Tactile sensors are believed to be a key element in order to realize robotic fingers to catch a fragile object without damage. Force sensitive conductive rubber is a low-cost material and then attractive for the appli...Tactile sensors are believed to be a key element in order to realize robotic fingers to catch a fragile object without damage. Force sensitive conductive rubber is a low-cost material and then attractive for the application to tactile sensors. We have studied the effect of electrodes attached to the rubber sheets. We have tried four kinds of electrodes: vacuum deposited Al, adhesive Cu tape, Al thin film sheet and silver paste. It can be concluded that vacuum deposited Al has the highest potential from the practical point of view;it has the widest dynamic range and good precision at the same time.展开更多
In the research of 2D flexible tactile sensor matrix,pressure-sensitive conductive rubber was developed and tested in which carbon black was used as its conductive phase and silicon rubber as its matrix layer.Experime...In the research of 2D flexible tactile sensor matrix,pressure-sensitive conductive rubber was developed and tested in which carbon black was used as its conductive phase and silicon rubber as its matrix layer.Experiments were undertaken and the resultant data were used for its piezoresistive characteristics investigation for two kinds of electrode connection configurations,the surface directive connection and embedded connection.It is found that due to the rather strong nonlinearity of the piezoresistive characteristic curves obtained,a higher correlation relationship can be obtained by means of quadratic polynomial fitting.It also showed that the embedded electrode assembling has higher fitting accuracy while the surface directive connection has better mechanical sensitivity.展开更多
Natural rubber nanocomposites filled with hybrid fillers of multi-walled carbon nanotubes(CNTs) and carbon black(CB) were prepared. CNTs were ultrasonically modified in mixture of hydrogen peroxide(H2O2) and distilled...Natural rubber nanocomposites filled with hybrid fillers of multi-walled carbon nanotubes(CNTs) and carbon black(CB) were prepared. CNTs were ultrasonically modified in mixture of hydrogen peroxide(H2O2) and distilled water(H2O). The functional groups on the surface of CNTs, changes in nanotube structure and morphology were characterized by Fourier transform infrared spectroscopy(FT-IR), Raman Spectroscopy, and transmission electron microscopy(TEM). It shows that hydroxyl(OH·) is successfully introduced. The surface defects of modified CNTs were obviously higher than those of original CNTs, and the degree of agglomeration was greatly reduced. Thermal conductivity of the composites was tested by protection heat flow meter method. Compared with unmodified CNTs/CB filling system, the thermal conductivity of hybrid composites is improved by an average of 5.8% with 1.5 phr(phr is parts per hundred rubber) of hydroxyl CNTs and 40 phr of CB filled. A three-dimensional heat conduction network composed of hydroxyl CNTs and CB, as observed by TEM, contributes to the good properties. Thermal conductivity of the hybrid composites increases as temperature rises. The mechanical properties of hybrid composites are also good with hydroxyl CNTs filled nanocomposites;the tensile strength, 100% and 300% tensile stress are improved by 10.1%, 22.4% and 26.2% respectively.展开更多
The use of steel slag,which is a by-product of the steel manufacture,in the construction of asphalt pavement would contribute to waste reduction and environment protection.Using rubber asphalt at the same time can imp...The use of steel slag,which is a by-product of the steel manufacture,in the construction of asphalt pavement would contribute to waste reduction and environment protection.Using rubber asphalt at the same time can improve the performance of asphalt mixture.This study investigates the influence of steel slag content on the road performance,thermal conductivity and outdoor temperature distribution of steel slag rubber asphalt mixtures(SSRAM),and calculates the cumulative stress in surface layer.At a certain range of concentration,the steel slag additive improved the deformation resistance and low-temperature cracking resistance of the mixtures.The SSRAM with 40%steel slag content has the best deformation resistance while SSRAM with 60%steel slag content performed well in low-temperature cracking resistance.The thermal conductivity of the SSRAM with different steel slag content(0%,20%,40%,60%,80%,and 100%)was 1.994,2.188,2.239,2.255,2.288,and 2.295 W/(m·K),respectively.Measurements of the outdoor temperature distribution further confirmed that steel slag increased the thermal conductivity of the mixtures,thereby increasing the cumulative temperature difference between the top and bottom layers.The temperature stress and temperature-stress ratio of the SSRAM with 40%steel slag were 0.43 MPa and 0.24,while the SSRAM with 100%steel slag were 0.58 MPa and 0.36.The stress and stress ratio were much higher in the SSRAM with 100%steel slag than in the specimen with 40%steel slag.Accordingly,the maximum accumulated temperature stress aggrandized and caused early temperature cracks in the surface layer.The optimum content of steel slag was 40%.展开更多
