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相关概念视频

Elastic Strain Energy for Shearing Stresses01:20

Elastic Strain Energy for Shearing Stresses

277
As discussed in previous lessons, strain energy in a material is the energy stored when it is elastically deformed, a concept crucial in materials science and mechanical engineering. This energy results from the internal work done against the cohesive forces within the material. When a material undergoes shearing stress and corresponding shearing strain, the strain energy density, which is the energy stored per unit volume, is calculated. Within the elastic limit, where the stress is...
277
Shear and Bending Moment Diagram: Problem Solving01:24

Shear and Bending Moment Diagram: Problem Solving

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When analyzing a beam supporting concentrated loads and a distributed load, drawing the shear and bending moment diagrams is essential. These diagrams help understand the internal forces and moments acting on the beam, which is crucial for designing safe and efficient structures. Follow these steps to create the shear and bending moment diagrams:
Draw a Free-Body Diagram: Start by drawing a free-body diagram of the entire beam, including the concentrated loads, distributed load, and reaction...
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Angle of Twist - Elastic Range01:13

Angle of Twist - Elastic Range

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Consider a cylindrical shaft with a length denoted by L and a consistent cross-sectional radius referred to as r. This shaft undergoes a torque at the free end. The highest shearing strain within the shaft is directly proportional to the twist angle and the radial distance from the shaft axis. When the shaft behaves elastically, this shearing strain can be articulated using variables such as the applied torque, radial distance, the polar moment of inertia, and the modulus of rigidity. By...
392
Shearing Strain01:20

Shearing Strain

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The shearing strain represents a cubic element's angular change when subjected to shearing stress. This type of stress can transform a cube into an oblique parallelepiped without influencing normal strains. The cubic element experiences a significant transformation when exposed solely to shearing stress. Its shape alters from a perfect cube into a rhomboid, clearly demonstrating the effect of shearing strain. The degree of this strain is considered positive if it reduces the angle between...
620
Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

853
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...
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Shearing Stress01:19

Shearing Stress

850
Shearing stress, denoted by the Greek letter tau (τ), is stress caused by forces acting transversely on an object. These forces create internal ones within the entity in the plane where the external forces are applied. The resultant of these internal forces is the shear in the section.
The average shearing stress can be calculated by dividing the shear by the area of the cross-section.
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Updated: Sep 9, 2025

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使用减少顺序导电模型对机器人扭曲任务进行软切割传感

Dhruv Trehan1, David Hardman1, Fumiya Iida1

  • 1Bio-Inspired Robotics Laboratory, University of Cambridge, Cambridge CB2 1PZ, UK.

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概括
此摘要是机器生成的。

研究人员开发了软机器人指尖的新模型,使用电阻断断层扫描 (EIT) 来预测螺丝刀扭转等任务中的剪切力. 通过更快,更准确的触觉,

关键词:
电阻断层扫描使用机器人工具软传感器

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科学领域:

  • 机器人技术
  • 传感器技术
  • 材料科学

背景情况:

  • 机器人的灵巧操作依赖于人工指尖的丰富触觉反.
  • 剪切传感对于扭转和拖动等任务至关重要,但使用电阻断层扫描 (EIT) 的软传感器研究有限.
  • 对于开发先进的触觉传感器来说,EIT技术是一个有前途的途径.

研究的目的:

  • 通过使用EIT进行机器人操纵来调查软切割预测.
  • 开发和分析用于将螺丝刀扭转任务与EIT传感器中的导电图的缩小序列模型.
  • 通过改进的触觉来实现高速的闭环机器人控制.

主要方法:

  • 提出并研究了基于EIT的剪切传感的五种减少顺序模型.
  • 分析了螺丝刀扭转过程中产生的EIT信号.
  • 与扭矩和直径等物理测量相关的缩小序列模型参数.

主要成果:

  • 在降低级参数和物理测量之间实现了高相关性 (扭矩为0.96,直径为0.97).
  • 通过使用拟议的模型,可以从噪音信号中推断出洞察力.
  • 展示了与传统方法不同地预计算有限元法 (FEM) 模型信号的潜力.

结论:

  • 开发的减少顺序模型有效地预测了使用EIT的机器人指尖的基于剪切的扭转.
  • 这种方法为实现实时,高速闭环机器人操纵系统提供了途径.
  • 这些发现推动了软机器人和触摸感应领域的复杂操作任务.