基于EET(Empirical Electron Theory of Solids and Molecules)理论计算了Zr-Al-Ni-Cu非晶合金晶化初期可能析出的面心立方F-A_(2)B型晶化相的价电子结构,用最强键键合力n_(1)和结构单元总成键能力F分析了晶化相结构的稳定性。采用铜模...基于EET(Empirical Electron Theory of Solids and Molecules)理论计算了Zr-Al-Ni-Cu非晶合金晶化初期可能析出的面心立方F-A_(2)B型晶化相的价电子结构,用最强键键合力n_(1)和结构单元总成键能力F分析了晶化相结构的稳定性。采用铜模吸铸法制备了Zr_(55)Al_(10)Ni_(5)Cu_(30)非晶合金,使用差示扫描量热分析法和X射线衍射法研究了Zr_(55)Al_(10)Ni_(5)Cu_(30)非晶合金的晶化过程及析出的晶化相。研究表明,Zr_(55)Al_(10)Ni_(5)Cu_(30)非晶合金在763 K等温退火,晶化初期形成了F-Zr_(2)Ni晶化相。F-Zr_(2)Ni最强共价键的n_(1)值分别比F-Zr_(2)Al、F-Zr_(2)Cu的高85.76%、29.59%,F-Zr_(2)Ni的总成键能力F分别比F-Zr_(2)Al、F-Zr_(2)Cu的高98.99%、9.96%;从晶化相的稳定性及其组成原子间最强键键合力看,Zr_(55)Al_(10)Ni_(5)Cu_(30)非晶合金晶化初期只能形成F-Zr_(2)Ni晶化相。Zr-Al-Ni-Cu非晶合金晶化初期晶化相类型取决于合金成分和晶化相稳定性及其组成原子间的键合力。展开更多
Soft pneumatic actuators(SPAs)have attracted enormous attention in the growing field of robotics.Among different SPAs,composite reinforced actuators(CRAs)are widely used because of their simple structure and high cont...Soft pneumatic actuators(SPAs)have attracted enormous attention in the growing field of robotics.Among different SPAs,composite reinforced actuators(CRAs)are widely used because of their simple structure and high controllability.However,multistep molding,a time-consuming method,is still the predominant fabrication method.Here,we propose a multimaterial embedded printing method(ME3P)to fabricate CRAs.In comparison with other 3-dimensional printing methods,our method improves fabrication flexibility greatly.Via the design and fabrication of the reinforced composites’patterns and different geometries of the soft body,we demonstrate actuators with programmable responses(elongation,contraction,twisting,bending,and helical and omnidirectional bending).Finite element analysis is employed for the prediction of pneumatic responses and the inverse design of actuators based on specific actuation needs.Lastly,we use tube-crawling robots as a model system to demonstrate our ability to fabricate complex soft robots for practical applications.This work demonstrates the versatility of ME3P for the future manufacturing of CRA-based soft robots.展开更多
文摘基于EET(Empirical Electron Theory of Solids and Molecules)理论计算了Zr-Al-Ni-Cu非晶合金晶化初期可能析出的面心立方F-A_(2)B型晶化相的价电子结构,用最强键键合力n_(1)和结构单元总成键能力F分析了晶化相结构的稳定性。采用铜模吸铸法制备了Zr_(55)Al_(10)Ni_(5)Cu_(30)非晶合金,使用差示扫描量热分析法和X射线衍射法研究了Zr_(55)Al_(10)Ni_(5)Cu_(30)非晶合金的晶化过程及析出的晶化相。研究表明,Zr_(55)Al_(10)Ni_(5)Cu_(30)非晶合金在763 K等温退火,晶化初期形成了F-Zr_(2)Ni晶化相。F-Zr_(2)Ni最强共价键的n_(1)值分别比F-Zr_(2)Al、F-Zr_(2)Cu的高85.76%、29.59%,F-Zr_(2)Ni的总成键能力F分别比F-Zr_(2)Al、F-Zr_(2)Cu的高98.99%、9.96%;从晶化相的稳定性及其组成原子间最强键键合力看,Zr_(55)Al_(10)Ni_(5)Cu_(30)非晶合金晶化初期只能形成F-Zr_(2)Ni晶化相。Zr-Al-Ni-Cu非晶合金晶化初期晶化相类型取决于合金成分和晶化相稳定性及其组成原子间的键合力。
基金The authors are grateful for the financial support for this research by the Zhejiang Provincial Key R&D Program of China(2021C03157)the National Natural Science Foundation of China(No.51905446)+2 种基金Guangdong Provincial Key R&D Program of 2021 Ocean Six Industrial Project(2021-45)Scientific Research Funding Project of Westlake University(2021WUFP017)the Startup funding of New-joined PI of Westlake University(041030150118)。
文摘Soft pneumatic actuators(SPAs)have attracted enormous attention in the growing field of robotics.Among different SPAs,composite reinforced actuators(CRAs)are widely used because of their simple structure and high controllability.However,multistep molding,a time-consuming method,is still the predominant fabrication method.Here,we propose a multimaterial embedded printing method(ME3P)to fabricate CRAs.In comparison with other 3-dimensional printing methods,our method improves fabrication flexibility greatly.Via the design and fabrication of the reinforced composites’patterns and different geometries of the soft body,we demonstrate actuators with programmable responses(elongation,contraction,twisting,bending,and helical and omnidirectional bending).Finite element analysis is employed for the prediction of pneumatic responses and the inverse design of actuators based on specific actuation needs.Lastly,we use tube-crawling robots as a model system to demonstrate our ability to fabricate complex soft robots for practical applications.This work demonstrates the versatility of ME3P for the future manufacturing of CRA-based soft robots.
