YUMUŞAK ROBOTLAR
Yumuşak robotik, pürüzsüz ve karmaşık bir hareket elde etmek için doğada bulunan yumuşak cisimlerin hareket mekanizmalarını taklit etmeye dayanan büyüyen bir alandır. Karmaşık ortamlarda hareket edebilen “yumuşak bedenler” arasında solucanlar, yılanlar, larva böcekler, ahtapot ve yılan balıkları yıllar içinde geliştirilen, ilham alabileceğimiz çok çeşitli stratejiler sunar.
YUMUŞAK ROBOT NEDİR?
Yumuşak robotlar, öncelikle çevre malzemelerle uyumu sağlayan sıvılar, jeller ve elastomerler gibi kolayca deforme olabilen maddelerden oluşur. Uyumluluk eşleştirme, iç yükü eşit şekilde dağıtmak ve arayüzey arası stres konsantrasyonlarını en aza indirmek için birbiriyle temas eden malzemelerin benzer mekanik sertliği paylaşması gerektiği prensibidir. [1] Bununla birlikte, bu ilke, yumuşak malzemelerle (E = 102-106Pa) etkileşime giren, hasara veya mekanik immobilizasyona neden olan sert robotlara (E = 109Pa) uygulanmaz (burada E, Young'ın Modülüdür; bu, bir katı maddenin sertliğinin bir ölçüsünü verir) malzeme). Yumuşak malzemelerle bu tür etkileşimler, örneğin doğal cilt, kas dokusu, hassas iç organlar gibi organizmalar, ayrıca organizmalar, biyolojik işlevselliklerin yapay kopyaları vb. Gibi yaygın olarak yayılır. Mekanik uyumdaki bu dramatik uyumsuzluk nedeniyle, Sert robotların uyarlanmadığı ve hatta samimi insan etkileşimi için tehlikeli olduğu sonucuna varıldı. Bu nedenle, doğada bulunan materyallerin ve organizmaların elastik ve reolojik özelliklerine uyan robotlara ihtiyaç vardır ve bu, yumuşak robotların çözümü getirebileceği yerdir.
Yumuşak robotlar tasarlamak, onların mekaniği, güç kaynağı ve kontrolünde tamamen yeni modeller gerektirir. [2] Bununla birlikte, malzemeleri yeniden düşünmek, tasarım stratejileri ve üretim teknikleri, birçok alanda makro ve mikro uzunluk ölçeklerinde yeni yumuşak robotik alanları açmalıdır (sağlık, insan yardımı, saha araştırması…).
Bu derleme, uygulamalarında daha derine inmeden önce, mevcut yumuşak hareketlerin temel üretim yönteminin yanı sıra var olan farklı türden harekete geçirme konularını ele almaktadır.
YUMUŞAK BİR ROBOTUN ÜRETİMİ ve ÇALIŞMASI
1. ÇALIŞMA
Pnömatik Şebeke aktüatörleri (PneuNets) en yaygın yumuşak robotlardır ve içinde basınçlı akışkanların bir dizi kanal ve bölmede dolaşabileceği bir elastomer olan yumuşak bir malzemeden yapılmıştır. Bu bölmelere basınç uygulandığında, sıkışmış olan akışkan malzemenin içinden stres oluşturarak malzemenin gerilmesine, deforme olmasına ve aktüatörün hareketini mümkün kılanlara neden olur. Bu hareketin doğası gömülü odaların geometrisi ve duvarlarının malzeme özellikleri değiştirilerek kontrol edilir. Genel olarak, bir akışkan elastomer robotun her bir parçası bükülür ve bu bükülme, malzeme gerilmesinden kaynaklanır.
Eğer bir robot tek bir homojen elastomerden oluşuyorsa, en genişleme en ince yapılar üzerinde gerçekleşecek ve böylece robotun hareketi bu nedenle mikroakışkan devresinin geometrisine bağlı olacaktır. Bununla birlikte, farklı elastik davranışlara sahip malzemeler, aktüatör davranışı üzerinde daha fazla kontrol sağlamak için de kullanılabilir.
Yumuşak robotik, pürüzsüz ve karmaşık bir hareket elde etmek için doğada bulunan yumuşak cisimlerin hareket mekanizmalarını taklit etmeye dayanan büyüyen bir alandır. Karmaşık ortamlarda hareket edebilen “yumuşak bedenler” arasında solucanlar, yılanlar, larva böcekler, ahtapot ve yılan balıkları yıllar içinde geliştirilen, ilham alabileceğimiz çok çeşitli stratejiler sunar.
Betzula Guncel Giris
Betzula Guncel Giris is a important online rostrum that provides users with access to a wide group of features and services tailored because amusement and gaming enthusiasts. This policy has gained significant esteem needed to its accommodating interface and the discrepancy of activities it offers.
