The intercalation compounds of CuCl2 were synthesized with expanded graphite, whose magnitude of the electrical conductivity is about 10(3)S(.)cm(-1). Their electrical conductivity is 3 similar to6 times as high as th...The intercalation compounds of CuCl2 were synthesized with expanded graphite, whose magnitude of the electrical conductivity is about 10(3)S(.)cm(-1). Their electrical conductivity is 3 similar to6 times as high as that of the expanded graphite, and about 10 times as high as that of GIC made of the non-expanded graphite. The microanalysis results of chemical compounds by X-ray energy spectrum scanning of TEM testified that the atomic ratio of chloride and cupric is nonstoichoimetric. The multivalence and exchange of electrovalence of the cupric ion was confirmed by the XPS-ESCA. Vacancy of chlorine anion increases the concentration of charge carrier. The special stage structure, made of graphite and chloride, produces a weak chemical bond belt and provides a carrier space in the direction of GIC layer. These factors develop the electrical properties.展开更多
The safety of human-robot interaction is an essential requirement for designing collaborative robotics.Thus,this paper aims to design a novel variable stiffiiess actuator(VSA)that can provide safer physical human-robo...The safety of human-robot interaction is an essential requirement for designing collaborative robotics.Thus,this paper aims to design a novel variable stiffiiess actuator(VSA)that can provide safer physical human-robot interaction for collaborative robotics.VS A follows the idea of modular design,mainly including a variable stiffiiess module and a drive module.The variable stiffiiess module transmits the motion from the drive module in a roundabout maimer,making the modularization of VS A possible.As the key component of the variable stiffiiess module,a stiffness adjustment mechanism with a symmetrical structure is applied to change the positions of a pair of pivots in two levers linearly and simultaneously,which can eliminate the additional bending moment caused by the asymmetric structure.The design of the doubledeck grooves in the lever allows the pivot to move freely in the groove,avoiding the geometric constraint between the parts.Consequently,the VSA stiffiiess can change from zero to infinity as the pivot moves from one end of the groove to the other.To facilitate building a manipulator in the future,an expandable electrical system with a distributed structure is also proposed.Stiffiiess calibration and control experiments are performed to evaluate the physical performance of the designed VSA.Experiment results show that the VSA stiffiiess is close to the theoretical design stiffness.Furthermore,the VSA with a proportional-derivative feedback plus feedforward controller exhibits a fast response for stiffiiess regulation and a good performance for position tracking.展开更多
基金This paper was the part of doctor thesis of China Uni-versity of Geoscience, (Beijing). The project was sup-' ported by Natio
文摘The intercalation compounds of CuCl2 were synthesized with expanded graphite, whose magnitude of the electrical conductivity is about 10(3)S(.)cm(-1). Their electrical conductivity is 3 similar to6 times as high as that of the expanded graphite, and about 10 times as high as that of GIC made of the non-expanded graphite. The microanalysis results of chemical compounds by X-ray energy spectrum scanning of TEM testified that the atomic ratio of chloride and cupric is nonstoichoimetric. The multivalence and exchange of electrovalence of the cupric ion was confirmed by the XPS-ESCA. Vacancy of chlorine anion increases the concentration of charge carrier. The special stage structure, made of graphite and chloride, produces a weak chemical bond belt and provides a carrier space in the direction of GIC layer. These factors develop the electrical properties.
基金This work was supported by the National Key R&D Program of China(Grant No.2017YFB1300400)the National Natural Science Foundation of China(Grant No.51805107).
文摘The safety of human-robot interaction is an essential requirement for designing collaborative robotics.Thus,this paper aims to design a novel variable stiffiiess actuator(VSA)that can provide safer physical human-robot interaction for collaborative robotics.VS A follows the idea of modular design,mainly including a variable stiffiiess module and a drive module.The variable stiffiiess module transmits the motion from the drive module in a roundabout maimer,making the modularization of VS A possible.As the key component of the variable stiffiiess module,a stiffness adjustment mechanism with a symmetrical structure is applied to change the positions of a pair of pivots in two levers linearly and simultaneously,which can eliminate the additional bending moment caused by the asymmetric structure.The design of the doubledeck grooves in the lever allows the pivot to move freely in the groove,avoiding the geometric constraint between the parts.Consequently,the VSA stiffiiess can change from zero to infinity as the pivot moves from one end of the groove to the other.To facilitate building a manipulator in the future,an expandable electrical system with a distributed structure is also proposed.Stiffiiess calibration and control experiments are performed to evaluate the physical performance of the designed VSA.Experiment results show that the VSA stiffiiess is close to the theoretical design stiffness.Furthermore,the VSA with a proportional-derivative feedback plus feedforward controller exhibits a fast response for stiffiiess regulation and a good performance for position tracking.