Silicone rubber is widely used as a kind of thermal interface material(TIM)in electronic devices.However few studies have been carried out on the thermal conductivity mechanism of silicone rubber.This paper investigat...Silicone rubber is widely used as a kind of thermal interface material(TIM)in electronic devices.However few studies have been carried out on the thermal conductivity mechanism of silicone rubber.This paper investigates the thermal conductivity mechanism by non-equilibrium molecular dynamics(NEMD)in three aspects:chain length,morphology,and temperature.It is found that the effect of chain length on thermal conductivity varies with morphologies.In crystalline state where the chains are aligned,the thermal conductivity increases apparently with the length of the silicone-oxygen chain,the thermal conductivity of 79 nm-long crystalline silicone rubber could reach 1.49 W/(m·K).The thermal conductivity of amorphous silicone rubber is less affected by the chain length.The temperature dependence of thermal conductivity of silicone rubbers with different morphologies is trivial.The phonon density of states(DOS)is calculated and analyzed.The results indicate that crystalline silicone rubber with aligned orientation has more low frequency phonons,longer phonon MFP,and shorter conducting path,which contribute to a larger thermal conductivity.展开更多
Compression force sensors are indispensable to tactile sensors in humanoid robots. We are investigating the application of low-cost electrically conducting rubber sheets to force sensors, of which the biggest problem ...Compression force sensors are indispensable to tactile sensors in humanoid robots. We are investigating the application of low-cost electrically conducting rubber sheets to force sensors, of which the biggest problem is its poor reproducibility. We have found that the deposition of aluminum by a vacuum evaporation method shows such an excellent characteristic that the sensor can be used in a wide range under 10.33 N/cm2. In this article, we investigated time response of the sensors and also studied how the radiation heating during the vacuum evaporation process for Al deposition affected their sensing property. We found that the radiation heating induces deterioration from the point of view of standard deviation of the output voltage of the sensors at a transient region. We convince that a low-temperature Al deposition method should be developed to form electrodes on the electrical conducting rubber sensors.展开更多
Compressive force sensors or pressure sensors are indispensable to tactile sensors in humanoid robots. It is investigated that low-cost electro-conducting rubber sheets are applied to the force sensor, of which the bi...Compressive force sensors or pressure sensors are indispensable to tactile sensors in humanoid robots. It is investigated that low-cost electro-conducting rubber sheets are applied to the force sensor, of which the biggest problem is its poor reproducibility. It was found that the aluminum deposition by a vacuum evaporation method shows excellent characteristics but suffers deterioration by a radiation heating effect. The aluminum electrode was deposited by a sputtering method, known to have an advantage of a low-temperature method, and the reproducibility of the output was improved.展开更多
The rubber composites with good thermal conductivity contribute to heat dissipation of tires. Graphite filled natural rubber composites were developed in this study to provide good thermal conductivity. Graphite was c...The rubber composites with good thermal conductivity contribute to heat dissipation of tires. Graphite filled natural rubber composites were developed in this study to provide good thermal conductivity. Graphite was coated with polyacrylate polymerized by monomers including methyl methacrylate, n-butyl acrylate and acrylic acid. The ratios between a filler and acrylate polymerization emulsion and those between monomers were varied. Eight types of surface modification formulas were experimentally investigated. Modification formula can affect coating results and composite properties greatly. The best coating type was achieved by a ratio of1:1 between methyl methacrylate and n-butyl acrylate. The coating of graphite was thermally stable in a running tire. Filled with modified graphite, the tire thermal conductivity reached up to 0.517–0.569 W·m-1·K-1. In addition, the mechanical performance was improved with increased crosslink density, extended scorch time and short vulcanization time.展开更多
This study aims to develop a force sensor system with a pressure-sensitive conductive rubber (PSCR), which shows the decrease of electrical resistance when pressure is applied. The biggest obstacle of the sensor is a ...This study aims to develop a force sensor system with a pressure-sensitive conductive rubber (PSCR), which shows the decrease of electrical resistance when pressure is applied. The biggest obstacle of the sensor is a poor reproducibility in the characteristic between the force and the resistance of the PSCR, which derived from a hysteresis and time variant properties. In this paper, we propose one method for recognizing a magnitude of the force to the PSCR using frequency tables. The validity of the proposed method is confirmed on the basis of experimental results.展开更多
文摘Tactile sensors are believed to be a key element in order to realize robotic fingers to catch a fragile object without damage. Force sensitive conductive rubber is a low-cost material and then attractive for the application to tactile sensors. We have studied the effect of electrodes attached to the rubber sheets. We have tried four kinds of electrodes: vacuum deposited Al, adhesive Cu tape, Al thin film sheet and silver paste. It can be concluded that vacuum deposited Al has the highest potential from the practical point of view;it has the widest dynamic range and good precision at the same time.
