摘要：In recent years,actuators based on carbon nanotube（CNT） or graphene demonstrate great potential applications in the fields of artificial muscles,smart switches,robotics,and so *** electrothermal and photothermal bending actuators based on CNT/graphene and polymer composites show large bending actuations,which are superior to traditional thermaldriven ***,the influence of material parameters（thickness,temperature change,etc.） on the actuation performance needs to be further studied,because it is a critical point to the design and fabrication of high-performance *** this work,finite element analysis（EEA） is employed to simulate the actuation performance of CNT/polymer actuator,which has a bilayer *** main focus of this work is to design and to optimize material parameters by using computational *** simulation results show that each layer thickness of actuator has an important influence on the actuation deformation.A maximum curvature of 2.7 cm^（-1） is obtained by simulation,which is much larger than most of the actuator curvature reported in previous *** is more,larger temperature change and larger difference of coefficient of thermal expansion（CTE） between two layers will result in larger bending *** study is expected to provide valuable theoretical reference for the design and realization of CNT-based thermal actuator with ultra-large actuation performance.

摘要：This paper presents the design and manufacture process of a wheel-less,modular snake robot with series elastic actuators to reliably measure motor torque signal and investigate the effectiveness of active stiffness control for achieving adaptive snake-like locomotion.A polyurethane based elastic element to be attached between the motor and the links at each joint was designed and manufactured using water jet cutter,which makes the final design easier to develop and more cost-effective,compared to existing snake robots with torque measurement *** reliability of such torque measurement mechanism was examined using simulated dynamical model of pedal wave motion,which proves the efficacy of the design.A distributed control system was also designed,which with the help of an admittance controller,enables active control of the joint stiffness to achieve adaptive snake robot pedal wave locomotion to climb over obstacles,which unlike existing methods does not require prior information about the location of the *** effectiveness of the proposed controller in comparison to open-loop control strategy was verified by the number of *** results show the capability of the robot to successfully climb over obstacles with the height of more than 55%of the diameter of the snake robot modules.

摘要：Mammals such as humans develop skeletal muscles composed of muscle fibers and connective tissue,which have mechanical properties that enable power output with three-dimensional motion when *** muscle-like actuators developed to date,such as the McKibben artificial muscle,often focus sole contractile elements and have rarely addressed the contribution of flexible connective tissue that forms an integral part of the structure and morphology of biological ***,we present a class of pneumatic muscle-like actuators,termed highly mimetic skeletal muscle(HimiSK)actuator,that consist of parallelly arranged contractile units in a flexible matrix inspired by ultrasonic measurements on skeletal *** contractile units act as a muscle fiber to produce active shortening force,and the flexible matrix functions as connective tissue to generate passive *** application of positive pressure to the contractile units can produce a linear contraction and *** this actuator,we assign different flexible materials as contractile units and a flexible matrix,thus forming five mold *** actuators feature three-dimensional motion on activation and present both intrinsic force-velocity and force-length characteristics that closely resebmle those of a biological *** output and tetanic force produced by harder contractile units improve the maximum output force by up to about 41.3%and the tetanic force by up to about 168%.Moreover,high displacement and velocity can be generated by a softer flexible matrix,with the improvement of maximum displacement up to about 33.3%and velocity up to about 73%.The results demonstrate that contractile units play a crucial role in force generation,while the flexible matrix has a significant impact on force transmission and deformation;the final force,velocity,displacement,and three-dimensional motion results from the interplay of contractile units,fluid and flexible *** approach introduces a m

摘要：光学读取头是光盘机中最关键的零件,约占整机成本的30～40%,其设计主要可分为光学系统与制动器(actuator)2大部分。其中,光学系统可再细分为雷射二极管(LD)、分光镜、物镜、光检测组件、衍射光栅与圆柱透镜等6个组件;制动器则可包括物镜承座、悬吊机构和聚焦与循轨驱动机构等部分。目前光学读取头正努力朝减少内部组件发展,因为减少读取头内部组件,不仅可以减轻整体重量及移动惯性。

摘要：Y2002-63332-1721 0311116最佳控制的几何学:反向摆动例子=On the geometryof optimal control:the inverted pendulum example[会,英]/Hauser,J.& Osinga,H.//Proeeedings of the2001 American Control Conference Vol.2 of 6.—1721～1726(HE)Y2002-63336-4490 0311117气动制动器的健壮非线性控制器设计=A robust non-linear controller design for a pneumatic actuator[会,英]/Acarman,T.& Hatipoglu,C,//Proceedings of the2001 American Control Conference Vol.6 of 6.—4490～4495(HE)