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相关概念视频

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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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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Three-Dimensional Force System01:30

Three-Dimensional Force System

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In mechanical engineering, a three-dimensional force system is a system of forces acting in three dimensions, with forces applied along the x, y, and z coordinate axes. The three-dimensional force system is an important concept in mechanical engineering, as it allows engineers to understand and analyze the behavior of objects and structures in three dimensions. By understanding the forces acting on a system, engineers can design more efficient and effective mechanical systems that can withstand...
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Work and Energy for Variable Forces01:10

Work and Energy for Variable Forces

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When an object is acted upon by a variable force, the amount of work done and the change in energy of the object can be more complex to calculate compared to when a constant force is applied. Work is the product of force and displacement, while energy is the capacity of a system to do work. When a constant force is applied to an object, the work done can be calculated as the product of the force and the distance moved in the direction of the force. However, when a variable force is applied, the...
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Feedback control systems01:26

Feedback control systems

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Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
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Two-Dimensional Force System01:20

Two-Dimensional Force System

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A two-dimensional system in mechanical engineering involves the analysis of motion and forces in a plane. A two-dimensional force vector can be resolved into its components as:
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相关实验视频

Updated: Mar 15, 2026

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
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在低力应用中对UR5e协作机器人力量控制的实验评估.

Roman Trochimczuk1, Adam Wolniakowski1, Michał Ostaszewski1

  • 1Department of Automatic Control and Robotics, Faculty of Electrical Engineering, Bialystok University of Technology, 15-351 Bialystok, Poland.

Sensors (Basel, Switzerland)
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概括

这项研究评估了UR5e cobot的低力模式稳定性 (1-10N). 结果揭示了控制器的最佳设置,用于在各种工作空间位置精确控制力,这对于微妙的机器人应用至关重要.

关键词:
UR5e 的时间.科博特的脚是一个人.强力/扭矩传感器低强力应用应用的应用.测量力的一种方法.

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相关实验视频

Last Updated: Mar 15, 2026

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 控制系统工程 控制系统工程
  • 实验力学 实验力学 实验力学

背景情况:

  • 协作机器人 (cobots) 越来越多地用于需要精确的力量控制的任务.
  • 在低力范围 (1-10N) 中,UR5e cobot 的强力模式稳定性对于组装,抛光和人机交互等应用至关重要.
  • 精确的力传感和控制对于复杂环境中协作机器人的安全和高效运行至关重要.

研究的目的:

  • 通过实验评估UR5e cobot在低力范围 (1N到10N) 的强力模式的稳定性和准确性.
  • 调查工作空间位置,力级和控制器参数对协作机器人的力控制性能的影响.
  • 在实际应用中开发模型以优化UR5e cobot的低力控制.

主要方法:

  • 使用配备了OptoForce Hex六轴力/扭矩传感器的UR5e协同机器人进行实验验证.
  • 使用专有LabVIEW软件和定制设计的测试站进行数据采集.
  • 三次实验测试,不同的工作空间位置,力设定点和控制器参数 (增压和减压).

主要成果:

  • 当使用10N设定点时,UR5e协同机器人展示了从8.95N到13.26N的平均输出力.
  • 与设定力值的平均偏差约为0.38N,在工作空间限制处的最大偏差为0.61N.
  • 针对不同的力范围 (1-4N,5-7N,8-10N) 确定了控制器的最佳设置 (增强和减弱).

结论:

  • UR5e cobot 的力量模式在 1-10 N 范围内表现出可测量的稳定性和准确性,性能受位置和控制器设置的影响.
  • 识别的控制器参数为提高低力应用的精度提供了基础.
  • 开发的多项式回归模型可以帮助在实际决策中,在低力场景中部署UR5e cobot.