基金Funded by the National Natural Science Foundation of China(No.60672024)National High Technology Research and Development Program of China (No.2007AA04Z220)
文摘In the research of 2D flexible tactile sensor matrix,pressure-sensitive conductive rubber was developed and tested in which carbon black was used as its conductive phase and silicon rubber as its matrix layer.Experiments were undertaken and the resultant data were used for its piezoresistive characteristics investigation for two kinds of electrode connection configurations,the surface directive connection and embedded connection.It is found that due to the rather strong nonlinearity of the piezoresistive characteristic curves obtained,a higher correlation relationship can be obtained by means of quadratic polynomial fitting.It also showed that the embedded electrode assembling has higher fitting accuracy while the surface directive connection has better mechanical sensitivity.
基金Supported by the National Natural Science Foundation of China(51606107,51576102)the Collaborative Innovation Project of Green Tire and Rubber(0200501436)
文摘Natural rubber nanocomposites filled with hybrid fillers of multi-walled carbon nanotubes(CNTs) and carbon black(CB) were prepared. CNTs were ultrasonically modified in mixture of hydrogen peroxide(H2O2) and distilled water(H2O). The functional groups on the surface of CNTs, changes in nanotube structure and morphology were characterized by Fourier transform infrared spectroscopy(FT-IR), Raman Spectroscopy, and transmission electron microscopy(TEM). It shows that hydroxyl(OH·) is successfully introduced. The surface defects of modified CNTs were obviously higher than those of original CNTs, and the degree of agglomeration was greatly reduced. Thermal conductivity of the composites was tested by protection heat flow meter method. Compared with unmodified CNTs/CB filling system, the thermal conductivity of hybrid composites is improved by an average of 5.8% with 1.5 phr(phr is parts per hundred rubber) of hydroxyl CNTs and 40 phr of CB filled. A three-dimensional heat conduction network composed of hydroxyl CNTs and CB, as observed by TEM, contributes to the good properties. Thermal conductivity of the hybrid composites increases as temperature rises. The mechanical properties of hybrid composites are also good with hydroxyl CNTs filled nanocomposites;the tensile strength, 100% and 300% tensile stress are improved by 10.1%, 22.4% and 26.2% respectively.
基金This research was funded by the Department of Transportation of Hebei Province(Grant No.TH1-202019).
文摘The use of steel slag,which is a by-product of the steel manufacture,in the construction of asphalt pavement would contribute to waste reduction and environment protection.Using rubber asphalt at the same time can improve the performance of asphalt mixture.This study investigates the influence of steel slag content on the road performance,thermal conductivity and outdoor temperature distribution of steel slag rubber asphalt mixtures(SSRAM),and calculates the cumulative stress in surface layer.At a certain range of concentration,the steel slag additive improved the deformation resistance and low-temperature cracking resistance of the mixtures.The SSRAM with 40%steel slag content has the best deformation resistance while SSRAM with 60%steel slag content performed well in low-temperature cracking resistance.The thermal conductivity of the SSRAM with different steel slag content(0%,20%,40%,60%,80%,and 100%)was 1.994,2.188,2.239,2.255,2.288,and 2.295 W/(m·K),respectively.Measurements of the outdoor temperature distribution further confirmed that steel slag increased the thermal conductivity of the mixtures,thereby increasing the cumulative temperature difference between the top and bottom layers.The temperature stress and temperature-stress ratio of the SSRAM with 40%steel slag were 0.43 MPa and 0.24,while the SSRAM with 100%steel slag were 0.58 MPa and 0.36.The stress and stress ratio were much higher in the SSRAM with 100%steel slag than in the specimen with 40%steel slag.Accordingly,the maximum accumulated temperature stress aggrandized and caused early temperature cracks in the surface layer.The optimum content of steel slag was 40%.
