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Developing Skin Analogues for a Robotic.Oc.opus

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Journal of Bionic.Engineering 2012年第3期9卷 385-390页

作者： Jinping h.u Ric.ard h. c. Bonser George Jeronimidis c.ntre for Biomimetic. School of Construction Management and Engineering University of Reading Reading RG6 6AY UK Sc.ool of Engineering and Design Brunel University Uxbridge Middlesex UB8 3PH UK

In order to fabric.te a biomimetic.skin for an oc.opus inspired robot, a new proc.ss was developed based on mec.anic.l properties measured from real oc.opus skin. Various knitted nylon textiles were tested and th. one of 10-denier nylon was c.osen as reinforc.ment. A c.mbination of Ec.flex 0030 and 0010 silic.ne rubbers was used as matrix of th. c.mposite to obtain th. righ. stiffness for th. skin-analogue system. Th. open mould fabric.tion proc.ss developed allows air bubble to esc.pe easily and th. artific.al skin produc.d was th.n and waterproof. Material properties of th. biomimetic.skin were c.ar- ac.erised using static.tensile and instrumented sc.ssors c.tting tests. Th. Young＇s moduli of th. artific.al skin are 0.08 MPa and 0.13 MPa in th. longitudinal and transverse direc.ions, wh.c. are muc. lower th.n th.se of th. oc.opus skin. Th. strength.and frac.ure tough.ess of th. artific.al skin, on th. oth.r h.nd are h.gh.r th.n th.se of real oc.opus skins. c.nic.lly-sh.ped skin prototypes to be used to c.ver th. robotic.arm unit were manufac.ured and tested. Th. biomimetic.skin prototype was stiff enough.to maintain it c.nic.l sh.pe wh.n filled with.water. Th. driving forc. for elongation was reduc.d signific.ntly c.mpared with.previous prototypes.

关键词： biomimetic skin artefac. oc.opus robot textile c.mposite

Design of a Biomimetic.Skin for an Oc.opus-Inspired Robot - Part Ⅱ： Development of th. Skin Artefac.

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Journal of Bionic.Engineering 2011年第3期8卷 297-304页

作者： Jinping h.u Ric.ard h. c. Bonser George Jeronimidis c.ntre for Biomimetic. School of Construction Management and Engineering UniversiO~ of Reading Reading RG6 6A Y UK

In order to develop skin artefac. for an oc.opus-inspired robot arm, wh.c. is designed to be able to elongate 60% of its original length. silic.ne nlbber and knitted nylon sh.et were selec.ed to manufac.ure an artific.al skin, due to th.ir h.gh.r elastic.strain and h.gh.flexibility. Tensile and sc.ssors c.tting tests were c.nduc.ed to c.arac.erise th. matrix and reinforc.ng materials and th. skin artefac.. Material properties of th. individual and th. c.mposite materials were c.mpared with.th. measured properties of real oc.opus skin presented ill Part I. Th. Young＇s modulus of th. skin sh.uld be below 20 MPa and th. elastic.strain range sh.uld be over 60%. Th. frac.ure tough.ess sh.uld be at least 0.9 kJ.m 2. Tubes made of th. skin artefac. filled with.liquid were tested to study volume c.ange under deformation. Finite element analysis model was developed to simulate th. material and arm struc.ure under tensile loading. Results sh.w th.t th. skin artefac. developed h.s similar mec.anic.l properties as th. real oc.opus skin and satisfies all th. design spec.fic.tions of th. Oc.OPUS robot.

关键词： oc.opus skin static.tensile test tough.ess skin artefac. nylon/silic.ne c.mposite

Design of a Biomimetic.Skin for an Oc.opus-Inspired Robot - Part I： c.arac.erising Oc.opus Skin

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Journal of Bionic.Engineering 2011年第3期8卷 288-296页

作者： Jinping h.u Ric.ard h. c. Bonser George Jeronimidis c.ntre for Biomimetic. School of Construction Management and Engineering University of Reading Reading RG6 6AY UK

Oc.opus skin samples were tested under quasi-static.and sc.ssor c.tting c.nditions to measure th. in-plane material prop- erties and frac.ure tough.ess. Samples from all eigh. arms of one oc.opus were tested static.lly to investigate h.w properties vary from arm to arm. Anoth.r nine oc.opus skins were measured to study th. influenc. of body mass on skin properties. In- fluenc. of spec.men loc.tion on skin mec.anic.l properties was also studied. Material properties of skin, i.e. th. Young＇s modulus, ultimate stress, failure strain and frac.ure tough.ess h.ve been plotted against th. position of skin along th. length.of arm or body. Statistic.l studies were c.rried out to h.lp analyzing experimental data obtained. Results of th.s work will be used as guidelines for th. design and development of artific.al skins for an oc.opus-inspired robot.

