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A Bio-inspired Mutual-hook Strategy for the Soft Finger to Improve load-bearing capacity and Grasping Stability

Journal of Bionic Engineering 2024年第3期21卷 1290-1304页

作者： Jie Huang Lingjie Gai Xiaofeng Zong Yunquan Li School of Automation China University of GeosciencesWuhan430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Wuhan430074China The Shien-Ming Wu School of Intelligent Engineering South China University of TechnologyGuangzhou510641China

Soft grippers have great potential applications in daily life,since they can compliantly grasp soft and delicate ***,the highly elastic fingers of most soft grippers are prone to separate from each other while grasping objects due to their low stiffness,thus reducing the grasping stability and load-bearing *** tackle this problem,inspired from the venus flytrap plant,this work proposes a mutual-hook mechanism to restrain the separation and improve the grasping performance of soft *** novel soft gripper design consists of three modules,a soft finger-cot,two Soft Hook Actuators(SHAs)and two sliding ***,the soft finger-cot covers on the soft finger,increasing the contact area with the target object,two SHAs are fixed to the left and right sides of the finger-cot,and the sliding mechanisms are designed to make SHAs stretch *** demonstrate that the proposed design can restrain the separation of soft fingers substantially,and the soft fingers with the finger-cots can grasp objects three times heavier than the soft fingers without the proposed *** proposed design can provide invaluable insights for soft fingers to restrain the separation while grasping,thus improving the grasping stability and the load-bearing capacity.

关键词： Soft robotics Soft bionic finger-cot Soft hook actuator Grasping stability load-bearing capacity

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Effect of Optimum Plastic Depth on Stresses and load-bearing capacity of Autofrettaged Cylinder

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Chinese Journal of Mechanical Engineering 2013年第2期26卷 365-370页

作者： ZHU Ruilin ZHU Guolin Polytechnic College Hunan Normal University Basic Courses Department Jiangxi Police College

Autofrettage is an effective measure to even distribution of stresses and raise load-bearing capacity for （ultra-）high pressure apparatus. Currently, the research on autofrettage has focused mostly on specific engineering problems, while general theoretical study is rarely done. To discover the general law contained in autofrettage theory, by the aid of the authors’ previous work and according to the third strength theory, theoretical problems about autofrettage are studied including residual stresses and their equivalent stress, total stresses and their equivalent stress, etc. Because of the equation of optimum depth of plastic zone which is presented in the authors’ previous work, the equations for the residual stresses and their equivalent stress as well as the total stress and their equivalent stress are simplified greatly. Thus the law of distribution of the residual stresses and their equivalent stress as well as the total stress and their equivalent stress and the varying tendency of these stresses are discovered. The relation among various parameters are revealed. The safe and optimum load-bearing conditions for cylinders are obtained. According to the results obtained by theoretical analysis, it is shown that if the two parameters, namely ratio of outside to inside radius, k, and depth of plastic zone, kj, meet the equation of optimum depth of plastic zone, when the pressure contained in an autofrettaged cylinder is lower than two times the initial yield pressure of the unautofrettaged cylinder, the equivalent residual stress and the equivalent total stress at the inside surface as well as the elastic-plastic juncture of a cylinder are lower than yield strength. When an autofrettaged cylinder is subjected to just two times the initial yield pressure of the unautofrettaged cylinder, the equivalent total stress within the whole plastic zone is just identically equal to the yield strength, or it is a constant. The proposed research theoretically depicts the st

关键词： thick-wall cylinder autofrettage residual stress load-bearing capacity

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Influence of cyclic loading on the fracture toughness and load bearing capacities of all-ceramic crowns

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International Journal of Oral Science 2014年第2期6卷 99-104页

作者： Rao-Rao Wang Cheng-Lin Lu Gang Wang Dong-Sheng Zhang The Tenth People’s Hospital of Tongji University Weigao Orthopaedic Device Co. Ltd. Laboratory for Microstructures Shanghai University Department of Mechanics Shanghai University Shanghai Key Laboratory of Mechanics in Energy Engineering

