Many animals exhibit strong mechanical interlocking in order to achieve efficient climbing against rough surfaces by using their claws in the pads. To maximally use the mechanical interlocking, an innovative robot whi...Many animals exhibit strong mechanical interlocking in order to achieve efficient climbing against rough surfaces by using their claws in the pads. To maximally use the mechanical interlocking, an innovative robot which utilizes flexible pad with claws is designed. The mechanism for attachments of the claws against rough surfaces is further revealed according to the theoretical analysis. Moreover, the effects of the key parameters on the performances of the climbing robots are obtained. It indicates that decreasing the size of the tip of the claws while maintaining its stiffness unchanged can effectively improve the attachment ability. Furthermore, the structure of robot body and two foot trajectories are proposed and the new robot is presented. Using experimental tests, it demonstrates that this robot has high stability and adaptability while climbing on vertical rough surfaces up to a speed of 4.6 cm.s^-1.展开更多
Self-toughening ZrB2–SiC based composites are fabricated by in-situ reactive hot pressing.The effect of sintering additive content on the microstructure and mechanical properties of the composites is investigated.Mic...Self-toughening ZrB2–SiC based composites are fabricated by in-situ reactive hot pressing.The effect of sintering additive content on the microstructure and mechanical properties of the composites is investigated.Microstructure observation found that the in-situ reactive hot pressing could promote the anisotropic growth of ZrB2 grains and the formation of interlocking microstructure.Such microstructure could improve the mechanical properties,especially,for the fracture toughness.The improved mechanical properties could be attributed to the self-toughening structure related to the ZrB2 platelets and the formed interlocking microstructure,which could trigger various toughening mechanisms such as grain pull-out,crack bridging,crack deflection,and crack branching,providing the main contribution to the high fracture toughness.展开更多
基金Acknowledgment This work was supported by the National Natural Science Foundation of China （51375232） and Key Plan of Research and Development of Jiangsu Province （BE2017766）.
文摘Many animals exhibit strong mechanical interlocking in order to achieve efficient climbing against rough surfaces by using their claws in the pads. To maximally use the mechanical interlocking, an innovative robot which utilizes flexible pad with claws is designed. The mechanism for attachments of the claws against rough surfaces is further revealed according to the theoretical analysis. Moreover, the effects of the key parameters on the performances of the climbing robots are obtained. It indicates that decreasing the size of the tip of the claws while maintaining its stiffness unchanged can effectively improve the attachment ability. Furthermore, the structure of robot body and two foot trajectories are proposed and the new robot is presented. Using experimental tests, it demonstrates that this robot has high stability and adaptability while climbing on vertical rough surfaces up to a speed of 4.6 cm.s^-1.
基金supported by research fund for the China Postdoctoral Science Foundation(2016M600201,2018T110214,2016M601304)National Natural Science Foundation of China(51805069)+1 种基金Natural Science Foundation of Liaoning Province,China(20170540154)Aviation Science Foundation of China(2016ZF63007).
文摘Self-toughening ZrB2–SiC based composites are fabricated by in-situ reactive hot pressing.The effect of sintering additive content on the microstructure and mechanical properties of the composites is investigated.Microstructure observation found that the in-situ reactive hot pressing could promote the anisotropic growth of ZrB2 grains and the formation of interlocking microstructure.Such microstructure could improve the mechanical properties,especially,for the fracture toughness.The improved mechanical properties could be attributed to the self-toughening structure related to the ZrB2 platelets and the formed interlocking microstructure,which could trigger various toughening mechanisms such as grain pull-out,crack bridging,crack deflection,and crack branching,providing the main contribution to the high fracture toughness.
