With the rapid development of flexible electronics,the tactile systems for object recognition are becoming increasingly delicate.This paper presents the design of a tactile glove for object recognition,integrating 243...With the rapid development of flexible electronics,the tactile systems for object recognition are becoming increasingly delicate.This paper presents the design of a tactile glove for object recognition,integrating 243 palm pressure units and 126 finger joint strain units that are implemented by piezoresistive Velostat film.The palm pressure and joint bending strain data from the glove were collected using a two-dimensional resistance array scanning circuit and further converted into tactile images with a resolution of 32×32.To verify the effect of tactile data types on recognition precision,three datasets of tactile images were respectively built by palm pressure data,joint bending strain data,and a tactile data combing of both palm pressure and joint bending strain.An improved residual convolutional neural network(CNN)model,SP-ResNet,was developed by light-weighting ResNet-18 to classify these tactile images.Experimental results show that the data collection method combining palm pressure and joint bending strain demonstrates a 4.33%improvement in recognition precision compared to the best results obtained by using only palm pressure or joint bending strain.The recognition precision of 95.50%for 16 objects can be achieved by the presented tactile glove with SP-ResNet of less computation cost.The presented tactile system can serve as a sensing platform for intelligent prosthetics and robot grippers.展开更多
Several typical flexible pneumatic actuators （FPA） and different mechanical models describing their behaviors have been proposed, however, it is difficult to balance compliance and load capacity in conventional desi...Several typical flexible pneumatic actuators （FPA） and different mechanical models describing their behaviors have been proposed, however, it is difficult to balance compliance and load capacity in conventional designs, and these models still have limitations in predicting behavior of FPAs. A new flexible pneumatic bending joint （FPBJ） with special anisotropic rigidity structure is proposed. The FPBJ is developed as an improvement with regard to existing types of FPA, and its principal characteristic is derived from the special anisotropic rigidity structure. With this structure, the load capacity in the direction perpendicular to bending plane is strengthened. The structure of the new FPBJ is explained and a mathematical model is derived based on Euler-Bernoulli beam model and Hook’s law. To obtain optimum design and usage, some key structure parameters and input-output characteristics are simulated. The simulation results reveal that the relationship between the structure parameters and FPBJ’s bending angle is nonlinear. At last, according to the simulation results, the FPBJ is manufactured with optional parameters and tested. The experimental results show that the joint’s statics characteristics are reflected by the mathematical model accurately when the FPBJ is deflated. The maximum relative error between simulation and experimental results is less than 6%. However, the model still has limitations. When the joint is inflated, the maximum relative error reaches 20%. This paper proposes a new flexible pneumatic bending joint which has sufficient load capacity and compliance, and the mathematical model provides theoretical guidance for the FPBJ’s structure design.展开更多
Ultra-high molecular weight polyethylene（UHMWPE） fiber/epoxy composites were fabricated by a vacuum assisted resin infused（VARI） processing technology. The curing condition of composites was at a cure temperature ...Ultra-high molecular weight polyethylene（UHMWPE） fiber/epoxy composites were fabricated by a vacuum assisted resin infused（VARI） processing technology. The curing condition of composites was at a cure temperature of 80 ℃ for 3h in a drying oven. The characteristics of 2.5D（shallow bend-joint and deep straight-joint） structure and 3D orthogonal structure were compared. The failure behavior, flexural strength, and microstructures of both composites were investigated. It was found that the flexural property was closely related to undulation angle θ. The flexural strength of 3D orthogonal structure composite was superior to the other two structures composites with the same weave parameters and resin.展开更多
To improve the bending load-carrying capacity （ BLCC） of under-matched butt joint under four-point bending load in the elastic stage, the shape design of the reinforcement is studied based on the theoretics of mecha...To improve the bending load-carrying capacity （ BLCC） of under-matched butt joint under four-point bending load in the elastic stage, the shape design of the reinforcement is studied based on the theoretics of mechanics of materials. The concept, criterion, realization condition and design proposal of equal bending load-carrying capacity （EBLCC） are put forward. The theoretical analysis results have been verified by the finite element method. The simulation results are coincident basically with the ones of theoretical analysis. The research results show that the shape design of the reinforcement of EBLCC can improve BLCC of under-matched butt joint and the unilateral-side type reinforcement can replace double-side symmetry展开更多
Connection plays an important role in structural components and end jointing is one of the most common connections in structural applications. This study was designed to investigate some mechanical properties （MOE an...Connection plays an important role in structural components and end jointing is one of the most common connections in structural applications. This study was designed to investigate some mechanical properties （MOE and MOR） of solid wood samples manufactured from poplar （Populus nigra）, joined together through end jointing. As well, we studied combinations of lumber manufactured from 10-mm veneer, using a polyvinyl acetate adhesive. The results show that non-jointed lumber （control samples） have better bending properties （MOE and MOR） than jointed specimens and lumber made from laminated layers. On the whole, side-by- side joints have a negative effect on the MOR and MOE of laminated products, which is more pronounced in the MOR. By increasing the number of joints, the properties of combination of three-ply, i.e., bending strength and modulus of elasticity, decreased.展开更多
