An Optimal Architectural Design for Unconventional Modular Reconfigurable Manipulation System

2020 ◽  
pp. 1-29
Author(s):  
Anubhav Dogra ◽  
Srikant Sekhar Padhee ◽  
Ekta Singla
Keyword(s):  
Architectural Design ◽  
Service Sector ◽  
Weight Ratio ◽  
Poly Lactic Acid ◽  
Modular Architecture ◽  
Thermoplastic Material ◽  
Joint Torques ◽  
Manipulation System ◽  
Torque Analysis ◽  
Reconfigurable Manipulators

Abstract Modular and Reconfigurable manipulators have gained popularity especially in the service sector, where the use of customized configurations has increased. Adaptable modular designs have come into advances in achieving the required configuration of a robotic manipulator. As reported in the literature, various designs of the modules mainly with conventional configurations are presented and a few are reported with unconventional adjustments. To cater the non-repetitive applications, this paper presents an optimal architectural design for unconventional parameters for customized reconfigurability. This lighter and easier to connect version is also applicable to n-DoF and unconventional robotic parameters. Architecture Prominent Sectioning (APS) strategy is proposed which assumes an architecture as a set of point masses and optimally relocate components with respect to the minimization of the joint torques. Modules are considered to be 3-D printables using poly-lactic acid (PLA), a thermoplastic material, and thus light in weight. The new modular architecture design is validated through the assemblage of conventional/unconventional configurations using two types of modules namely Heavy(H) and Light(L). Along with that, worst torque analysis for the different configurations has been done in order to provide a strategy for assembly combinations. A comparative study is presented based upon the payload to the manipulator weight ratio, involving other reported architectures.

scholarly journals Comparison of the Dielectric Properties of Ecoflex® with L,D-Poly(Lactic Acid) or Polycaprolactone in the Presence of SWCN or 5CB

Materials ◽  
2021 ◽  
Vol 14 (7) ◽  
pp. 1719
Author(s):  
Patryk Fryń ◽  
Sebastian Lalik ◽  
Natalia Górska ◽  
Agnieszka Iwan ◽  
Monika Marzec
Keyword(s):  
Oleic Acid ◽  
Dielectric Properties ◽  
Polymer Matrix ◽  
Liquid Crystalline ◽  
Weight Ratio ◽  
Poly Lactic Acid ◽  
Relaxation Processes ◽  
The Matrix ◽  
Walled Carbon Nanotubes ◽  
Hybrid Layers

The main goal of this paper was to study the dielectric properties of hybrid binary and ternary composites based on biodegradable polymer Ecoflex®, single walled carbon nanotubes (SWCN), and liquid crystalline 4′-pentyl-4-biphenylcarbonitrile (5CB) compound. The obtained results were compared with other created analogically to Ecoflex®, hybrid layers based on biodegradable polymers such as L,D-polylactide (L,D-PLA) and polycaprolactone (PCL). Frequency domain dielectric spectroscopy (FDDS) results were analyzed taking into consideration the amount of SWCN, frequency, and temperature. For pure Ecoflex®, two relaxation processes (α and β) were identified. It was shown that the SWCN admixture (in the weight ratio 10:0.01) did not change the properties of the Ecoflex® layer, while in the case of PCL and L,D-PLA, the layers became conductive. The dielectric constant increased with an increase in the content of SWCN in the Ecoflex® matrix and the conductive behavior was not visible, even for the greatest concentration (10:0.06 weight ratio). In the case of the Ecoflex® polymer matrix, the conduction relaxation process at a frequency ca. several kilohertz appeared and became stronger with an increase in the SWCN admixture in the matrix. Addition of oleic acid to the polymer matrix had a smaller effect on the increase in the dielectric response than the addition of liquid crystal 5CB. Fourier transform infrared (FTIR) results revealed that the molecular structure and chemical character of the Ecoflex® and PCL matrixes remained unchanged upon the addition of SWCN or 5CB in a weight ratio of 10:0.01 and 10:1, respectively, while molecular interactions appeared between L,D-PLA and 5CB. Moreover, adding oleic acid to pure Ecoflex® as well as the binary and ternary hybrid layers with SWCN and/or 5CB in a weight ratio of Ecoflex®:oleic acid equal to 10:0.3 did not have an influence on the chemical bonding of these materials.

