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相关概念视频

Planar Rigid-Body Motion01:22

Planar Rigid-Body Motion

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Understanding the movement of a rigid body in planar motion involves recognizing that every particle within this body is traversing a path that maintains a consistent distance from a specific plane. This concept is fundamental in the study of physics and mechanical engineering, and it allows us to comprehend better how objects move in space.
Planar motion is typically divided into three distinct categories. The first is rectilinear translation, demonstrated by a subway train that moves along...
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Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

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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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One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

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In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
875
Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

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Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
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Kinematic Equations: Problem Solving01:15

Kinematic Equations: Problem Solving

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When analyzing one-dimensional motion with constant acceleration, the problem-solving strategy involves identifying the known quantities and choosing the appropriate kinematic equations to solve for the unknowns. Either one or two kinematic equations are needed to solve for the unknowns, depending on the known and unknown quantities. Generally, the number of equations required is the same as the number of unknown quantities in the given example. Two-body pursuit problems always require two...
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Two-Dimensional Force System: Problem Solving01:29

Two-Dimensional Force System: Problem Solving

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Solving problems related to two-dimensional force systems is an essential aspect of mechanics and engineering. By applying the principles of vector analysis and force equilibrium, one can determine the effect of multiple forces acting on an object in a two-dimensional space.
The first step to solving a two-dimensional force system problem is to draw a free-body diagram of the object under consideration. This diagram helps identify all the external forces acting on the object, including their...
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Operation of the Collaborative Composite Manufacturing CCM System
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动态质量意识路径规划6 DoF机器人臂使用BiRRT和基于B spline路径的元启发优化.

Abdelrahman T Elgohr1,2, Maher Rashad3, Eman M El-Gendy4

  • 1Mechatronics Engineering Department, Faculty of Engineering, Mansoura University, Mansoura, Egypt. atarek@horus.edu.eg.

Scientific reports
|February 22, 2026
PubMed
概括

这项研究引入了工业机器人的新路径规划框架. 它使用优化算法显著减少了94-96%的运动冲动,在复杂的工作空间中确保了更安全,更顺的操作.

关键词:
在B-spline上使用.这是一个双RRT.这就是GWO GWO.超启发式优化优化方法路线规划 路线规划 路线规划在WGA中,WGA就是WGA.

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 人工智能的人工智能
  • 机械工程 机械工程

背景情况:

  • 工业机器人需要安全,精确的运动,在杂乱的工作空间.
  • 现有的路径规划方法与动态约束和运动质量作斗争.

研究的目的:

  • 开发和评估一个为6DOF工业机器人手臂路径规划和优化的两阶段框架.
  • 为了最大限度地减少轨迹长度,能源消耗和关节抽动,以提高运动质量.

主要方法:

  • 一个B-spline和双向RRT-Connect计划器生成了一个无碰撞的参考运动.
  • 鱼遗传算法 (WGA) 和灰狼优化器 (GWO) 优化了基线轨迹.
  • 优化器将一个复合目标最小化,包括轨迹长度,能量和冲击.

主要成果:

  • 与基线相比,优化的轨迹减少了94-96%的冲动.
  • 观察到轨迹长度和能源消耗的最小增加.
  • 实现了符合动力学约束的动态光滑,无碰撞的轨迹.

结论:

  • 拟议的框架有效地减少了工业机器人运动的冲动.
  • 这种方法提供了一个即将实施的解决方案,用于在复杂环境中节能,流的机器人运动.