基金Project supported by the Science Fund for Creative Research Groups of the National Natural Science Foundation of China(Grant No.51621062)the National Natural Science Foundation of China(Grant No.51802144)。
文摘Silicone rubber is widely used as a kind of thermal interface material(TIM)in electronic devices.However few studies have been carried out on the thermal conductivity mechanism of silicone rubber.This paper investigates the thermal conductivity mechanism by non-equilibrium molecular dynamics(NEMD)in three aspects:chain length,morphology,and temperature.It is found that the effect of chain length on thermal conductivity varies with morphologies.In crystalline state where the chains are aligned,the thermal conductivity increases apparently with the length of the silicone-oxygen chain,the thermal conductivity of 79 nm-long crystalline silicone rubber could reach 1.49 W/(m·K).The thermal conductivity of amorphous silicone rubber is less affected by the chain length.The temperature dependence of thermal conductivity of silicone rubbers with different morphologies is trivial.The phonon density of states(DOS)is calculated and analyzed.The results indicate that crystalline silicone rubber with aligned orientation has more low frequency phonons,longer phonon MFP,and shorter conducting path,which contribute to a larger thermal conductivity.
文摘Compression force sensors are indispensable to tactile sensors in humanoid robots. We are investigating the application of low-cost electrically conducting rubber sheets to force sensors, of which the biggest problem is its poor reproducibility. We have found that the deposition of aluminum by a vacuum evaporation method shows such an excellent characteristic that the sensor can be used in a wide range under 10.33 N/cm2. In this article, we investigated time response of the sensors and also studied how the radiation heating during the vacuum evaporation process for Al deposition affected their sensing property. We found that the radiation heating induces deterioration from the point of view of standard deviation of the output voltage of the sensors at a transient region. We convince that a low-temperature Al deposition method should be developed to form electrodes on the electrical conducting rubber sensors.
文摘Compressive force sensors or pressure sensors are indispensable to tactile sensors in humanoid robots. It is investigated that low-cost electro-conducting rubber sheets are applied to the force sensor, of which the biggest problem is its poor reproducibility. It was found that the aluminum deposition by a vacuum evaporation method shows excellent characteristics but suffers deterioration by a radiation heating effect. The aluminum electrode was deposited by a sputtering method, known to have an advantage of a low-temperature method, and the reproducibility of the output was improved.
基金the National Natural Science Foundation of China(51076070,51276091)the Natural Science Foundation of Shandong Province(ZR2012EEQ017)the Research Award Fund for Outstanding Young Scientists in Shandong province(BS2012CL014)
文摘The rubber composites with good thermal conductivity contribute to heat dissipation of tires. Graphite filled natural rubber composites were developed in this study to provide good thermal conductivity. Graphite was coated with polyacrylate polymerized by monomers including methyl methacrylate, n-butyl acrylate and acrylic acid. The ratios between a filler and acrylate polymerization emulsion and those between monomers were varied. Eight types of surface modification formulas were experimentally investigated. Modification formula can affect coating results and composite properties greatly. The best coating type was achieved by a ratio of1:1 between methyl methacrylate and n-butyl acrylate. The coating of graphite was thermally stable in a running tire. Filled with modified graphite, the tire thermal conductivity reached up to 0.517–0.569 W·m-1·K-1. In addition, the mechanical performance was improved with increased crosslink density, extended scorch time and short vulcanization time.
文摘This study aims to develop a force sensor system with a pressure-sensitive conductive rubber (PSCR), which shows the decrease of electrical resistance when pressure is applied. The biggest obstacle of the sensor is a poor reproducibility in the characteristic between the force and the resistance of the PSCR, which derived from a hysteresis and time variant properties. In this paper, we propose one method for recognizing a magnitude of the force to the PSCR using frequency tables. The validity of the proposed method is confirmed on the basis of experimental results.