We investigated bending moment resistance under diagonal compression load of comer doweled joints with plywood members. Joint members were made of ll-ply hardwood plywood of 19 mm thickness. Dowels were fabricated of ...We investigated bending moment resistance under diagonal compression load of comer doweled joints with plywood members. Joint members were made of ll-ply hardwood plywood of 19 mm thickness. Dowels were fabricated of Beech and Hornbeam species. Their diameters （6, 8 and 10 mm） and depths of penetration （9, 13 and 17 ram） in joint members were chosen variables in our experiment. By increasing the connector＇s diameter from 6 to 8 mm, the bending moment resistance under diagonal compressive load was increased, while it decreased when the diameter was increased from 8 to 10 mm. The bending moment re- sistance under diagonal compressive load was increased by increasing the dowel＇s depth of penetration. Joints made with dowels of Beech had higher resistance than dowels of Hornbeam. Highest resisting moment （45.18 N.m） was recorded for joints assembled with 8 mm Beech dowels penetrating 17 mm into joint members Lowest resisting moment （13.35 N.m） was recorded for joints assembled with 6 mm Hornbeam dowels and penetrating 9 mm into joint members.展开更多
A modified space beam element is presented in this paper to consider the local joint flexibility of T, Y tubular joints subjected to axial forces and in-plane bending moments for analysis of platforms. Two numerical e...A modified space beam element is presented in this paper to consider the local joint flexibility of T, Y tubular joints subjected to axial forces and in-plane bending moments for analysis of platforms. Two numerical examples are shown to verify the efficiency and validity of the method presented here.展开更多
The Lap-joint configuration and the vacuum assisted forming method were put forward to meet the demands of the compression bending strength and the strong connection between the steel and FRC.The bending mechanic test...The Lap-joint configuration and the vacuum assisted forming method were put forward to meet the demands of the compression bending strength and the strong connection between the steel and FRC.The bending mechanic tests of the Lap-joint bending specimens carried out, the fabricate processing stability, limit carrying capacity and failure modes were analyzed. The experimental results show that the fabricate processing of the Lap-joint is stable; the bending stiffness is 19.5 N/mm, and the limit bending moment reaches 318 N？m. The main failure modes are the failure of core material at junction of sandwich plate and steel, and the bending failure in the position of the inner and outer surface.展开更多
Stress concentration analysis of multiplanar tubular DT joints plays an important role in the fatigue design of offshore platforms. A semi-analytic method for stress analysis under the condition of any loads is briefl...Stress concentration analysis of multiplanar tubular DT joints plays an important role in the fatigue design of offshore platforms. A semi-analytic method for stress analysis under the condition of any loads is briefly introduced in the paper. Nineteen multiplanar tubular DT joints with one of two braces of the same dimension subjected to axial loads and out- of- plane bending moments are computed for parametric stress analysis by using the present method. The influence of geometrical parameters on the stresses of multiplanar tubular DT joints is discussed and compared with corresponding uniplanar T joints. The regression formulae for the stress at hot spot of multiplanar DT joints are found by modification of SCF of corresponding uniplanar T joints. The parametric formulae for the maximum stress by superposition. Finally, the influences of stiffening effect and load-interaction effect on the maximum stress of DT joints are discussed.展开更多
A joint combining riveting and bonding is considered in terms of structural performance if the composite structure has a mismatched stiffener. The transfer loading is correlated with high performance aerospace joints ...A joint combining riveting and bonding is considered in terms of structural performance if the composite structure has a mismatched stiffener. The transfer loading is correlated with high performance aerospace joints to increase delamination resistance in the out-of-plane direction. However, combined joints (rivet/bonded) will create a bearing area that induces another potential damage source aside from secondary bending moment on the edge of the stiffener. Another problem is that the structure is difficult to be inspected by using conventional methods because of limited accessibility. The use of embedded fiber Bragg grating (FBG) technology in the structure as a strain sensor can potentially solve the problem in structures that have a stiffness mismatch. The FBG can be used to detect and characterize delamination before it reaches a critical stage. The model used to represent this problem is a thin composite stiffened skin under two load cases: tension and three-point bending. Finite element modeling using a traction versus separation theory is performed to determine the critical area on the specimen for placement of the FBG before manufacturing and testing. Experiments were presented to determine the distribution of load in a combined joint under both loading cases using ideal loads to create a secondary bending moment and bearing loads in the stiffness-mismatched structure. In this research, the FBG successfully detected and characterized the delamination caused in both loading cases. In addition, FBG can predict the delamination growth quantitatively. A spectrum graph of the FBG results can be used to replace the conventional mechanical graph in composite structural health monitoring in real applications.展开更多
