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71.
72.
This paper proposes a tactile display providing both shear and normal feedback to the fingertip for generating three-axis tactile feedback during teleoperation of a surgical robot. The display is composed of five balloons actuated by controlling the pneumatic pressure. The implemented display is 18?mm?×?18?mm?×?15?mm. This size is suitable for mounting the display onto the master controls of a surgical robot. The maximum normal and shear displacements are 2 and 1.3?mm, respectively. The proposed tactile display may provide perceivable stimuli to a human finger pad in all five directions: normal, distal, proximal, radial, and ulnar. This paper also reports on the results of psychophysical measurement of the minimum perceivable movement of the developed tactile display for each of the five directions. 相似文献
73.
Experimental work was carried out to investigate the rheological properties of bitumen in water emulsions containing solids of different shape and size. The bitumen volumetric concentration was varied up to 60%, solids free basis, and the solids volume fraction (total volume basis) was varied up to 0.2. Irregular-shaped silica sand (average diameter: 9 and 33 μm) and smooth spherical glass beads (average diameter: 27 and 44 μm) were used as the added solids. In the low shear stress range, shear thinning behavior was observed for bitumen in water emulsions. At high shear stress, the viscosity of the emulsions became fairly independent of the shear stress. The addition of solids to the bitumen emulsions increased the mixture viscosity. The addition of irregular-shaped silica sand gave a higher viscosity than a similar addition of the spherical glass beads. The viscosity of the emulsion/solids mixtures was influenced by the solids size as well; the smaller size particles gave a higher viscosity. The addition of solids to the bitumen emulsions also induced shear thickening (dilatancy) behavior at high solids volume fraction. The degree of the shear thickening increased with the oil concentration. 相似文献
74.
75.
Transient and steady-state deformations and breakup of viscoelastic polystyrene droplets dispersed in viscoelastic high-density polyethylene matrices were observed in a simple steady shear flow between two transparent parallel disks. By separately varying the elasticities of the individual blend components, the matrix shear viscosity, and the viscosity ratio, their effects on the transient deformation, steady-state droplet size, and the breakup sequence were determined. After the startup of a steady shear flow, the viscoelastic droplet initially exhibits oscillations of its length in the flow direction, but eventually stretches preferentially in the vorticity direction. We find that at fixed capillary number, the oscillation amplitude decreases with increasing droplet elasticity, while the oscillation period depends primarily on, and increases with, the viscosity ratio. At steady-state, the droplet length along the vorticity direction increases with increasing capillary number, viscosity ratio, and droplet elasticity. Remarkably, at a viscosity ratio of unity, the droplets remain in a nearly undeformed state as the capillary number is varied between 2 and 8, apparently because under these conditions a tendency for the droplets to widen in the vorticity direction counteracts their tendency to stretch in the flow direction. When a critical capillary number, Cac, is exceeded, the droplet finally stretches in the vorticity direction and forms a string which becomes thinner and finally breaks up, provided that the droplet elasticity is sufficiently high. For a fixed matrix shear stress and droplet elasticity, the steady-state deformation along the vorticity direction and the critical capillary number for breakup both increase with increasing viscosity ratio. 相似文献
76.
77.
The objective of this study was to determine how the fracture of adhesive joints depends on elastic beam parameters describing the adherends and the applied loads. The basic specimen geometry was the cracked lap shear joint constructed of aluminium alloy with various adherend and bondline thicknesses. Loads were applied in different combinations of bending, tension and shear to generate a failure envelope for each adhesive and specimen geometry. It was found that crack propagation for precracked specimens occured at a critical strain energy release rate but was also a function of the GI/GII ratio and the bondline thickness. The experiments also showed that the loads required to propagate a crack in a precracked specimen were always lower than the loads required to break the fillet. Hence, by treating uncracked joints as being cracked, where the fictitious crack tip is assumed to coincide with the location of the fillet, a conservative estimate of the failure load is obtained. 相似文献
78.
A. Zosel 《The Journal of Adhesion》1994,44(1):1-16
Correlations between shear resistance and the mechanical properties of pressure sensitive adhesives are studied by measuring the deformation behaviour in the static and the dynamic shear test and determining the dynamic shear modulus of the adhesive. For polymers with low or moderate viscosities, the shear strain vs. time characteristics in a static shear test and, accordingly, the static shear strength, can be evaluated from the master curves of the dynamic shear modulus or the dynamic viscosity. The dynamic shear strength also can be calculated. These exact calculations cannot be applied to highly viscous or slightly crosslinked polymers. On the basis of the model experiments, empirical correlations between shear strength and the dynamic shear modulus are established which seem to be generally valid. 相似文献
79.
王向军 《化学工业与工程技术》2003,24(1):43-46
论述了双管板换热器材料选择、管板胀管槽等结构的设计、双管板检漏设计、最佳胀管压力计算等 ,以及双管板制造中内侧管子管板液压强度胀接、外侧管子管板强度焊接、双管板间空腔内和管子管板焊接接头气密性试验的要求 相似文献
80.