This paper presents a novel remote controlled dexterous robot arm with 6 degrees of freedom （DOF）. As a highly integrated mechatronics system, sensors and their signal processing system are integrated inside each jo...This paper presents a novel remote controlled dexterous robot arm with 6 degrees of freedom （DOF）. As a highly integrated mechatronics system, sensors and their signal processing system are integrated inside each joint. To lighten the weight, almost all mechanical parts are made of aluminum and the robot control system is placed outside. The modular concept is adopted during the robot design process for time and cost saving. Considering the much greater torque acted on the two shoulder joints, the joint shells are strengthened in the design to increase joint stiffness and suppress system vibration. Meanwhile, to simplify the maintenance, a new spring pins electronic connector is designed to disassemble every joint, connector and link independently without cutting any cables. The teleoperation technology enables the robot to offer more convenient service definitely for people＇ s daily life. Virtual reality technology is used to solve the time delay problem during teleoperation. Finally, two typical daily chore experiments are implemented to prove the manipulation ability of the dexterous robot arm.展开更多
With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size ...With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head,bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors,joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most by high integration of finger body,driving system,sensors and electronics.展开更多
Titanium niobium oxides emerge as promising anode materials with potential for applications in lithium ion batteries with high safety and high energy density.However,the innate low electronic conductivity of such a co...Titanium niobium oxides emerge as promising anode materials with potential for applications in lithium ion batteries with high safety and high energy density.However,the innate low electronic conductivity of such a composite oxide seriously limits its practical capacity,which becomes a serious concern especially when a high rate charge/discharge capability is expected.Here,using a modified template-assisted synthesis protocol,which features an in-situ entrapment of both titanium and niobium species during the formation of polymeric microsphere followed by a pyrolysis process,we succeed in preparing hollow microspheres of titanium niobium oxide with high efficiency in structural control.When used as an anode material,the structurally-controlled hollow sample delivers high reversible capacity(103.7 m A h g^(-1)at 50 C)and extraordinary cycling capability especially at high charge/discharge currents(164.7 m A h g^(-1)after 500 cycles at 10 C).展开更多
Porous carbon nanospheres have been widely used in different fields such as electric devices, catalysts, and water treatment. Here we will introduce a template-free process for the preparation of porous carbon nanosph...Porous carbon nanospheres have been widely used in different fields such as electric devices, catalysts, and water treatment. Here we will introduce a template-free process for the preparation of porous carbon nanospheres starting from a direct 3-aminophenol formaldehyde polymerization in a mixed solution. We identify that the addition of different alcohols, particularly ethanol and nbutanol, is able to change the growth habit of the polymer nanospheres and introduce a favorable inner compositional homogeneity for the preparation of porous structure. After the carbonization of the polymer nanospheres, the obtained porous carbon exhibits promising electrochemical performance when used as electrode material in super capacitor.展开更多
文摘This paper presents a novel remote controlled dexterous robot arm with 6 degrees of freedom （DOF）. As a highly integrated mechatronics system, sensors and their signal processing system are integrated inside each joint. To lighten the weight, almost all mechanical parts are made of aluminum and the robot control system is placed outside. The modular concept is adopted during the robot design process for time and cost saving. Considering the much greater torque acted on the two shoulder joints, the joint shells are strengthened in the design to increase joint stiffness and suppress system vibration. Meanwhile, to simplify the maintenance, a new spring pins electronic connector is designed to disassemble every joint, connector and link independently without cutting any cables. The teleoperation technology enables the robot to offer more convenient service definitely for people＇ s daily life. Virtual reality technology is used to solve the time delay problem during teleoperation. Finally, two typical daily chore experiments are implemented to prove the manipulation ability of the dexterous robot arm.
基金Sponsored by the High Technology Research and Development Program of China(Grant No.2008AA04Z203)Development Program for Outstanding Young Teachers in Harbin Institute of Technology(Grant No.HITQNJS.2008.010)
文摘With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head,bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors,joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most by high integration of finger body,driving system,sensors and electronics.
基金supported by the National Natural Science Foundation of China (51672282, 21373238)the Strategic Priority Research Program of the Chinese Academy of Sciences (XDA09010101)
文摘Titanium niobium oxides emerge as promising anode materials with potential for applications in lithium ion batteries with high safety and high energy density.However,the innate low electronic conductivity of such a composite oxide seriously limits its practical capacity,which becomes a serious concern especially when a high rate charge/discharge capability is expected.Here,using a modified template-assisted synthesis protocol,which features an in-situ entrapment of both titanium and niobium species during the formation of polymeric microsphere followed by a pyrolysis process,we succeed in preparing hollow microspheres of titanium niobium oxide with high efficiency in structural control.When used as an anode material,the structurally-controlled hollow sample delivers high reversible capacity(103.7 m A h g^(-1)at 50 C)and extraordinary cycling capability especially at high charge/discharge currents(164.7 m A h g^(-1)after 500 cycles at 10 C).
基金supported by the National Natural Science Foundation of China(51672282,21373238)the Major State Basic Research Program of China(2013CB934000)the Strategic Priority Research Program of the Chinese Academy of Sciences(XDA09010101)
文摘Porous carbon nanospheres have been widely used in different fields such as electric devices, catalysts, and water treatment. Here we will introduce a template-free process for the preparation of porous carbon nanospheres starting from a direct 3-aminophenol formaldehyde polymerization in a mixed solution. We identify that the addition of different alcohols, particularly ethanol and nbutanol, is able to change the growth habit of the polymer nanospheres and introduce a favorable inner compositional homogeneity for the preparation of porous structure. After the carbonization of the polymer nanospheres, the obtained porous carbon exhibits promising electrochemical performance when used as electrode material in super capacitor.
