The microstructure and mechanical properties of as-cast A356（Al–Si） alloy castings were investigated. A356 alloy was cast into three different molds composed of sand, ferrochrome（Fe–Cr） slag, and a mixture of sa...The microstructure and mechanical properties of as-cast A356（Al–Si） alloy castings were investigated. A356 alloy was cast into three different molds composed of sand, ferrochrome（Fe–Cr） slag, and a mixture of sand and Fe–Cr. A sodium silicate–CO_2 process was used to make the necessary molds. Cylindrical-shaped castings were prepared. Cast products with no porosity and a good surface finish were achieved in all of the molds. These castings were evaluated for their metallography, secondary dendrite arm spacing（SDAS）, and mechanical properties, including hardness, compression, tensile, and impact properties. Furthermore, the tensile and impact samples were analyzed by fractography. The results show that faster heat transfer in the Fe–Cr slag molds than in either the silica sand or mixed molds led to lower SDAS values with a refined microstructure in the products cast in Fe–Cr slag molds. Consistent and enhanced mechanical properties were observed in the slag mold products than in the castings obtained from either sand or mixed molds. The fracture surface of the slag mold castings shows a dimple fracture morphology with a transgranular fracture nature. However, the fracture surfaces of the sand mold castings display brittle fracture. In conclusion, products cast in Fe–Cr slag molds exhibit an improved surface finish and enhanced mechanical properties compared to those of products cast in sand and mixed molds.展开更多
The as-cast Mg-8Li-3Al-0.5Mn-xSr（LAM830-xSr, x=0-1.0） alloys were designed and prepared in a vacuum induction furnace under controlled argon atmosphere. The alloys were then processed by hot extrusion, and their mic...The as-cast Mg-8Li-3Al-0.5Mn-xSr（LAM830-xSr, x=0-1.0） alloys were designed and prepared in a vacuum induction furnace under controlled argon atmosphere. The alloys were then processed by hot extrusion, and their microstructural evolution and mechanical properties were analyzed. Results indicate that the LAM830 alloy mainly consists of α-Mg, β-Li, Al2Mn3, and LiMgAl2 phases. Sr addition results in the precipitation of Al-Sr. Moreover, Sr addition results in a fact that the secondary dendrite arm spacing（DAS） of the primary α-Mg phase is obvious refined. Microstructure of the investigated alloys is further refined as a result of the hot extrusion treatment. The content and morphology of the secondary phases have important effects on the mechanical properties of the alloys. The as-extruded LAM830-0.5Sr alloy exhibits an optimal elongation of 22.43% and as-extruded LAM830-0.75 Sr alloy shows an optimal tensile strength of 265.46 MPa.展开更多
The objective of this study is to investigate the biomechanical functions of the human ankle-toot complex during the stancephase of walking. The three-dimensional (3D) gait measurement was conducted by using a 3D infr...The objective of this study is to investigate the biomechanical functions of the human ankle-toot complex during the stancephase of walking. The three-dimensional (3D) gait measurement was conducted by using a 3D infrared multi-camera system anda force plate array to record the Ground Reaction Forces (GRF) and segmental motions simultaneously. The ankle-foot complexwas modelled as a four-segment system, connected by three joints: talocrural joint, sub-talar joint and metatarsophalangeal joint.The subject-specific joint orientations and locations were determined using a functional joint method based on the particleswarm optimisation algorithm. The GRF moment arms and joint moments acting around the talocrural and sub-talar joints werecalculated over the entire stance phase. The estimated talocrural and sub-talar joint locations show noticeable obliquity. Thekinematic and kinetic results strongly suggest that the human ankle-foot complex works as a mechanical mechanism with twodifferent configurations in stance phase of walking. These lead to a significant decrease in the GRF moment arms therebyincreasing the effective mechanical advantages of the ankle plantarflexor muscles. This reconfigurable mechanism enhancesmuscle effectiveness during locomotion by modulating the gear ratio of the ankle plantarflexor muscles in stance. This studyalso reveals many factors may contribute to the locomotor function of the human ankle-foot complex, which include not only itsre-configurable structure, but also its obliquely arranged joints, the characteristic heel-to-toe Centre of Pressure (COP) motionand also the medially acting GRF pattern. Although the human ankle-foot structure is immensely complex, it seems that itsconfiguration and each constitutive component are well tuned to maximise locomotor efficiency and also to minimise risk ofinjury. This result would advance our understanding of the locomotor function of the ankle-foot complex, and also the intrinsicdesign of the ankle-foot musculoskeletal structure. Moreover, this may also provide implications for the design of bionicprosthetic devices and the development of humanoid robots.展开更多
Robotic grippers have been used in industry as end-effectors but are usually limited to operations in pre-defined workspace.However,few devices can capture irregularly shaped dynamic targets in space,underwater and ot...Robotic grippers have been used in industry as end-effectors but are usually limited to operations in pre-defined workspace.However,few devices can capture irregularly shaped dynamic targets in space,underwater and other unstructured environments.In this paper,a novel continuum arm group mechanism inspired by the morphology and motions of sea anemones is proposed.It is able to dissipate and absorb the kinetic energy of a fast moving target in omni-direction and utilize multiple arms to wrap and lock the target without accurate positioning control.Wire-driven actuation systems are implemented in the individual continuum arms,achieving both bending motion and stiffness regulation.Through finite element method,the influence of different configurations of the continuum arm group on the capture performance is analyzed.A robotic prototype is constructed and tested,showing the presented arm group mechanism has high adaptability to capture targets with different sizes,shapes,and incident angles.展开更多
基金the DST–Fly Ash unit, New Delhi, India for their financial support (Grant Ref No.FAU/DST/600(52)/2012-13)Advance Analytical laboratory, Andhra University, India for the support in SEM–EDS studies
文摘The microstructure and mechanical properties of as-cast A356（Al–Si） alloy castings were investigated. A356 alloy was cast into three different molds composed of sand, ferrochrome（Fe–Cr） slag, and a mixture of sand and Fe–Cr. A sodium silicate–CO_2 process was used to make the necessary molds. Cylindrical-shaped castings were prepared. Cast products with no porosity and a good surface finish were achieved in all of the molds. These castings were evaluated for their metallography, secondary dendrite arm spacing（SDAS）, and mechanical properties, including hardness, compression, tensile, and impact properties. Furthermore, the tensile and impact samples were analyzed by fractography. The results show that faster heat transfer in the Fe–Cr slag molds than in either the silica sand or mixed molds led to lower SDAS values with a refined microstructure in the products cast in Fe–Cr slag molds. Consistent and enhanced mechanical properties were observed in the slag mold products than in the castings obtained from either sand or mixed molds. The fracture surface of the slag mold castings shows a dimple fracture morphology with a transgranular fracture nature. However, the fracture surfaces of the sand mold castings display brittle fracture. In conclusion, products cast in Fe–Cr slag molds exhibit an improved surface finish and enhanced mechanical properties compared to those of products cast in sand and mixed molds.
