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相关概念视频

Rolling Resistance: Problem Solving01:17

Rolling Resistance: Problem Solving

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Rolling resistance, also known as rolling friction, is the force that resists the motion of a rolling object, such as a wheel, tire, or ball, when it moves over a surface. It is caused by the deformation of the object and the surface in contact with each other, as well as other factors like internal friction, hysteresis, and energy losses within the materials. Rolling resistance opposes the object's motion, requiring additional energy to overcome it and maintain movement. In practical...
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Rolling Without Slipping01:09

Rolling Without Slipping

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People have observed the rolling motion without slipping ever since the invention of the wheel. For example, one can look at the interaction between a car's tires and the surface of the road. If the driver presses the accelerator to the floor so that the tires spin without the car moving forward, there must be kinetic friction between the wheels and the road's surface. If the driver slowly presses the accelerator, causing the car to move forward, the tires roll without slipping. It is...
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Rolling With Slipping01:14

Rolling With Slipping

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Rolling with slipping is a physical phenomenon that occurs when a rolling object experiences both rotational and linear motion but also experiences frictional forces that cause slipping. This phenomenon can occur in various situations, such as when a tire rolls on a wet road or a ball rolls on a rough surface.
An object's rolling motion is characterized by its rotation around its axis, while linear motion refers to the object's translational motion along a surface. Frictional forces can...
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Rolling Resistance01:21

Rolling Resistance

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When a solid cylinder rolls steadily on a rigid surface, the normal force applied by the surface on the cylinder is perpendicular to the tangent at the contact point. However, since no materials are entirely rigid, the surface's reaction to the cylinder involves a range of normal pressures.
For instance, imagine a hard cylinder rolling on a comparatively soft surface. The cylinder's weight compresses the surface beneath it. As the cylinder moves, the material in front of it slows down due to...
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Torque Free Motion01:15

Torque Free Motion

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The torque-free motion refers to the movement of a rigid body in space when no external torques are acting upon it. This type of motion can be observed in environments where there are no external forces or frictions, like in outer space. For example, a rotation of Mars in space is a torque-free motion. Mars is an axisymmetric object, meaning it has an axis of symmetry along which it rotates, designated as the z-axis. The rotating frame of reference is defined such that the center of mass of...
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软管状表面滚动机器人 滚动机器人

Zihao Yuan1, Feifei Chen1,2, Xinjia Huang1

  • 1State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China.

Soft robotics
|November 3, 2025
PubMed
概括
此摘要是机器生成的。

这项研究介绍了一种新型软机器人,它通过使用内部肌肉激活来滚动管状表面来模仿Drosophila幼虫. 这种软机器人实现了连续的非同轴滚动,在复杂的管道环境中实现了适应性和快速导航.

关键词:
生物模拟机器人 生物模拟机器人气动驱动的执行方式滚动机制的滚动机制这是一种柔软的机动运动.有管状表面的机器人

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 软机器人软机器人 软机器人软机器人
  • 生物启发工程 生物启发工程

背景情况:

  • 软体有机体,如虫幼虫在管状表面表现出高效的运动.
  • 在软机器人中复制这种滚动机器人仍然是一个重大挑战.
  • 现有的软机器人通常依靠重力或外部机制进行管状导航.

研究的目的:

  • 开发一个单片软机器人,能够在管状结构上进行自动推进的滚动机车.
  • 为了研究一种由顺序肌肉激活驱动的新型非同轴滚动机制.
  • 为了提高机器人的适应性和抓地力,以导航多样化和复杂的管状几何形状.

主要方法:

  • 设计和制造一个单片软机器人,集成轴心肌肉.
  • 实现肌肉的顺序激活,以产生分布式旋转扭矩.
  • 积极调整机器人的变形和抓地力,以适应表面.
  • 在各种管状结构 (直径不同,螺旋,非圆柱形) 和地形上测试机器人的性能.

主要成果:

  • 软机器人成功地实现了沿着管状表面连续,非同轴滚动.
  • 这种新的滚动机制使得独立于重力的快速导航成为可能.
  • 机器人展示了适应各种管道几何形状,狭窄空间和地形过渡的能力.
  • 积极控制变形和抓地力,增强稳定性和机动性.

结论:

  • 一种新的软机器人设计,利用连续的肌肉启动,实现高效的非同轴滚动机动.
  • 这种生物灵感的方法克服了当前用于管状环境的软机器人运动方法的局限性.
  • 机器人的适应性和性能凸显了其在复杂,狭窄的空间中进行检查,维护和探索的潜力.