优化驱动的单立体软硬的设计.
Pierluigi Mansueto1, Mihai Dragusanu2, Anjum Saeed2
1Department of Information Engineering, University of Florence, Firenze, Italy.
Soft robotics
|August 13, 2025
概括
在软机器人技术中,弥合模拟与真实之间的差距至关重要. 本研究介绍了一种使用先进的快速原型和优化的新方法,以减少制造错误并加速软机器人系统的开发.
科学领域:
- 软机器人软机器人技术是什么
- 机器人工程 机器人工程 机器人工程
- 制造过程中的制造工艺.
背景情况:
- 模拟到真实转移是软机器人的一个主要障碍.
- 像3D打印和成型这样的制造方法引入了不可预测性和设计偏差.
- 这需要多个原型,减缓了开发.
研究的目的:
- 提出一种新的方法来改善软机器人中的模拟到真实转移.
- 为了减少设计和原型制作过程中所需的代.
- 为了确定当前制造可实现的实际刚度参数.
主要方法:
- 使用快速原型技术,通常用于刚性结构,用于准确制造符合要求的组件.
- 实施高效的优化框架,以尽量减少对广泛原型设计的需求.
- 专注于确定与制造能力一致的刚性参数.
主要成果:
- 在符合要求的部件中减少制造错误.
- 在代设计和原型制造周期中显著减少.
- 成功确定可实现的刚性参数.
- 在不影响性能的情况下,证明了原型开发效率的提高.
结论:
- 拟议的方法有效地弥合了软机器人的模拟与真实差距.
- 先进的快速原型和优化提高了软机器人系统开发的可靠性和速度.
- 这种方法促进了软机器人技术的更快,更可靠的部署.
相关概念视频
01:16Design of Transmission Shafts
457
The design of a transmission shaft is governed by two primary specifications: the power it transmits and its rotational speed. These parameters guide the selection of the shaft's material and cross-sectional dimensions, ensuring that the material's maximum shearing stress remains within the elastic limit while transmitting the desired power at the given speed. The system's power is intrinsically linked to the applied torque. The torque applied to the shaft can be calculated by...
457
01:22Machines: Problem Solving I
408
A toggle clamp is a mechanical device commonly used for holding and clamping objects in various applications, such as woodworking, metalworking, and assembly operations. Consider a toggle clamp subjected to a force of 200 N at the handle. The vertical clamping force can be calculated, provided the dimensions of the toggle clamp are known.
The toggle clamp system is a machine structure consisting of movable, pin-connected multi-force members that form a stabilized system to transmit forces. The...
The toggle clamp system is a machine structure consisting of movable, pin-connected multi-force members that form a stabilized system to transmit forces. The...
408
01:14Design Example: Managing Concrete Workability
121
This example deals with managing the workability of concrete for a raft foundation project under hot weather conditions. Workability is crucial for ensuring the concrete is easy to place, compact, and finish. In this scenario, a slump test — a common method to measure the workability of fresh concrete — initially indicated low workability. This was attributed to the rapid water loss from the concrete mix, exacerbated by the high temperatures causing the course aggregates to heat up.
121
01:22Mechanical Systems
288
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...
288
01:30Machines: Problem Solving II
367
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.
367
01:26PD Controller: Design
352
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,...
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
352