Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless...Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant finger.The statics of the finger was analyzed and the relation between fingertip force and joint torque was built.Finally,the finger force/position control principle was introduced.Tracking experiments of fingertip force/position were carried out.The experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N.It is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.展开更多
Sustainable conversion of carbon dioxide(CO_(2))to high value-added chemicals and fuels is a promising solution to solve the problem of excessive CO_(2) emissions and alleviate the shortage of fossil fuels,maintaining...Sustainable conversion of carbon dioxide(CO_(2))to high value-added chemicals and fuels is a promising solution to solve the problem of excessive CO_(2) emissions and alleviate the shortage of fossil fuels,maintaining the balance of the carbon cycle in nature.The development of catalytic system is of great significance to improve the efficiency and selectivity for electrochemical CO_(2) conversion.In particular,bismuth(Bi)based catalysts are the most promising candidates,while confronting challenges.This review aims to elucidate the fundamental issues of efficient and stable Bi-based catalysts,constructing a bridge between the category,synthesis approach and electrochemical performance.In this review,the categories of Bi-based catalysts are firstly introduced,such as metals,alloys,single atoms,compounds and composites.Followed by the statement of the reliable and versatile synthetic approaches,the representative optimization strategies,such as morphology manipulation,defect engineering,component and heterostructure regulation,have been highlighted in the discussion,paving in-depth insight upon the design principles,reaction activity,selectivity and stability.Afterward,in situ characterization techniques will be discussed to illustrate the mechanisms of electrochemical CO_(2) conversion.In the end,the challenges and perspectives are also provided,promoting a systematic understanding in terms of the bottleneck and opportunities in the field of electrochemical CO_(2) conversion.展开更多
This paper has been focused on investigating kinematics of Persian joint. In this study, instead of using the 3D （three dimensional） rotation matrix method as in the previous research, Persian joint is considered as...This paper has been focused on investigating kinematics of Persian joint. In this study, instead of using the 3D （three dimensional） rotation matrix method as in the previous research, Persian joint is considered as a robotic mechanism, and the methods and tools are applied to present the relationship of angular displacements of input shaft and output shaft. When the angle between intersecting shafts changes from 0 degree to 135 degrees, the results show that the velocities of input shaft and output shaft are almost the same with the actual values. This study provides a new method to investigate this mechanism in detail. The obtained results not only provide the sub-parameters （the displacement of guide arms and connecting arms）, but also help to have a deeper understanding about the operation of Persian joint in order to develop the design of Persian joint in the future.展开更多
基金Project(2009AA04Z209) supported by the National High Technology Research and Development Program of ChinaProject(R1090674) supported by the Natural Science Foundation of Zhejiang Province,ChinaProject(51075363) supported by the National Natural Science Foundation of China
文摘Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant finger.The statics of the finger was analyzed and the relation between fingertip force and joint torque was built.Finally,the finger force/position control principle was introduced.Tracking experiments of fingertip force/position were carried out.The experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N.It is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.
文摘Sustainable conversion of carbon dioxide(CO_(2))to high value-added chemicals and fuels is a promising solution to solve the problem of excessive CO_(2) emissions and alleviate the shortage of fossil fuels,maintaining the balance of the carbon cycle in nature.The development of catalytic system is of great significance to improve the efficiency and selectivity for electrochemical CO_(2) conversion.In particular,bismuth(Bi)based catalysts are the most promising candidates,while confronting challenges.This review aims to elucidate the fundamental issues of efficient and stable Bi-based catalysts,constructing a bridge between the category,synthesis approach and electrochemical performance.In this review,the categories of Bi-based catalysts are firstly introduced,such as metals,alloys,single atoms,compounds and composites.Followed by the statement of the reliable and versatile synthetic approaches,the representative optimization strategies,such as morphology manipulation,defect engineering,component and heterostructure regulation,have been highlighted in the discussion,paving in-depth insight upon the design principles,reaction activity,selectivity and stability.Afterward,in situ characterization techniques will be discussed to illustrate the mechanisms of electrochemical CO_(2) conversion.In the end,the challenges and perspectives are also provided,promoting a systematic understanding in terms of the bottleneck and opportunities in the field of electrochemical CO_(2) conversion.
文摘This paper has been focused on investigating kinematics of Persian joint. In this study, instead of using the 3D （three dimensional） rotation matrix method as in the previous research, Persian joint is considered as a robotic mechanism, and the methods and tools are applied to present the relationship of angular displacements of input shaft and output shaft. When the angle between intersecting shafts changes from 0 degree to 135 degrees, the results show that the velocities of input shaft and output shaft are almost the same with the actual values. This study provides a new method to investigate this mechanism in detail. The obtained results not only provide the sub-parameters （the displacement of guide arms and connecting arms）, but also help to have a deeper understanding about the operation of Persian joint in order to develop the design of Persian joint in the future.