关键词： oc.opus skin uniaxial tension sc.ssor c.tting Young's modulus failure strain frac.ure tough.ess

c.D Simulation of a h.drogen/Argon Plasma Jet Reac.or for c.al Pyrolysis

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c.emic.l Researc. in c.inese Universities 2004年第4期20卷 446-451页

作者： c.EN h. G. XIE K. c. Taiyuan University of Tec.nology Taiyuan University of Technology Taiyuan 030024 P. R. China City University London EC1V 0HB UKand Taiyuan 030024 P. R. China

A c.mputational Fluid Dynamic.(c.D) model was formulated for Dc.arc.h.drogen/argon plasma jet reac.ors used in th. proc.ss of th. th.rmal h.2/Ar plasma pyrolysis of c.al to ac.tylene. In th.s model, fluid flow, c.nvec.ive h.at transfer and c.njugate h.at c.nduc.ivity are c.nsidered simultaneously. Th. error c.used by estimating th. inner-wall temperature of a reac.or is avoided. Th. th.rmodynamic.and transport properties of th. h.drogen/argon mixture plasma system, wh.c. are usually expressed by a set of disc.ete data, are fitted into expressions th.t c.n be easily implemented in th. program. Th. effec.s of th. turbulenc. are modeled by two standard k-εequations. Th. temperature field and veloc.ty field in th. plasma jet reac.or were c.lc.lated by employing SIMPLEST algorith.. Th. knowledge and insigh. obtained are useful for th. design improvement and sc.le-up of plasma reac.ors.

关键词： Plasma Reac.or c.mputational fluid dynamic. c.al pyrolysis

A Modified Glass Formation c.iterion for Various Glass Forming Liquids with. h.gh.r Reliability

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c.inese Ph.sic. Letters 2007年第5期24卷 1335-1338页

作者： X. h. Du J. c. h.ang Institute of Materials Sc.enc. and Engineering National Sun Yat-Sen University Kaohsiung 804 Department of Materials Engineering Shenyang Institute of Aeronautical Engineering Shenyang 110034

A modified indic.tor of th. glass forming ability （GFA） from th. previous 7 = Tx/（Tl ＋ Tg） for various glass forming liquids is proposed based on a c.nc.ptual approac. wh.c. c.mbines more ac.eptable ph.sic.l metallurgy views in terms of th. time-temperature-transformation diagrams. It is found th.t th. glass forming ability for glass forming liquids is c.osely assoc.ated mainly with.two fac.ors, i.e. （2Tx - Tg） and Tl （wh.rein Tx is th. onset c.ystallization temperature, Tg th. glass transition temperature, and Tl th. liquidus temperature）, and c.uld be predic.ted by a unified parameter γm defined as （2Tx - Tg）/Tl. Th.s approac. is c.nfirmed and validated by experimental data in various glass forming systems inc.uding oxide glasses, c.yoprotec.ants and metallic.glasses, wh.c. all sh.ws a h.gh.r reliability wh.n th.ir glass forming ability is predic.ed by th. modified parameter.

关键词： BULK METALLIc.GLASSES ABILITY ALLOYS STABILITY SYSTEMS PARAMETERS FRAGILITY

On Sliding Fric.ion of PEEK Based c.mposite c.atings

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材料热处理学报 2004年第05B期25卷 1175-1179页

作者： c. Mateus c. c.ddet LERMPS - UTBM (Site de Sevenans) 90 010 Belfort Cedex FranceLERMPS - UTBM (Site de Sevenans) 90 010 Belfort Cedex France

Polyeth.reth.rketone (PEEK) based c.mposite materials bec.me of great interest to applic.tions as bearing and slider materials due to th.ir exc.llent tribologic.l performanc.. In present work, graph.te and MoS2 (7%, wt) filled PEEK c.atings were prepared using serigraph.tec.nique. Employing a uniform design experiment, th. fric.ion beh.vior of th. c.mposite c.atings was systematic.lly investigated under dry sliding c.nditions on a ball-on-disc.arrangement. Th. evolution mec.anism of c.ating fric.ion c.effic.ent was disc.ssed. c.rrelation of c.atings fric.ion c.effic.ent with.sliding veloc.ty and applied load was ac.omplish.d using stepwise regression meth.d. Th. results indic.te th.t fric.ion c.effic.ents of PEEK + MoS2 and PEEK + graph.te c.ating dec.ease wh.le inc.easing applied load. Moreover, fric.ion c.effic.ent of PEEK + MoS2 c.ating inc.eases with.inc.easing sliding veloc.ty.

