İnsansı robotlar ve protez ellerde esneyebilir yapay derinin boyut etkili modal davranışı

Year 2026, Volume: 31 Issue: 1 , 189 - 208 , 10.04.2026

Kadir Mercan

https://doi.org/10.17482/uumfd.1737606

https://izlik.org/JA83XY29EB

Abstract

Sensör teknolojisindeki ilerlemeyle bileşen boyutları nanometre ölçeğine doğru küçülmekte ve bu da hassas tasarım ve analiz için boyut etkilerinin dikkate alınmasını zorunlu kılmaktadır. Bu çalışma, insansı robotlar ve protez eller için esneyebilir elektronik deri (e-skin) modüllerinin modal davranışını, sensör nano tabakasının boyut etkileri açıkça modellenerek incelemektedir. LAMMPS gibi araçlarla yapılan moleküler dinamik simülasyonlar atomik etkileşimleri içerdiği için gerçekçi sonuçlar verse de, 3.8×10¹¹-5×10¹¹atom içerebilen mikrometre boyutlarındaki sistemler için hesaplama açısından uygulanabilir değildir. Bu ölçek boşluğunu kapatmak için, bir SiO₂ substratı üzerindeki grafen, grafen oksit (GO) ve indirgenmiş grafen oksit (rGO) nanosensörlerinin Eringen yerel olmayan elastisite teorisinin parametresi (e₀a) olan boyut sabiti, moleküler dinamik simülasyonlarla hesaplanmıştır. Kalibre edilen bu parametreler, normalde nano ölçek etkilerini içermeyen sonlu elemanlar yazılımları ANSYS ve COMSOL Multiphysics'e entegre edilmiştir. Karşılaştırmalı bir modal analiz, klasik plak teorisi, standart sonlu elemanlar yöntemleri ve önerilen boyut etkili sonlu elemanlar yaklaşımı kullanılarak gerçekleştirilmiştir. Sensörün elektronik bir devreye bağlantısını modelleyen gerçekçi sınır koşulları uygulanmıştır. Sonuçlar, idealize edilmiş ankastre mesnet modellemesi yerine gerçekçi sınır koşullarının kullanılmasının, doğal frekanslarda ortalama %43'lük önemli bir azalmaya yol açtığını göstermekte ve tahminsel tasarım için doğru modellemenin kritik önemini vurgulamaktadır. 

Keywords

Atomik simülasyon , İnsansı robot , Protez el , Frekans , Grafen-GO-rGO

SIZE EFFECTIVE MODAL BEHAVIOR OF STRETCHABLE E-SKIN FOR HUMANOID ROBOTS AND PROSTHETIC HAND

https://izlik.org/JA83XY29EB

Abstract

As sensor technology advances, the dimensions of components continue to shrink to the nanoscale, making the consideration of size effects imperative for accurate design and analysis. This study investigates the modal behavior of stretchable electronic skin (e-skin) for humanoid robots and prosthetic hands, explicitly accounting for the micro-nanoscale effects of the sensor layer. While molecular dynamics simulations with tools like LAMMPS provide realistic results by incorporating atomic interactions, they are computationally prohibitive for systems of micrometer dimensions, which can contain over 3.8×10¹¹- 5×10¹¹ atoms. To bridge this scale gap, molecular dynamics simulations were employed to calibrate the nonlocal parameter (e₀a) of the Eringen nonlocal elasticity theory for graphene, graphene oxide (GO), and reduced graphene oxide (rGO) nanosensors on a SiO₂ substrate. These calibrated parameters were then integrated into ANSYS and COMSOL Multiphysics, finite element software that typically does not incorporate nanoscale effects. A comparative modal analysis was performed using classical plate theory, standard finite element methods, and the proposed size effect considered finite element approach. Realistic boundary conditions modeling the sensor's connection to an electronic circuit were applied. The results demonstrate that employing realistic boundary conditions, as opposed to idealized clamped supports, leads to a significant reduction in natural frequencies by an average of 43%, underscoring the critical importance of accurate modeling for predictive design. 

Keywords

Atomic simulation , Humanoid robot , Prosthetic hand , Frequency , Graphene-GO-rGO , Nonlocal F.E.A.

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