基金supported by the Key Research and Development Program of Shaanxi Province(No.2024 GX-YBXM-178)the Shaanxi Province Qinchuangyuan“Scientists+Engineers”Team Development(No.2022KXJ032)。
文摘With the rapid development of flexible electronics,the tactile systems for object recognition are becoming increasingly delicate.This paper presents the design of a tactile glove for object recognition,integrating 243 palm pressure units and 126 finger joint strain units that are implemented by piezoresistive Velostat film.The palm pressure and joint bending strain data from the glove were collected using a two-dimensional resistance array scanning circuit and further converted into tactile images with a resolution of 32×32.To verify the effect of tactile data types on recognition precision,three datasets of tactile images were respectively built by palm pressure data,joint bending strain data,and a tactile data combing of both palm pressure and joint bending strain.An improved residual convolutional neural network(CNN)model,SP-ResNet,was developed by light-weighting ResNet-18 to classify these tactile images.Experimental results show that the data collection method combining palm pressure and joint bending strain demonstrates a 4.33%improvement in recognition precision compared to the best results obtained by using only palm pressure or joint bending strain.The recognition precision of 95.50%for 16 objects can be achieved by the presented tactile glove with SP-ResNet of less computation cost.The presented tactile system can serve as a sensing platform for intelligent prosthetics and robot grippers.
基金Supported by National Natural Science Foundation of China (Grant No.51075363)Zhejiang Provincial Natural Science Outstanding Youth Team Foundation of China (Grant No.R1090674)+1 种基金Zhejiang Provincial Natural Science Foundation of China (Grant No.LY12E05022)Open Fund of Key Laboratory of E&M (Zhejiang University of Technology),Ministry of Education & Zhejiang Province of China (Grant No.2009EP026)
文摘Several typical flexible pneumatic actuators （FPA） and different mechanical models describing their behaviors have been proposed, however, it is difficult to balance compliance and load capacity in conventional designs, and these models still have limitations in predicting behavior of FPAs. A new flexible pneumatic bending joint （FPBJ） with special anisotropic rigidity structure is proposed. The FPBJ is developed as an improvement with regard to existing types of FPA, and its principal characteristic is derived from the special anisotropic rigidity structure. With this structure, the load capacity in the direction perpendicular to bending plane is strengthened. The structure of the new FPBJ is explained and a mathematical model is derived based on Euler-Bernoulli beam model and Hook’s law. To obtain optimum design and usage, some key structure parameters and input-output characteristics are simulated. The simulation results reveal that the relationship between the structure parameters and FPBJ’s bending angle is nonlinear. At last, according to the simulation results, the FPBJ is manufactured with optional parameters and tested. The experimental results show that the joint’s statics characteristics are reflected by the mathematical model accurately when the FPBJ is deflated. The maximum relative error between simulation and experimental results is less than 6%. However, the model still has limitations. When the joint is inflated, the maximum relative error reaches 20%. This paper proposes a new flexible pneumatic bending joint which has sufficient load capacity and compliance, and the mathematical model provides theoretical guidance for the FPBJ’s structure design.
基金Funded by the National Natural Science Foundation of China(No.51001117)
文摘Ultra-high molecular weight polyethylene（UHMWPE） fiber/epoxy composites were fabricated by a vacuum assisted resin infused（VARI） processing technology. The curing condition of composites was at a cure temperature of 80 ℃ for 3h in a drying oven. The characteristics of 2.5D（shallow bend-joint and deep straight-joint） structure and 3D orthogonal structure were compared. The failure behavior, flexural strength, and microstructures of both composites were investigated. It was found that the flexural property was closely related to undulation angle θ. The flexural strength of 3D orthogonal structure composite was superior to the other two structures composites with the same weave parameters and resin.
文摘To improve the bending load-carrying capacity （ BLCC） of under-matched butt joint under four-point bending load in the elastic stage, the shape design of the reinforcement is studied based on the theoretics of mechanics of materials. The concept, criterion, realization condition and design proposal of equal bending load-carrying capacity （EBLCC） are put forward. The theoretical analysis results have been verified by the finite element method. The simulation results are coincident basically with the ones of theoretical analysis. The research results show that the shape design of the reinforcement of EBLCC can improve BLCC of under-matched butt joint and the unilateral-side type reinforcement can replace double-side symmetry
文摘Connection plays an important role in structural components and end jointing is one of the most common connections in structural applications. This study was designed to investigate some mechanical properties （MOE and MOR） of solid wood samples manufactured from poplar （Populus nigra）, joined together through end jointing. As well, we studied combinations of lumber manufactured from 10-mm veneer, using a polyvinyl acetate adhesive. The results show that non-jointed lumber （control samples） have better bending properties （MOE and MOR） than jointed specimens and lumber made from laminated layers. On the whole, side-by- side joints have a negative effect on the MOR and MOE of laminated products, which is more pronounced in the MOR. By increasing the number of joints, the properties of combination of three-ply, i.e., bending strength and modulus of elasticity, decreased.