Effect of stretching speed on morphologies and properties of in situ microfibrillar POE/PLA composites

2020 ◽  
pp. 089270572093917
Author(s):  
Jing Sun ◽  
Anrong Huang ◽  
Shanshan Luo ◽  
Min Shi ◽  
Heng Luo ◽  
...  
Keyword(s):  
Aspect Ratio ◽  
Rheological Properties ◽  
Loss Modulus ◽  
Weight Ratio ◽  
Poly Lactic Acid ◽  
Electron Microscopic ◽  
Dynamic Rheological Properties ◽  
Scanning Electron Microscopic ◽  
Ethylene Octene Copolymer

In situ microfibrillar ethylene–octene copolymer (POE)/poly(lactic acid) (PLA) composites (MFCs) with different phase morphologies were prepared by controlling the stretching speed and maintaining the weight ratio of POE/PLA of 80/20. Four different stretching speeds were employed to study the effect of PLA microfibrillar morphology on tensile, crystalline, and rheological properties of MFCs. Scanning electron microscopic images revealed that the morphology of PLA phase was strongly influenced by stretching speed. MFCs with highest aspect ratio and smaller diameter of PLA microfibrils were obtained with a stretching speed of 60 rpm. The PLA microfibrils with high aspect ratio had the best reinforcement effect on MFCs. The dynamic rheological properties indicated that the MFCs achieved higher storage modulus and loss modulus at the stretching speed of 60 rpm.

Characterization of Electrospun Poly(Lactic Acid)/polyaniline Blend Nanofibers

2011 ◽  
Vol 332-334 ◽  
pp. 317-320 ◽  
Author(s):  
Hui Qin Zhang
Keyword(s):  
Lactic Acid ◽  
Composite Nanofibers ◽  
Weight Ratio ◽  
Electrospinning Process ◽  
Poly Lactic Acid ◽  
X Ray Diffraction ◽  
Sem Images ◽  
X Ray ◽  
Ft Ir

In this study, composite nanofibers of polyaniline doped with dodecylbenzene sulfonic acid (PANI-DBSA) and Poly(lactic acid) (PLA) were prepared via an electrospinning process. The surface morphology, thermal properties and crystal structure of PLA/PANI-DBSA nanofibers are characterized using Fourier transform infrared spectroscopy (FT-IR), wide-angle x-ray diffraction (WAXD) and scanning electron microscopy (SEM). SEM images showed that the morphology and diameter of the nanofibers were affected by the weight ratio of blend solution.

scholarly journals An openwork like structures of polylactide – manufacturing and properties

2018 ◽  
Vol 44 ◽  
pp. 00165 ◽  
Author(s):  
Karolina Sobczyk ◽  
Karol Leluk
Keyword(s):  
Lactic Acid ◽  
Surface Area ◽  
High Surface ◽  
High Surface Area ◽  
Weight Ratio ◽  
Electrospinning Process ◽  
Poly Lactic Acid ◽  
Process Conditions ◽  
Fiber Morphology

Poly(lactic acid) electrospinning tests were carried out under various process conditions. Openwork structures with a high surface area to weight ratio have been obtained. Changing the parameters of the PLA electrospinning process resulted in products with different fiber morphology.

Microwave Joining of Natural Fiber Reinforced Green Composites

2011 ◽  
Vol 410 ◽  
pp. 102-105 ◽  
Author(s):  
Inderdeep Singh ◽  
P. K. Bajpai ◽  
D. Malik ◽  
J. Madaan ◽  
N. Bhatnagar
Keyword(s):  
Adhesive Bonding ◽  
Natural Fiber ◽  
Weight Ratio ◽  
High Strength ◽  
Cost Effective ◽  
Parent Material ◽  
Environmental Benefits ◽  
Poly Lactic Acid ◽  
Material Strength ◽  
Neat Polymer

Natural fiber based bio-composites are gaining prime importance these days because of their high strength to weight ratio and environmental benefits. An increase in the application spectrum of these materials necessitates cost effective high quality processing in order to meet the stringent design requirements. In the present investigation, fully biodegradable natural fiber (grewia optiva) reinforced poly lactic acid (PLA) composite has been developed. The tensile strength of the composite has been found to increase by 75% of that of the neat polymer. The developed composites have been joined using the adhesive bonding and the microwave joining. The tensile shear strength of the joint has been experimentally evaluated and it has been found that the bond strength of adhesively bonded specimen (4.9% of the parent material strength) is substantially lower as compared to microwave joined specimen (62.85% of the parent material strength). The process of microwave joining has also been simulated using standard Multiphysics software and the results were in close agreement with the experimentally recorded values.

