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相关概念视频

Deformation in a Circular Shaft01:10

Deformation in a Circular Shaft

874
One of the distinctive characteristics of circular shafts is their ability to maintain their cross-sectional integrity under torsion. In other words, each cross-section continues to exist as a flat, unaltered entity, simply rotating like a solid, rigid slab. To understand the distribution of shearing stress within such a shaft, consider a cylindrical section inside this circular shaft. This section has a length of L and a radius of R, with one end fixed. The radius of the cylindrical section is...
874
Plastic Deformation in Circular Shafts01:20

Plastic Deformation in Circular Shafts

445
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...
445
Deformation of Member under Multiple Loadings01:11

Deformation of Member under Multiple Loadings

445
When a rod is made of different materials or has various cross-sections, it must be divided into parts that meet the necessary conditions for determining the deformation. These parts are each characterized by their internal force, cross-sectional area, length, and modulus of elasticity. These parameters are then used to compute the deformation of the entire rod.
In the case of a member with a variable cross-section, the strain is not constant but depends on the position. The deformation of an...
445
Temperature Dependent Deformation01:12

Temperature Dependent Deformation

367
In a nonhomogeneous rod made up of steel and brass, restrained at both ends and subjected to a temperature change, several steps are involved in calculating the stress and compressive load. Due to the problem's static indeterminacy, one end support is disconnected, allowing the rod to experience the temperature change freely. Next, an unknown force is applied at the free end, triggering deformations in the rod's steel and brass portions. These deformations are then calculated and added...
367

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在像内镜一样的软机器人中编码所需的变形形状.

Daniel S Esser1, Margaret F Rox1, Robert P Naftel2

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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:

  • 传统的连续机器人模型假设均的刚性,限制了设计的可能性.
  • 增材制造技术的进步使得可以创建具有复杂,空间变化的刚度配置文件的机器人.
  • 对于均硬度机器人的现有建模技术并不直接适用于可变硬度设计.

研究的目的:

  • 为具有几何变化的刚度的连续机器人开发一个建模框架.
  • 展示如何利用不同的刚度来增强机器人运动和工作空间.
  • 通过实验验证拟议的建模方法,并探索其在神经外科任务中的应用.

主要方法:

  • 将外部力量和时刻投射到机器人的度中心 (Young的模量加权中心).
  • 利用可变刚度机器人中的刚度中心与均刚度机器人中的曲脊柱之间的类比.
  • 将已建立的Cosserat Rod建模技术应用于具有硬度变化的机器人.

主要成果:

  • 度中心概念有效地简化了具有不均度的连续机器人的建模.
  • 这种类比允许直接应用之前的Cosserat Rod建模工作到可变刚度机器人.
  • 使用多材料,软,肌驱动机器人的实验验证证证了模型的准确性.
  • 刚度变化被证明有可能改善模拟神经外科任务中的性能.

结论:

  • 在连续机器人建模中放松统一的刚性假设,为设计和控制开辟了新的途径.
  • 度投影方法的中心为分析可变度机器人提供了一种强大而可泛化的方法.
  • 该框架促进了先进制造技术的整合,以创建复杂的软机器人.
  • 这些发现对提高机器人的性能在诸如神经外科手术等具有挑战性的应用中具有实际意义.