为实现法向力与切向力感知,设计了一种可用于机器人仿生皮肤的电容式柔性触觉传感器,并设计成阵列结构.以硅橡胶为柔性基体,有机硅导电银胶为上下两柔性极板,共同构成电容式触觉敏感单元.分析并介绍电容式柔性触觉传感器的工作原理、结...为实现法向力与切向力感知,设计了一种可用于机器人仿生皮肤的电容式柔性触觉传感器,并设计成阵列结构.以硅橡胶为柔性基体,有机硅导电银胶为上下两柔性极板,共同构成电容式触觉敏感单元.分析并介绍电容式柔性触觉传感器的工作原理、结构设计及触觉信息采集与处理系统.可实现法向力0~5 N范围内灵敏度为6.78 f F/N,切向力0~3 N范围内灵敏度为11.45 f F/N的触觉感知功能.试验结果表明,该全柔性电容式触觉阵列传感器具有良好的稳定性与灵敏度,可用作人工皮肤实现触觉感知.展开更多
本文依托喀麦隆雅杜高速公路,考虑喀麦隆热带雨林气候条件下高温重载交通组成特性,采用非线性有限元方法对雅杜高速公路全柔性沥青路面结构进行力学敏感性研究,并优化路面结构设计方案。结果表明,避免重载、超载是预防全柔性高模量沥青...本文依托喀麦隆雅杜高速公路,考虑喀麦隆热带雨林气候条件下高温重载交通组成特性,采用非线性有限元方法对雅杜高速公路全柔性沥青路面结构进行力学敏感性研究,并优化路面结构设计方案。结果表明,避免重载、超载是预防全柔性高模量沥青路面病害产生的有效措施。提高基层模量可有效减小路面下基层层底拉应力,改善全柔性高模量沥青路面的抗疲劳性能,而增加面层模量对改善全柔性高模量沥青路面使用性能效果不显著。通过增加上、下基层厚度可有效减少全柔性高模量沥青路面各结构层的水平剪应力、竖向压应力和下基层层底拉应力,提高全柔性高模量沥青路面的抗车辙和抗疲劳性能,根据力学响应结果确定了6 cm BBM上面层+9 cm BBM下面层+10 cm EME基层的路面组合结构为最佳的路面结构方案。展开更多
为解决可穿戴传感器触觉感知信息单一,不具备柔性以及可穿戴性差的问题,研究了一种兼备法向力与切向力感知功能的电容式三维力柔性触觉传感器。阐述了传感器的结构设计、触觉感知机理,并借助ANSYS传感器有限元仿真软件进行触觉感知机理...为解决可穿戴传感器触觉感知信息单一,不具备柔性以及可穿戴性差的问题,研究了一种兼备法向力与切向力感知功能的电容式三维力柔性触觉传感器。阐述了传感器的结构设计、触觉感知机理,并借助ANSYS传感器有限元仿真软件进行触觉感知机理验证。基于CC2530低功耗微处理器与AD7147-1型电容数字转换器构建便携式电容触觉信息感知系统。可分别满足法向力0~5 N范围检测灵敏度为6.87 f F/N以及剪切力0~3 N时灵敏度为10.96 f F/N的触觉感知,动态响应时间为226 ms。实验结果表明,该电容式三维力触觉传感器具备良好的工作稳定性与灵敏度,为可穿戴式人工皮肤的研究提供了一种设计方案。展开更多
Although dielectric elastomer(DE)with substantial actuated strain(AS)has been reported 20 years ago,its scientific understanding remains unclear.The most accepted theory of DE,which is proposed in 2000,holds the view ...Although dielectric elastomer(DE)with substantial actuated strain(AS)has been reported 20 years ago,its scientific understanding remains unclear.The most accepted theory of DE,which is proposed in 2000,holds the view that AS of DE is induced by the Maxwell stress.According to this theory,materials have similar ratios of permittivity and Young’s modulus should have similar AS,while the experimental results are on contrary to this theory,and the experimental AS has no relationship with ideal AS.Here,a new dipole-conformation-actuated strain cross-scale model is proposed,which can be generally applied to explain the AS of DE without pre-strain.According to this model,several characteristics of an ideal DE are listed in this work and a new DE based on polyphosphazene(PPZ)is synthesized.The AS of PPZ can reach 84%without any pre-strain.At last,a PPZ-based all soft artificial heart(ASAH)is built,which works in the similar way with natural myocardium,indicating that this material has great application potential and possibility in the construction of an ASAH for heart failure(HF)patients.展开更多
文摘为实现法向力与切向力感知,设计了一种可用于机器人仿生皮肤的电容式柔性触觉传感器,并设计成阵列结构.以硅橡胶为柔性基体,有机硅导电银胶为上下两柔性极板,共同构成电容式触觉敏感单元.分析并介绍电容式柔性触觉传感器的工作原理、结构设计及触觉信息采集与处理系统.可实现法向力0~5 N范围内灵敏度为6.78 f F/N,切向力0~3 N范围内灵敏度为11.45 f F/N的触觉感知功能.试验结果表明,该全柔性电容式触觉阵列传感器具有良好的稳定性与灵敏度,可用作人工皮肤实现触觉感知.
