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相关概念视频

Application of Pascal's Law01:03

Application of Pascal's Law

Pascal's experimentally proven observations—that a change in pressure applied to an enclosed fluid is transmitted undiminished throughout the fluid and to the walls of its container—provide the foundations for hydraulics, one of the most important developments in modern mechanical technology.
Hydraulic systems are used to operate automotive brakes, hydraulic jacks, and numerous other mechanical systems. We can derive a relationship between the forces in a simple hydraulic system by applying...
Mechanism of Breathing III: The Accessory Muscles01:21

Mechanism of Breathing III: The Accessory Muscles

The Role of Accessory Muscles in the Respiratory System
The respiratory system is a complex network that relies on primary respiratory muscles like the diaphragm, but also involves accessory muscles to enhance lung expansion and airflow during both inhalation and exhalation.
Enhancing Inhalation with Accessory Muscles:
Accessory muscles such as the sternocleidomastoid, scalene, intercostal, and abdominal muscles are crucial when additional respiratory effort is required, such as during deep...
Machines01:19

Machines

Machines are complex structures consisting of movable, pin-connected multi-force members that work together to transmit forces. One example of a machine is the cutting plier, which is used to cut wires by applying forces to its handles. When equal and opposite forces are exerted on the handles of the cutting plier, they cause the cutting edges to come together and apply equal and opposite reaction forces on the wire, which are greater than the applied forces.
A free-body diagram of the...
Tension01:10

Tension

Tension is a force along the length of a medium, in particular, a force carried by a flexible medium, such as a rope or cable. The word "tension" comes from Latin, meaning "to stretch". Not coincidentally, the flexible cords that carry muscle forces to other parts of the body are called tendons. Any flexible connector, such as a string, rope, chain, wire, or cable, can exert pull only parallel to its length; so, a force carried by a flexible connector is a tension with a direction parallel to...
Fascicle Arrangement in Skeletal Muscles01:25

Fascicle Arrangement in Skeletal Muscles

Fascicles are bundles of muscle fibers in a skeletal muscle. Muscle fascicle arrangement is directly associated with the power and range of motion of various muscles. The configuration of these fascicles can vary, leading to different functional outcomes.
The four primary types of muscle based on fascicle arrangement are:
Bioreactor Controls-I01:28

Bioreactor Controls-I

Maintaining optimal conditions within fermenters is essential for maximizing microbial productivity and ensuring process efficiency. This lesson focuses on key parameters—temperature, foam, pH, carbon dioxide, oxygen, and pressure—and their precise measurement and control strategies in fermentation systems.Temperature ControlTemperature regulation is critical due to the exothermic nature of many fermentation processes. In small laboratory fermenters, temperature is commonly monitored using...

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相关实验视频

Updated: Jul 8, 2026

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
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多段可伸缩软操纵器由气动带合机制驱动.

Hongxi Yang1, Yufeng Zeng1, Zeyu Zhong1

  • 1Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou 511442, China.

Biomimetics (Basel, Switzerland)
|October 28, 2025
PubMed
概括
此摘要是机器生成的。

本研究介绍了一种新的多段可伸缩软操纵器 (MSESM),用于复杂环境中的高精度控制. 创新的设计和混合控制方法显著减少软机器人的跟踪错误.

关键词:
连续机器人机器人连续机器人混合动力驱动的启动方式混合动力控制混合动力控制动态建模的动态建模神经网络的神经网络的神经网络软的操纵者 软的操纵者轨迹跟踪 轨迹跟踪 轨迹跟踪

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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
  • 控制系统 控制系统

背景情况:

  • 与刚性机器人相比,连续机器人提供了高灵活性,但缺乏精确控制.
  • 现有的软操纵器很难平衡适应性和准确的运动.
  • 在软机器人系统中实现高精度控制仍然是一个关键的挑战.

研究的目的:

  • 引入一个创新的多段可伸缩软操纵器 (MSESM),具有增强的刚性和混合控制策略.
  • 为了证明将恒定曲率 (CC) 物理先验与数据驱动的神经网络相结合的可行性,以改善控制.
  • 验证软操纵器的实用方法,这些软操纵器将灵活性与高精度能力相结合.

主要方法:

  • 开发了一种多段可伸缩软操纵器 (MSESM),使用气动-肌混合动力,现成的 bellows 和 3D 打印的部件.
  • 实施了差异度设计,以增加曲,轴度和扭矩阻力,最大限度地降低分段间合.
  • 提出了一种混合控制方法,将恒定曲率 (CC) 物理前置与数据驱动的神经网络集成在一起.

主要成果:

  • 在MSESM取得的扩展比率高达156.85%.
  • 不同硬度设计增加了曲硬度4-5倍,轴硬度10倍,并增强了扭矩阻力.
  • 与纯神经网络控制器相比,混合控制方法减少了60.43%的平均轨迹跟踪误差.

结论:

  • 开发的MSESM有效地将高灵活性与高精度控制结合在一起.
  • 混合控制策略显著提高了软操纵器的跟踪精度.
  • 这项研究为先进的软机器人应用提供了实用和验证的解决方案.