Features of Betzula
1. User-friendly Interface: The sketch out of the website is peaceful to pilot, making it accessible after both unusual and experienced users.
2. Various Gaming Options: Betzula offers a collection of games, including slots, catalogue games, and end exchange options. This individuality ensures that every sportsman can stumble on something that suits their preferences.
3. Promotional Offers: Users can assume improvement of individual promotions and bonuses that elevate their gaming experience. From well-received bonuses to creative members to ongoing promotions an eye to devoted players, there are loads of opportunities to overstress winnings.
4. Immovable Transactions: Betzula prioritizes the security of its users, implementing advanced encryption and probable payment methods in behalf of deposits and withdrawals.
5. Client Backup: The principles provides notable fellow underwrite, with multiple channels at quest of assistance. Users can despatch resolve any issues or inquiries they may have Betzula Turkiye nin en Bahis Sites
How to Access Betzula Guncel Giris
To access Betzula Guncel Giris, users must imagine an account on the platform. The registration transform is straightforward, requiring basic slighting information. Simultaneously registered, users can log in and traverse the all-embracing offerings available.
Final Thoughts
Betzula Guncel Giris stands manifest in the online gaming community owing to its commitment to user amends and a direct sphere of gaming options. Whether you are a indifferent player or a acute gamer, Betzula provides an astounding and secure environment to enjoy your favorite games. Till the end of time about to gamble responsibly and enjoy the endure!
Betzula Guncel Giris
Betzula Guncel Giris is a important online stage that provides users with access to a wide kind of features and services tailored after pageant and gaming enthusiasts. This programme has gained pregnant stylishness needed to its usable interface and the heterogeneity of activities it offers.
Features of Betzula
1. Usable Interface: The visualize of the website is easy to captain, making it accessible after both recent and masterly users.
2. Various Gaming Options: Betzula offers a species of games, including slots, catalogue games, and end stockist options. This variation ensures that every thespian can find something that suits their preferences.
3. Promotional Offers: Users can undergo improvement of sundry promotions and bonuses that intensify their gaming experience. From welcome bonuses for the purpose new members to constant promotions someone is concerned loyal players, there are loads of opportunities to inflate winnings.
4. Sure Transactions: Betzula prioritizes the security of its users, implementing advanced encryption and unimperilled payment methods in behalf of deposits and withdrawals.
5. Consumer Support: The platform provides excellent fellow assistance, with multiple channels at quest of assistance. Users can swiftly approve any issues or inquiries they may have Hosgeldin bonusu veren casino siteleri
How to Access Betzula Guncel Giris
To access Betzula Guncel Giris, users obligated to imagine an account on the platform. The registration process is straightforward, requiring primary personal information. Simultaneously registered, users can log in and survey the massive offerings available.
Last Thoughts
Betzula Guncel Giris stands to in the online gaming community payable to its commitment to user amends and a gross scale of gaming options. Whether you are a casual gambler or a precarious gamer, Betzula provides an amazing and stable medium to lift your favorite games. Ever keep in mind to hazard responsibly and get a kick the experience!
Betzula Guncel Giris
Betzula Guncel Giris is a conspicuous online policy that provides users with access to a spacious range of features and services tailored seeking amusement and gaming enthusiasts. This platform has gained significant popularity apropos to its explicit interface and the variety of activities it offers.
Features of Betzula
1. Simple Interface: The design of the website is easy to cross, making it accessible after both recent and efficient users.
2. Distinct Gaming Options: Betzula offers a species of games, including slots, catalogue games, and white-hot dealer options. This variation ensures that every player can turn up something that suits their preferences.
3. Promotional Offers: Users can undergo advantage of sundry promotions and bonuses that increase their gaming experience. From welcome bonuses in place of creative members to continuous promotions someone is concerned loyal players, there are plenty of opportunities to maximize winnings.
4. Tight Transactions: Betzula prioritizes the security of its users, implementing advanced encryption and probable payment methods through despite deposits and withdrawals.
5. Client Promote: The principles provides excellent customer bear, with multiple channels nearby pro assistance. Users can despatch resolve any issues or inquiries they may have Betzula Guncel Giris
How to Access Betzula Guncel Giris
To access Betzula Guncel Giris, users obligation imagine an account on the platform. The registration transform is straightforward, requiring primary special information. Once registered, users can log in and traverse the extensive offerings available.
Final Thoughts
Betzula Guncel Giris stands manifest in the online gaming community owing to its commitment to alcohol expiation and a gross cover of gaming options. Whether you are a indifferent player or a serious gamer, Betzula provides an amazing and safe locale to lift your favorite games. Perpetually remember to bet on responsibly and enjoy the endure!
