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A 0.5-meter-scale,high-load,soft-enclosed gripper capable of grasping the human body

Science China(Technological Sciences) 2023年第2期66卷 501-511页

作者： LI HaiLi ZHANG Shuai ZHANG XuanHao ZHAO WuMian YAO JianTao Zhejiang Provincial Key Laboratory of Part Rolling Technology Faculty of Mechanical Engineering&MechanicsNingbo UniversityNingbo 315211China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China

Developing large,soft grippers with high omnidirectional load(above 40 kg)has always been challenging.We address this challenge by developing a powerful soft gripper that can grasp the human body based on a soft-enclosed grasping structure and a soft-rigid coupling structure.The envelope size of the proposed soft gripper is 611.6 mm×559 mm×490.7 mm,the maximum grasping size is 417 mm,and the payload on the human body is more than 90 kg,which has exceeded most existing soft grippers.Furthermore,the grasping force prediction of the gripper is achieved through theoretical modeling.The primary contribution of this work is to overcome the size and payload limits of current soft grippers and implement a human-grasping experiment based on the soft-grasping method.

关键词： soft gripper large size high-load soft-enclosed grasping

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Facile and scalable preparation of ultra-large boron nitride nanosheets and their use for highly thermally conductive polymer composites

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Frontiers of Materials Science 2022年第1期16卷 119-131页

作者： Wenyu WU Bin GUO Xiaojing LIU Huaxin MA Zhao ZHANG Zhi ZHANG Minghao CUI Yu GU Ruijun ZHANG State Key Laboratory of Metastable Materials Science and Technology Yanshan UniversityQinhuangdao 066004China Academic Affairs Office Tangshan Normal UniversityTangshan 063000China

Due to their excellent physical and chemical properties,boron nitride nanosheets(BNNSs)have shown great application potential in many fields.However,the difficulty in scalable preparation of large-size BNNSs is still the current factor that limits this.Herein,a simple yet efficient microwave-assisted chemical exfoliation strategy is proposed to realize scalable preparation of BNNSs by using perchloric acid as the edge modifier and intercalation agent of h-BN.The as-obtained BNNSs behave a thin-layered structure(average thickness of 3.9 nm)with a high yield of~16%.Noteworthy,the size of BNNSs is maintained to the greatest extent so as to realize the preparation of BNNSs with ultra-large size(up to 7.1μm),which is the largest so far obtained for the top-down exfoliated BNNSs.Benefiting from the large size,it can significantly improve the thermal diffusion coefficient and the thermal conductivity of polyvinyl alcohol by 51 and 62 times respectively,both showing a higher value than the one previously reported.This demonstrates that the prepared BNNSs have great promise in enhancing the thermal conductivity of polymer materials.

关键词： boron nitride nanosheet thermal conductivity chemical exfoliation large size

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Salt-assisted growth and ultrafast photocarrier dynamics of large-sized monolayer ReSe2

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Nano Research 2020年第3期13卷 667-675页

作者： Shaolong Jiang Jin Yang Yuping Shi Jing Zhao Chunyu Xie Liyun Zhao Jiatian Fu Pengfei Yang Yahuan Huan Qin Xie Huachao Jiang Qing Zhang Xianlong Wang Fuhai Su Yanfeng Zhang Department of Materials Science and Engineering College of EngineeringPeking UniversityBeijing100871China Key Laboratory of Materials Physics Institute of Solid State PhysicsChinese Academy of SciencesHefei230031China University of Science and Technology of China Hefei230026China Center for Nanochemistry(CNC) Beijing National Laboratory for Molecular SciencesCollege of Chemistry and Molecular EngineeringPeking UniversityBeijing100871China

Owing to its anisotropic optical and electrical properties,rhenium diselenide(ReSe2)has garnered considerable attention recently as a candidate material for polarization-sensitive photodetectors.However,the direct and controllable synthesis of large-sized ReSe2 with a uniform thickness is still a great challenge.Herein,we have refined the synthesis method to obtain uniform monolayer ReSe2 flakes with a size of up to^106μm on sapphire via an ambient-pressure chemical vapor deposition technique using Na promoter from sodium chloride.Interestingly,optical pump-probe spectroscopy revealed a fast switching from saturable absorption(SA)to absorption enhancement(AE)in subpicosecond time scale,followed by a slower decay induced by exciton recombination.Furthermore,both AE and SA signals exhibited clear angular dependence with a periodicity of 180°,which reflected the dichroism in nonlinear absorption dynamics.In addition,the photocarrier dynamics including free-carrier transport and subpicosecond relaxation due to exciton formation or surface trapping was probed using time resolved terahertz spectroscopy.We believe that our study serves as a reference for atomically controlled synthesis of large-sized ReSe2 and provides useful insights on its optoelectronic properties for novel device applications.

关键词： ReSe2 chemical vapor deposition sodium chloride large size ultrafast photocarrier dynamics

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Performance study of new style mosaic MRPC

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Chinese Physics C 2016年第11期40卷 138-142页

作者：王扶月王义谢波韩冬吕鹏飞郭宝鸿李元景 Key Laboratory of Particle&Radiation Imaging(Tsinghua University) Ministry of EducationDepartment of Engineering PhysicsTsinghua UniversityBeijing 100084China

The Compact Muon Solenoid （CMS） at LHC intends to use a high rate trapezoid MRPC for the muon system upgrade, but the size of the MRPC is limited by the dimensions of low resistivity glass. We have designed a prototype of a large MRPC in which the electrodes are developed by gluing two pieces of glass plates. Simulation of the weighting field and cosmic ray test shows that the efficiency of the glued MRPC is higher than 96% and the time resolution is better than 71 ps.

关键词： high rate MRPC gluing large size

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