基金Project(2007CB613702)supported by the National Basic Research Program of ChinaProject(2008BB4323)supported by the Natural Science Foundation of Chongqing Science and Technology Commission,ChinaProject(2010DFR50010)supported by the International Scientific and Technological Cooperation Projects,China
文摘The as-cast Mg-8Li-3Al-0.5Mn-xSr（LAM830-xSr, x=0-1.0） alloys were designed and prepared in a vacuum induction furnace under controlled argon atmosphere. The alloys were then processed by hot extrusion, and their microstructural evolution and mechanical properties were analyzed. Results indicate that the LAM830 alloy mainly consists of α-Mg, β-Li, Al2Mn3, and LiMgAl2 phases. Sr addition results in the precipitation of Al-Sr. Moreover, Sr addition results in a fact that the secondary dendrite arm spacing（DAS） of the primary α-Mg phase is obvious refined. Microstructure of the investigated alloys is further refined as a result of the hot extrusion treatment. The content and morphology of the secondary phases have important effects on the mechanical properties of the alloys. The as-extruded LAM830-0.5Sr alloy exhibits an optimal elongation of 22.43% and as-extruded LAM830-0.75 Sr alloy shows an optimal tensile strength of 265.46 MPa.
基金the Structure and Motion Lab,University of LondonCentre for Robotics Research at King's College London+1 种基金BBSRC for their support from grant number BB/H003142/1supported by the Royal Thailand Government
文摘The objective of this study is to investigate the biomechanical functions of the human ankle-toot complex during the stancephase of walking. The three-dimensional (3D) gait measurement was conducted by using a 3D infrared multi-camera system anda force plate array to record the Ground Reaction Forces (GRF) and segmental motions simultaneously. The ankle-foot complexwas modelled as a four-segment system, connected by three joints: talocrural joint, sub-talar joint and metatarsophalangeal joint.The subject-specific joint orientations and locations were determined using a functional joint method based on the particleswarm optimisation algorithm. The GRF moment arms and joint moments acting around the talocrural and sub-talar joints werecalculated over the entire stance phase. The estimated talocrural and sub-talar joint locations show noticeable obliquity. Thekinematic and kinetic results strongly suggest that the human ankle-foot complex works as a mechanical mechanism with twodifferent configurations in stance phase of walking. These lead to a significant decrease in the GRF moment arms therebyincreasing the effective mechanical advantages of the ankle plantarflexor muscles. This reconfigurable mechanism enhancesmuscle effectiveness during locomotion by modulating the gear ratio of the ankle plantarflexor muscles in stance. This studyalso reveals many factors may contribute to the locomotor function of the human ankle-foot complex, which include not only itsre-configurable structure, but also its obliquely arranged joints, the characteristic heel-to-toe Centre of Pressure (COP) motionand also the medially acting GRF pattern. Although the human ankle-foot structure is immensely complex, it seems that itsconfiguration and each constitutive component are well tuned to maximise locomotor efficiency and also to minimise risk ofinjury. This result would advance our understanding of the locomotor function of the ankle-foot complex, and also the intrinsicdesign of the ankle-foot musculoskeletal structure. Moreover, this may also provide implications for the design of bionicprosthetic devices and the development of humanoid robots.
基金Supported by National Key R&D Program of China(Grant Nos.2019YFB1309800,2018YFB1304600)National Natural Science Foundation of China(Grant No.51875393)State Key Laboratory of Robotics Foundation-China(Grant No.2019-O04).
文摘Robotic grippers have been used in industry as end-effectors but are usually limited to operations in pre-defined workspace.However,few devices can capture irregularly shaped dynamic targets in space,underwater and other unstructured environments.In this paper,a novel continuum arm group mechanism inspired by the morphology and motions of sea anemones is proposed.It is able to dissipate and absorb the kinetic energy of a fast moving target in omni-direction and utilize multiple arms to wrap and lock the target without accurate positioning control.Wire-driven actuation systems are implemented in the individual continuum arms,achieving both bending motion and stiffness regulation.Through finite element method,the influence of different configurations of the continuum arm group on the capture performance is analyzed.A robotic prototype is constructed and tested,showing the presented arm group mechanism has high adaptability to capture targets with different sizes,shapes,and incident angles.