The purpose of this study was to investigate how cyclic loading influenced the fracture toughness of hot-press lithium disilicate and zirconia core materials and whether there was an increase in the propensity for crown failure. Two types of all-ceramic crowns including the IPS *** Press system （n=24） and the Lava zirconia system （n=24）, were selected. Sectioned specimens were subjected to cyclic loading with the maximum magnitude of 200 N （R=0.1） until two million cycles. The material properties including Young＇s modulus （E） and hardness （H） and the fracture toughness （K,c） of the core materials were evaluated using indentation methods （n= 12 each）. The load-bearing capacities of the specimens were examined by means of monotonic load to fracture （n=12 each）. It was found that the material properties, including E, Hand Knc, of the two types of dental ceramics, were reduced. Statistical analysis indicated that there were no significant influences of fatigue loading on material properties E and H for both types of dental ceramics or Kgc for zirconia, while for the IPS *** Press core, K,c, which was parallel to the direction of the lithium disilicate crystals, was significantly reduced （P-0.001）. A conclusion was drawn that zirconia possesses high mechanical reliability and sustainable capacity to resist fatigue loading, while fatigue loading remarkably degraded the anisotropic mechanical behaviour of hot-press lithium disilicate ceramics.

关键词： dental ceramics fatigue loading fracture toughness load-bearing capacity

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Analysis on Autofrettage of Cylinders

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Chinese Journal of Mechanical Engineering 2012年第3期25卷 615-623页

作者： ZHU Ruilin ZHU Guolin TANG Feng Polytechnic College Hunan Normal UniversityChangsha 410081China Basic Courses Department Jiangxi Police CollegeNanchang 330103China

Autofrettage is an effective technique to improve load-bearing capacity and safety for pressure *** autofrettaged cylinder,the depth of plastic zone,or overstrain is a key factor which affects load-bearing capacity and *** previous research on overstrain was not done in terms of the point of view of raising load-bearing capacity as far as possible and simultaneously avoiding compressive yield for cylinders experiencing autofrettage handling,and there were no analytic solutions of autofrettage in the above view point presented,the 3rd and 4th strength theories were not applied synthetically in the research to compare the results from these two *** this paper,with the aid of the analytic method,based on summing up the authors＇ previous research,results from autofrettage of a cylinder based on the 3rd and 4th strength theories are studied and compared,and the laws contained in the results are looked ***,the essential cause and reason for the obtained laws are analyzed and the inherent and meaning relations between various parameters in autofrettage theory are *** is shown that the maximum radius ratio for equivalent residual stress at inside surface never exceeds the yield strength even for a cylinder experiencing wholly yielded autofrettage,or the critical radius ratio is kc=2.218 457 489 916 7…,irrespective of the 3rd or 4th strength *** equation relating the depth of plastic zone with the thickness of a cylinder is identical for the 3rd and 4th strength *** form,the optimum load-bearing capacity of an autofrettaged cylinder is two times the initial yield pressure of the unautofrettaged cylinder irrespective of the 3rd or 4th strength *** revealed inherent relations between various parameters and varying laws of the parameters as well as the forms of the relations under the 3rd and 4th strength theories not only have theoretical meanings but also have prospects in engineering application.

关键词： pressure vessel autofrettage load-bearing capacity strength theory

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Lecablock, an Alternative Construction Material for the Exterior Walls of Passive House

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Journal of Building Construction and Planning Research 2014年第2期2卷 96-108页

作者： Osama A.B.Hassan Petra Jonsson Department of Science and Technology Linkoping UniversityNorrkopingSweden Petra Jonsson Lindbacks byggPiteaSweden

In this paper it is attempted to investigate the Leca blocks as sustainable construction material for the exterior walls of passive house. The building physical properties of Leca design wall structure are studied along with the environmental impact and load-bearing capacity. To compare the results, a similar analysis is carried out considering the traditional wooden wall construction of passive houses. The results showed that Leca design wall structure can be an alternative sustainable solution to the traditional wooden wall structure of passive house, mainly due to its low U-value, its ability to handle moisture, and comparable structural load-bearing capacity. However, the wooden wall structure is more environmentally friendly than the Leca blocks due to its lower emissions to the environment and reduced energy use, especially during the manufacturing process.

关键词： U-Value Moisture Thermal Bridges Passive House Energy Efficiency load-bearing capacity

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