Laboratory, EPFL, 1015, Lausanne, Switzerland. jamie.paik@epfl.ch.

Soft matter
|June 13, 2025
PubMed
概括
此摘要是机器生成的。

这项研究介绍了一种嵌入式气动系统,具有超薄的执行器,传感器和传动器,用于软机器人. 它可以实现适应性,可重新配置的结构,并对复杂的任务进行精确的反控制.

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 材料科学 材料科学 材料科学
  • 机械工程 机械工程

背景情况:

  • 软结构通过多个自由度 (DoF) 提供适应性.
  • 将可重新配置的机器人系统集成到软结构中是有效的力/扭矩传输的关键.
  • 在优化软系统中执行,传感和传输组件的空间分布方面存在挑战.

研究的目的:

  • 为软结构提供一个嵌入式气动系统,具有超薄的执行器,可集成的传感器和模块化变速箱.
  • 为了使机器人系统的无,空间高效的集成和灵活的重新配置.
  • 为了证明精确控制折叠序列和角度在原创灵感的表面.

主要方法:

  • 开发了一种具有滚动隔膜执行器的超薄气动系统.
  • 集成一个光学传感器模块用于低调的反.
  • 采用模块化变速箱,以实现可适应的冲程长度和重新配置.
  • 实施反控制,以原创灵感的表面.

主要成果:

  • 该系统实现了高面积比 (约. 10) 和中风长度高达其厚度的五倍.
  • 滚动膜机制最大限度地减少了摩擦和关节应力.
  • 证明了折叠序列和角度的精确反控制.
  • 这些组件被紧地嵌入到一个灵感来自于原创的表面中.

结论:

  • 拟议的系统为具有复杂几何形状的大型机器人系统提供了一个可扩展和可定制的基础.
  • 它可以在软机器人应用中实现分布式控制和适应性.
  • 该技术支持在可重新配置结构中无部署和增强性能.