Betzula Guncel Giris
Betzula Guncel Giris is a prominent online stage that provides users with access to a broad group of features and services tailored because amusement and gaming enthusiasts. This party line has gained historic repute suitable to its accommodating interface and the multiplicity of activities it offers.
Features of Betzula
1. Usable Interface: The visualize of the website is easy to captain, making it accessible after both new and experienced users.
2. Various Gaming Options: Betzula offers a species of games, including slots, table games, and live exchange options. This variation ensures that every thespian can bargain something that suits their preferences.
3. Promotional Offers: Users can assume benefit of individual promotions and bonuses that increase their gaming experience. From invited bonuses for redone members to ongoing promotions for devoted players, there are loads of opportunities to oversell winnings.
4. Sure Transactions: Betzula prioritizes the deposit of its users, implementing advanced encryption and unimperilled payment methods through despite deposits and withdrawals.
5. Client Prop: The stand provides choice buyer assistance, with multiple channels nearby for assistance. Users can despatch conclude any issues or inquiries they may have Betzula Turkiye nin en Bahis Sites
How to Access Betzula Guncel Giris
To access Betzula Guncel Giris, users must create an account on the platform. The registration manage is straightforward, requiring central personal information. Simultaneously registered, users can log in and explore the intercontinental offerings available.
Finishing Thoughts
Betzula Guncel Giris stands in sight in the online gaming community well-earned to its commitment to alcohol amends and a broad sphere of gaming options. Whether you are a casual better or a important gamer, Betzula provides an amazing and safe medium to enjoy your favorite games. Ever about to bet responsibly and get a kick the acquaintance!
Betzula Guncel Giris
Betzula Guncel Giris is a eminent online platform that provides users with access to a to the utmost reach of features and services tailored for sport and gaming enthusiasts. This programme has gained historic esteem due to its usable interface and the heterogeneity of activities it offers.
Features of Betzula
1. Simple Interface: The sketch out of the website is mild to pilot, making it available in compensation both new and experienced users.
2. Various Gaming Options: Betzula offers a collection of games, including slots, catalogue games, and white-hot stockist options. This individuality ensures that every thespian can find something that suits their preferences.
3. Promotional Offers: Users can undergo advantage of various promotions and bonuses that elevate their gaming experience. From well-received bonuses to redone members to ongoing promotions an eye to devoted players, there are masses of opportunities to maximize winnings.
4. Secure Transactions: Betzula prioritizes the security of its users, implementing advanced encryption and unimperilled payment methods through despite deposits and withdrawals.
5. Customer Backup: The stand provides notable customer assistance, with multiple channels available on assistance. Users can quickly approve any issues or inquiries they may have Betzula Guncel Giris
How to Access Betzula Guncel Giris
To access Betzula Guncel Giris, users be obliged imagine an account on the platform. The registration transform is straightforward, requiring basic slighting information. Simultaneously registered, users can log in and traverse the intercontinental offerings available.
Final Thoughts
Betzula Guncel Giris stands to in the online gaming community owing to its commitment to alcohol satisfaction and a broad scale of gaming options. Whether you are a indifferent gambler or a precarious gamer, Betzula provides an amazing and ensured environment to enjoy your favorite games. Always keep in mind to gamble responsibly and get a kick the trial!
Betzula Guncel Giris
Betzula Guncel Giris is a conspicuous online rostrum that provides users with access to a wide kind of features and services tailored seeking pageant and gaming enthusiasts. This platform has gained significant popularity suitable to its explicit interface and the heterogeneity of activities it offers.
Features of Betzula
1. Simple Interface: The visualize of the website is mild to captain, making it available for the sake both new and efficient users.
2. Distinct Gaming Options: Betzula offers a species of games, including slots, plain games, and white-hot jobber options. This diversity ensures that every thespian can stumble on something that suits their preferences.
3. Promotional Offers: Users can undergo improvement of sundry promotions and bonuses that increase their gaming experience. From desirable bonuses for the purpose advanced members to continuing promotions for trustworthy players, there are plenty of opportunities to oversell winnings.
4. Immovable Transactions: Betzula prioritizes the confidence of its users, implementing advanced encryption and unimperilled payment methods for deposits and withdrawals.
5. Consumer Backup: The dais provides sterling fellow support, with multiple channels within reach for assistance. Users can swiftly resolve any issues or inquiries they may have Bahis Sitesi
How to Access Betzula Guncel Giris
To access Betzula Guncel Giris, users be obliged frame an account on the platform. The registration process is straightforward, requiring basic slighting information. In the good old days registered, users can log in and traverse the extensive offerings available.
Final Thoughts
Betzula Guncel Giris stands out in the online gaming community payable to its commitment to user satisfaction and a gross cover of gaming options. Whether you are a casual player or a acute gamer, Betzula provides an invigorating and ensured locale to use to advantage your favorite games. Ever about to hazard responsibly and get off on the endure!