Based on the study of the relation between the dynamic imbalance degree and the product of inertia,a new static test method of the dynamic imbalance degree is presented.It is theoretically proved that the essence of t...Based on the study of the relation between the dynamic imbalance degree and the product of inertia,a new static test method of the dynamic imbalance degree is presented.It is theoretically proved that the essence of the imbalance degree test for projectile body is the test of its product of inertia.A more precise calculation formula of dynamic imbalance degree is also given.The experiment results show that this method can not only reduce the cost of equipment,simplify the test procedures,save human resource,but also has more reliable test precision.展开更多
With the aid of different types of mechanoreceptors,human is capable of perceiving stimuli from surrounding environments and manipulating various objects dexterously.In this paper,a bio-inspired tactile fingertip is d...With the aid of different types of mechanoreceptors,human is capable of perceiving stimuli from surrounding environments and manipulating various objects dexterously.In this paper,a bio-inspired tactile fingertip is designed mimicking human fingertip in both structures and functionalities.Two pairs of strain gages and(Polyvinylidene Fluoride)PVDF films are perpendicularly arranged to simulate the Fast-Adapting(FA)and Slowly Adapting(SA)type mechanoreceptors in human hands,while silicones,Polymethyl Methacrylate(PMMA),and electronic wires are applied to mimic the skin,bone and nerve fibers.Both static and dynamic forces can be perceived sensitively.A preprocessing electric circuit is further designed to transform the resistor changes into voltages,and then filter and amplify the four-channel signals.In addition to strong robustness due to the embedded structure,the developed fingertip is found sensitive to deformations via a force test experiment.Finally,two robotic experiments explore its recognition ability of contact status and object surface.Excellent performance is found with high accuracy of 99.72%achieved in discriminating six surfaces that are ubiquitous in daily life,which demonstrates the effectiveness of our designed tactile sensor.展开更多
文摘Based on the study of the relation between the dynamic imbalance degree and the product of inertia,a new static test method of the dynamic imbalance degree is presented.It is theoretically proved that the essence of the imbalance degree test for projectile body is the test of its product of inertia.A more precise calculation formula of dynamic imbalance degree is also given.The experiment results show that this method can not only reduce the cost of equipment,simplify the test procedures,save human resource,but also has more reliable test precision.
基金funded by National Natural Science Foundation of China under Grant No.52205009Natural Science Foundation of Jiangsu Province under Grant No.BK20210233Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems.
文摘With the aid of different types of mechanoreceptors,human is capable of perceiving stimuli from surrounding environments and manipulating various objects dexterously.In this paper,a bio-inspired tactile fingertip is designed mimicking human fingertip in both structures and functionalities.Two pairs of strain gages and(Polyvinylidene Fluoride)PVDF films are perpendicularly arranged to simulate the Fast-Adapting(FA)and Slowly Adapting(SA)type mechanoreceptors in human hands,while silicones,Polymethyl Methacrylate(PMMA),and electronic wires are applied to mimic the skin,bone and nerve fibers.Both static and dynamic forces can be perceived sensitively.A preprocessing electric circuit is further designed to transform the resistor changes into voltages,and then filter and amplify the four-channel signals.In addition to strong robustness due to the embedded structure,the developed fingertip is found sensitive to deformations via a force test experiment.Finally,two robotic experiments explore its recognition ability of contact status and object surface.Excellent performance is found with high accuracy of 99.72%achieved in discriminating six surfaces that are ubiquitous in daily life,which demonstrates the effectiveness of our designed tactile sensor.