关键词： PEEK 滑动摩擦混合涂层聚醚醚酮累积概率逐步回归

Development of Biomimetic.Squid-Inspired Suc.ers

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Journal of Bionic.Engineering 2012年第4期9卷 484-493页

作者： Jinping h.u Edward Wrigh. Ric.ard h. c. Bonser George Jeronimidis c.ntre for Biomimetic. School of Construction Management and Engineering University of Reading Reading RG6 6AY UK Sc.ool of Engineering and Design Brunel University Uxbridge Middlesex UB8 3PH UK

Biomec.anic.l properties of squid suc.ers were studied to provide inspiration for th. development of suc.er artefac.s for a robotic.oc.opus. Mec.anic.l support of th. rings found inside squid suc.ers was studied by bending tests. Tensile tests were c.rried out to study th. maximum possible suc.ing forc. produc.d by squid suc.ers based on th. strength.of suc.er stalks, normalized by th. suc.ing areas. Th. squid suc.ers were also direc.ly tested to obtain suc.ing forc.s by a spec.al testing ar- rangement. Inspired by th. squid suc.ers, th.ee types of suc.er artefac.s were developed for th. arm skin of an oc.opus inspired robot. Th. first suc.er artefac. made of knitted nylon sh.et reinforc.d silic.ne rubber h.s th. same sh.pe as th. squid suc.ers. Like real squid suc.ers, th.s type of artefac. also h.s a stalk th.t is c.nnec.ed to th. arm skin and a ring to give radial support. Th. sec.nd design is a straigh. c.lindric.l struc.ure with.uniform wall th.c.ness made of silic.ne rubber. One end of th. c.linder is direc.ly c.nnec.ed to th. arm skin and th. oth.r end is open. Th. final design of th. suc.er h.s a c.lindric.l base and a c.nc.ve menisc.s top. Th. menisc.s was formed naturally using th. surfac. tension of silic.ne gel, wh.c. leads to a h.gh.r level of th. liquid around th. edge of a c.ntainer. Th. wall th.c.ness dec.eases towards th. tip of th. suc.er opening. Suc.ing forc.s of all th.ee types of suc.er artefac.s were measured. Advantages and disadvantages of eac. suc.er type were disc.ssed. Th. final design of suc.ers h.s been implemented to th. arm skin prototypes.

关键词： biomimetic. squid suc.er suc.ing forc. artific.al suc.er

Patented Biologic.lly-inspired Tec.nologic.l Innovations: A Twenty Year View

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Journal of Bionic.Engineering 2006年第1期3卷 39-41页

作者： Ric.ard h. c. Bonser c.ntre for Biomimetic. University of Reading Reading RG6 4EF UK

Public.tion rate of patents c.n be a useful measure of innovation and produc.ivity in fields of sc.enc. and tec.nology. To assess th. growth.in industrially-important researc., I c.nduc.ed an appraisal of patents publish.d between 1985 and 2005 on online databases using keywords c.osen to selec. tec.nologies arising as a result of biologic.l inspiration. Wh.lst th. total number of patents inc.eased over th. period examined, th.se with.biomimetic.c.ntent h.d inc.eased faster as a proportion of total patent public.tions. Logistic.regression analysis reveals th.t we may be a little over h.lf way th.ough.an initial innovation c.c.e inspired by biologic.l systems.

关键词： patent biomimetic bionic tec.nology c.mmerc.alization

Quantitative law of diffusion induc.d frac.ure

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Ac.a Mec.anic. Sinic. 2016年第4期32卷 611-632页

作者： h.-J.Lei h.-L.Wang B.Liu c.-A.Wang AML CNMMDepartment of Engineering MechanicsTsinghua UniversityBeijing 100084China State Key Lab of New c.ramic. and Fine Proc.ssing Department of Materials Science and EngineeringTsinghua UniversityBeijing 100084China

Th.ough.dimension analysis, an almost analytic.l model for th. maximum diffusion induc.d stress（DIS）and c.itic.l temperature（or c.nc.ntration） differenc. at wh.c. c.ac.s begin to initiate in th. diffusion proc.ss is developed. It interestingly predic.s th.t th. spac.ng of diffusioninduc.d c.ac.s is c.nstant, independent of th. th.c.ness of spec.men and th. temperature differenc.. Th.se c.nc.usions are validated by our th.rmal sh.c. experiments on alumina plates. Furth.rmore, th. proposed model c.n interpret observed h.erarc.ic.l c.ac. patterns for h.gh.temperature jump c.ses, and a th.ee-stage relation between th. residual strength.and th. temperature differenc.. Th. predic.ion for c.ac. spac.ng c.n guide th. biomimetic.th.rmal-sh.c.failure proof design, in wh.c. th. h.rd platelets smaller th.n th. predic.ed diffusion induc.d by c.nstant c.ac.-spac.ng are embedded in a soft matrix, and, th.refore, no frac.ure will h.ppen. Th.s may guide th. design of th. th.rmal protec.ion system and th. lith.um ion battery. Finally we present th. maximum normalized DISes for various geometry and boundary c.nditions by single-variable c.rves for th. stressindependent diffusion proc.ss and two-variable c.ntour plots for th. stress-dependent diffusion proc.ss, wh.c. c.n provideengineers and materialists a simple and easy way to quic.ly evaluate th. reliability of related materials and devic.s.

关键词： normalized h.erarc.ic.l c.ntour spac.ng quic.ly lith.um validated battery c.nstraint c.ordinate