文摘本文依托喀麦隆雅杜高速公路,考虑喀麦隆热带雨林气候条件下高温重载交通组成特性,采用非线性有限元方法对雅杜高速公路全柔性沥青路面结构进行力学敏感性研究,并优化路面结构设计方案。结果表明,避免重载、超载是预防全柔性高模量沥青路面病害产生的有效措施。提高基层模量可有效减小路面下基层层底拉应力,改善全柔性高模量沥青路面的抗疲劳性能,而增加面层模量对改善全柔性高模量沥青路面使用性能效果不显著。通过增加上、下基层厚度可有效减少全柔性高模量沥青路面各结构层的水平剪应力、竖向压应力和下基层层底拉应力,提高全柔性高模量沥青路面的抗车辙和抗疲劳性能,根据力学响应结果确定了6 cm BBM上面层+9 cm BBM下面层+10 cm EME基层的路面组合结构为最佳的路面结构方案。
文摘为解决可穿戴传感器触觉感知信息单一,不具备柔性以及可穿戴性差的问题,研究了一种兼备法向力与切向力感知功能的电容式三维力柔性触觉传感器。阐述了传感器的结构设计、触觉感知机理,并借助ANSYS传感器有限元仿真软件进行触觉感知机理验证。基于CC2530低功耗微处理器与AD7147-1型电容数字转换器构建便携式电容触觉信息感知系统。可分别满足法向力0~5 N范围检测灵敏度为6.87 f F/N以及剪切力0~3 N时灵敏度为10.96 f F/N的触觉感知,动态响应时间为226 ms。实验结果表明,该电容式三维力触觉传感器具备良好的工作稳定性与灵敏度,为可穿戴式人工皮肤的研究提供了一种设计方案。
基金supported by the Basic Science Center Program of the National Natural Science Foundation of China (51988102)the National Key Research and Development Program of China (2017YFB0306903)+2 种基金the Major Program of National Natural Science Foundation of China (51790501)the Innovative Research Groups (51221002 and 51521062)the National Natural Science Foundation of China (52003024)
文摘Although dielectric elastomer(DE)with substantial actuated strain(AS)has been reported 20 years ago,its scientific understanding remains unclear.The most accepted theory of DE,which is proposed in 2000,holds the view that AS of DE is induced by the Maxwell stress.According to this theory,materials have similar ratios of permittivity and Young’s modulus should have similar AS,while the experimental results are on contrary to this theory,and the experimental AS has no relationship with ideal AS.Here,a new dipole-conformation-actuated strain cross-scale model is proposed,which can be generally applied to explain the AS of DE without pre-strain.According to this model,several characteristics of an ideal DE are listed in this work and a new DE based on polyphosphazene(PPZ)is synthesized.The AS of PPZ can reach 84%without any pre-strain.At last,a PPZ-based all soft artificial heart(ASAH)is built,which works in the similar way with natural myocardium,indicating that this material has great application potential and possibility in the construction of an ASAH for heart failure(HF)patients.