文摘We investigated bending moment resistance under diagonal compression load of comer doweled joints with plywood members. Joint members were made of ll-ply hardwood plywood of 19 mm thickness. Dowels were fabricated of Beech and Hornbeam species. Their diameters （6, 8 and 10 mm） and depths of penetration （9, 13 and 17 ram） in joint members were chosen variables in our experiment. By increasing the connector＇s diameter from 6 to 8 mm, the bending moment resistance under diagonal compressive load was increased, while it decreased when the diameter was increased from 8 to 10 mm. The bending moment re- sistance under diagonal compressive load was increased by increasing the dowel＇s depth of penetration. Joints made with dowels of Beech had higher resistance than dowels of Hornbeam. Highest resisting moment （45.18 N.m） was recorded for joints assembled with 8 mm Beech dowels penetrating 17 mm into joint members Lowest resisting moment （13.35 N.m） was recorded for joints assembled with 6 mm Hornbeam dowels and penetrating 9 mm into joint members.
文摘A modified space beam element is presented in this paper to consider the local joint flexibility of T, Y tubular joints subjected to axial forces and in-plane bending moments for analysis of platforms. Two numerical examples are shown to verify the efficiency and validity of the method presented here.
基金the Open Foundation of Hubei Key Laboratory of Theory and Application of Advanced Materials Mechanics(Wuhan University of Technology)(No.TAM201802)the Open Project Program of Key Laboratory of Inorganic Functional Materials and Devices,Chinese Academy of Sciences(No.KLIFMD201606)
文摘The Lap-joint configuration and the vacuum assisted forming method were put forward to meet the demands of the compression bending strength and the strong connection between the steel and FRC.The bending mechanic tests of the Lap-joint bending specimens carried out, the fabricate processing stability, limit carrying capacity and failure modes were analyzed. The experimental results show that the fabricate processing of the Lap-joint is stable; the bending stiffness is 19.5 N/mm, and the limit bending moment reaches 318 N？m. The main failure modes are the failure of core material at junction of sandwich plate and steel, and the bending failure in the position of the inner and outer surface.
文摘Stress concentration analysis of multiplanar tubular DT joints plays an important role in the fatigue design of offshore platforms. A semi-analytic method for stress analysis under the condition of any loads is briefly introduced in the paper. Nineteen multiplanar tubular DT joints with one of two braces of the same dimension subjected to axial loads and out- of- plane bending moments are computed for parametric stress analysis by using the present method. The influence of geometrical parameters on the stresses of multiplanar tubular DT joints is discussed and compared with corresponding uniplanar T joints. The regression formulae for the stress at hot spot of multiplanar DT joints are found by modification of SCF of corresponding uniplanar T joints. The parametric formulae for the maximum stress by superposition. Finally, the influences of stiffening effect and load-interaction effect on the maximum stress of DT joints are discussed.
文摘A joint combining riveting and bonding is considered in terms of structural performance if the composite structure has a mismatched stiffener. The transfer loading is correlated with high performance aerospace joints to increase delamination resistance in the out-of-plane direction. However, combined joints (rivet/bonded) will create a bearing area that induces another potential damage source aside from secondary bending moment on the edge of the stiffener. Another problem is that the structure is difficult to be inspected by using conventional methods because of limited accessibility. The use of embedded fiber Bragg grating (FBG) technology in the structure as a strain sensor can potentially solve the problem in structures that have a stiffness mismatch. The FBG can be used to detect and characterize delamination before it reaches a critical stage. The model used to represent this problem is a thin composite stiffened skin under two load cases: tension and three-point bending. Finite element modeling using a traction versus separation theory is performed to determine the critical area on the specimen for placement of the FBG before manufacturing and testing. Experiments were presented to determine the distribution of load in a combined joint under both loading cases using ideal loads to create a secondary bending moment and bearing loads in the stiffness-mismatched structure. In this research, the FBG successfully detected and characterized the delamination caused in both loading cases. In addition, FBG can predict the delamination growth quantitatively. A spectrum graph of the FBG results can be used to replace the conventional mechanical graph in composite structural health monitoring in real applications.
