Bionic perception, especially temperature-aware, is one of the important issues in soft robots research. This paper presents a method to implant temperature sensor network into soft robot finger by using optical fiber...Bionic perception, especially temperature-aware, is one of the important issues in soft robots research. This paper presents a method to implant temperature sensor network into soft robot finger by using optical fiber gratings. For avoiding strain disturbance, a dedicated metal tube is designed to package and protect the optical fiber gratings. For implanting the sensors firmly, a solution using two kinds of adhesive is proposed. The prototype is calibrated in high precision temperature bath and then measured under different temperatures and different bending conditions, respectively. The experimental results are compared with electronic temperature sensor(PT100 thermal resistance), which verifies the accuracy and repeatability of the design. With the dedicated coating and adhesive solution, the proposed temperature sensor network is suitable for implanting into soft robots for the temperature-aware ability.展开更多
Bulk metallic glasses (BMGs) with large supercooled liquid region are promising materials for superplastic forming. In this paper, we demonstrate a microstructure-based strategy to pinpoint the composition with the la...Bulk metallic glasses (BMGs) with large supercooled liquid region are promising materials for superplastic forming. In this paper, we demonstrate a microstructure-based strategy to pinpoint the composition with the largest supercooled liquid region in La 86 x Al 14 Cu x (x=16 at%-20 at%) metallic glass system. By monitoring the changes in crystallization behavior of the glassy alloys with composition to search for the alloys exhibiting eutectic crystallization, the glassy alloys with the largest supercooled liquid region in the given alloy system can be found. The metallic glasses with Cu contents of 16 at%-19 at% exhibited two crystallization peaks, and the primary crystallization product was identified to be α-La by means of DSC, XRD and TEM. The increase in Cu content resulted in the decay of the primary crystallization peak and the increase in onset temperature of crystallization, leading to the enlargement of supercooled liquid region. By further suppressing the α-La primary crystallization with increasing Cu content up to 20 at%, the eutectic crystallization of α-La and LaCu 13 through one crystallization reaction occurred upon heating, where the largest supercooled liquid region of 65 K for La 66 Al 14 Cu 20 glassy alloy was located. This study indicats that, in a given glassy alloy system, a larger supercooled liquid region can be achieved by optimizing the alloy compositions to suppress the primary crystallization.展开更多
基金supported by the National Natural Science Foundation of China (No.51775051)the Scientific Research Project of Beijing Educational Committee (Nos.KM201911232019 and KM202011232008)。
文摘Bionic perception, especially temperature-aware, is one of the important issues in soft robots research. This paper presents a method to implant temperature sensor network into soft robot finger by using optical fiber gratings. For avoiding strain disturbance, a dedicated metal tube is designed to package and protect the optical fiber gratings. For implanting the sensors firmly, a solution using two kinds of adhesive is proposed. The prototype is calibrated in high precision temperature bath and then measured under different temperatures and different bending conditions, respectively. The experimental results are compared with electronic temperature sensor(PT100 thermal resistance), which verifies the accuracy and repeatability of the design. With the dedicated coating and adhesive solution, the proposed temperature sensor network is suitable for implanting into soft robots for the temperature-aware ability.
基金supported by the National Natural Science Foundation of China (Grant Nos. 50631010, 50771005 and 50771006)the National Basic Research Program of China (Grant No. 2007CB613900)
文摘Bulk metallic glasses (BMGs) with large supercooled liquid region are promising materials for superplastic forming. In this paper, we demonstrate a microstructure-based strategy to pinpoint the composition with the largest supercooled liquid region in La 86 x Al 14 Cu x (x=16 at%-20 at%) metallic glass system. By monitoring the changes in crystallization behavior of the glassy alloys with composition to search for the alloys exhibiting eutectic crystallization, the glassy alloys with the largest supercooled liquid region in the given alloy system can be found. The metallic glasses with Cu contents of 16 at%-19 at% exhibited two crystallization peaks, and the primary crystallization product was identified to be α-La by means of DSC, XRD and TEM. The increase in Cu content resulted in the decay of the primary crystallization peak and the increase in onset temperature of crystallization, leading to the enlargement of supercooled liquid region. By further suppressing the α-La primary crystallization with increasing Cu content up to 20 at%, the eutectic crystallization of α-La and LaCu 13 through one crystallization reaction occurred upon heating, where the largest supercooled liquid region of 65 K for La 66 Al 14 Cu 20 glassy alloy was located. This study indicats that, in a given glassy alloy system, a larger supercooled liquid region can be achieved by optimizing the alloy compositions to suppress the primary crystallization.
