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相关概念视频

Torque01:10

Torque

23.1K
Torque is an important quantity for describing the dynamics of a rotating rigid body. We see the application of torque in many ways in the world, such as when pressing the accelerator in a car, which causes the engine to apply additional torque on the drivetrain. Here, we define torque and provide a framework to create an equation to calculate torque for a rigid body with fixed-axis rotation.
Torque can be considered as the rotational counterpart to force. Since forces change the translational...
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Net Torque Calculations01:19

Net Torque Calculations

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When a mechanic tries to remove a hex nut with a wrench, it is easier if the force is applied at the farthest end of the wrench handle. The lever arm is the distance from the pivot point (the hex nut in this case) to the person’s hand. If this distance is large, the torque is higher. Only the component of the force perpendicular to the lever arm contributes to the torque. Therefore, pushing the wrench perpendicular to the lever arm is more advantageous. If multiple people apply force to...
11.8K
Torque Free Motion01:15

Torque Free Motion

894
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...
894
Mechanical Efficiency of Real Machines01:14

Mechanical Efficiency of Real Machines

1.4K
The mechanical efficiency of a machine is a fundamental concept that describes how effectively a machine can convert input work into output work. According to this concept, the efficiency of a machine is equal to the ratio of the output work to the input work. An ideal machine, meaning a machine that has no energy losses, has an efficiency of one. This implies that the input work and the output work are equal.
However, in reality, no machine can be truly ideal, and all of them experience some...
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Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

1.4K
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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Mechanical Systems01:22

Mechanical Systems

734
Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
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触摸扭矩使机器人能够达到人类水平的机器人灵敏度.

Ling Wang1,2, Yu Sun1, Laihao Yang1

  • 1School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an 710049, China.

Science advances
|March 4, 2026
PubMed
概括

机器人现在可以使用一种新的扭矩-角度-压力 (TAP) 触觉传感器实现类似人类的强迫操纵. 这种传感器提供了关键的环境相互作用线索,超过了人类在复杂任务中的表现.

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科学领域:

  • 机器人和人工智能 机器人和人工智能
  • 传感器技术 传感器技术
  • 人与机器人的交互

背景情况:

  • 机器人技术中的强制操纵受到环境相互作用线索 (如碰撞,平衡和阻力) 的缺乏所阻碍.
  • 现有的机器人系统在不结构化的环境中需要精细运动控制和实时适应的任务中扎.

研究的目的:

  • 引入一种新的扭矩-角度-压力 (TAP) 触摸传感器,用于增强机器人操纵.
  • 让机器人能够感知并对环境线索做出反应,以提高复杂任务的性能.
  • 推进机器人的能力,实现类似人类的强迫操纵和协作.

主要方法:

  • 开发了一种利用磁流密度梯度的扭矩-角度-压力 (TAP) 触觉传感器.
  • 通过单一的读取通道,在广泛范围内实现双向,超灵敏和高线性传感.
  • 将TAP传感器集成到机器人系统中,用于无视觉物体放置,平衡束挑战和自适应切片.

主要成果:

  • TAP传感器在广泛范围 (±241.6 Nm) 上显示出高线性 (R2 = 0.99) 和灵敏度 (~0.1°,~0.4 Nm).
  • 配备TAP的机器人在无视觉稳定物体放置和平衡梁堆叠 (2.4秒,81.5%的成功率) 中超过了人类的性能.
  • 带有TAP传感器的机器人展示了具有实时调整的自适应戴康切片,这是当前系统中罕见的功能.

结论:

  • 塔普触觉传感器显著提升了机器人触觉传感能力.
  • 这项技术可以在非结构化环境中进行强有力的操纵,为更有能力的机器人铺平了道路.
  • 塔普传感器代表了朝着有效和无的人机协作迈进的关键进展.