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相关概念视频

Machines: Problem Solving II01:30

Machines: Problem Solving II

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Machines are complex structures consisting of movable, pin-connected multi-force members that work together to transmit forces. Consider a lifting tong carrying a 100 kg load. It comprises movable sections DAF and CBG linked together with member AB.
373
Cable: Problem Solving01:29

Cable: Problem Solving

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When dealing with a cable that is fixed to two supports and subjected to uniform loading, it is crucial to determine the maximum tension in the cable. This process can be broken down into several key steps, as outlined below:
373
Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

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A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
863
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...
231
PD Controller: Design01:26

PD Controller: Design

353
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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Mechanical Systems01:22

Mechanical Systems

291
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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相关实验视频

Updated: Sep 13, 2025

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
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模块化电缆驱动软机器人手臂的设计和非线性建模.

Xinda Qi1, Yu Mei1, Dong Chen1

  • 1Department of Electrical and Computer Engineering, Michigan State University, Lansing, MI, 48824, USA.

IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division
|July 30, 2025
PubMed
概括

我们开发了一个新的柔软的机器人手臂,灵感来自章鱼的触角. 我们的新型建模方法显著减少了跟踪错误,提高了机器人手臂的精度和工作空间.

关键词:
通过电缆驱动的电缆驱动.动力学建模运动学建模软操纵者是一种软的操纵者.软机器人软机器人 软机器人静态模型建模 静态建模

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科学领域:

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

背景情况:

  • 软的机器人手臂为人机交互提供了高度的合规性和安全性.
  • 现有的模型往往很难准确地捕捉到电缆驱动软机器人的复杂非线性动态.

研究的目的:

  • 提出一个新的多部分电缆驱动软机器人手臂.
  • 开发一种新的分析静态和动态建模方法,以提高预测准确性和运动规划.

主要方法:

  • 使用3D打印的末盖和造,制造了一个模块化的软机器人手臂.
  • 基于电缆长度的分析静态模型的开发,以描述基于电缆长度的曲曲.
  • 从静态模型推导出动力模型和运动规划算法.

主要成果:

  • 拟议的分析静态模型与基线模型相比,表现出优异的预测性能,特别是在大型曲条件下.
  • 实验证实了软臂的高灵活性和大工作空间.
  • 基于新模型的运动计划算法实现了高达52%的追踪误差.

结论:

  • 这种新的建模方法准确地捕捉了电缆驱动软机器人手臂的非线性动态.
  • 拟议的软机器人手臂具有出色的灵活性和工作空间,并提高了运动控制的准确性.