A Review on Mechanical Properties of Natural Fibre Reinforced PLA Composites

2021 ◽  
Vol 15 ◽  
Author(s):  
Agnivesh Kumar Sinha ◽  
Kasi Raja Rao ◽  
Vinay Kumar Soni ◽  
Rituraj Chandrakar ◽  
Hemant Kumar Sharma ◽  
...  
Keyword(s):  
Mechanical Properties ◽  
Polymer Composites ◽  
Biodegradable Polymer ◽  
Weight Ratio ◽  
Natural Fibre ◽  
Polymer Matrices ◽  
Poly Lactic Acid ◽  
Butylene Succinate ◽  
Reinforced Polymer ◽  
Fibre Reinforced Polymer

Presently, scientists and researchers are in an endless quest to develop green, recyclable, and eco-friendly materials. Natural fibre reinforced polymer composites became popular among materialists due to their lightweight, high strength-to-weight ratio, and biodegradability. However, all-natural fibre reinforced polymer composites are not biodegradable. Polymer matrices like poly-lactic acid (PLA) and poly-butylene succinate (PBS) are biodegradable, whereas epoxy, polypropylene, and polystyrene are non-biodegradable polymer matrices. Besides biodegradability, PLA has been known for its excellent physical and mechanical properties. This review emphasises the mechanical properties (tensile, flexural, and impact strengths) of natural fibrereinforced PLA composites. Factors affecting the mechanical properties of PLA composites are also discussed. It also unveils research gaps from the previous literature, which shows that limited studies are reported based on modeling and prediction of mechanical properties of hybrid PLA composites reinforcing natural fibres like abaca, aloe vera, and bamboo fibres.

scholarly journals Statistical Study on the Interaction Factors of Polypropylene-Graft-Maleic Anhydride (PP-g-MA) with Graphene Nanoplatelet (GNP) at Various Poly(Lactic Acid)/Polypropylene (PLA/PP) Blends Ratio

2020 ◽  
Vol 21 (1) ◽  
pp. 234
Author(s):  
Farah Hafidzah ◽  
Mohd Bijarimi ◽  
Waleed Alhadadi ◽  
Suriyati Salleh ◽  
Mohammad Norazmi ◽  
...  
Keyword(s):  
Maleic Anhydride ◽  
Tensile Stress ◽  
Statistical Study ◽  
Positive Impact ◽  
Weight Ratio ◽  
Poly Lactic Acid ◽  
Graphene Nanoplatelet ◽  
Interaction Factors ◽  
Pp Blends ◽  
Full Factorial

This paper reports the effects of polypropylene-graft-maleic anhydride (PP-g-MA) and graphene nanoplatelet (GNP on tensile stress of various PLA/PP weight ratio. The PLA/PP blends prepared with the ratio 70/30, 80/20, and 90/10 with the addition of PP-g-MA (1 to 5 phr) and GNP (1 to 3 phr) by using an injection molding machine. The tensile stress (MPa) was analyzed based on 11 runs of full factorial design. The results showed that the tensile stress of PLA/PP blends gradually increased after the addition of PP-g-MA and GNP. There is a relationship between PP-g-MA and GNP which causes a positive impact on the mechanical properties of PLA/PP blends. The optimum tensile stress of 50.06 MPa achieved at the ratio of 90/10 blends with 5 phr of PP-g-MA and 3 phr of GNP.

Effect of Poly(D-Lactic Acid)-co-Polyethylene Glycol on the Crystallization of Poly(L-Lactic Acid)

2017 ◽  
Vol 751 ◽  
pp. 283-289 ◽  
Author(s):  
Ployrawee Kaewlamyai ◽  
Amornrat Lertworasirikul
Keyword(s):  
Lactic Acid ◽  
Polyethylene Glycol ◽  
Weight Ratio ◽  
Crystallization Rate ◽  
Heat Stability ◽  
Nucleating Agent ◽  
Degree Of Crystallinity ◽  
Poly Lactic Acid ◽  
Infrared Spectrometry ◽  
Scanning Calorimetry

Poly (lactic acid) (PLA) is a biopolymer derived from renewable resources and can be disposed of without creating harm to the environment. PLA can be formed by thermoplastic processes and has good mechanical properties. However, its disadvantages are a high crystallization temperature, slow crystallization rate, poor heat stability and low ductility. In the past, it was found that poly (D-lactic acid) (PDLA) can form complexes with poly (L-lactic acid) (PLLA) and the complexes could accelerate the crystallization and increase the degree of crystallinity of the PLA, but decrease the ductility. It is known that polyethylene glycol (PEG) can improve the ductility of PLLA. In this research, PDLA was copolymerized with PEG in an attempt to improve both crystallization behavior and ductility of PLLA. Poly (D-lactic acid)-co-polyethylene glycol (PDEG) was synthesized by ring opening polymerization using D-lactide and PEG at a D-lactide:PEG weight ratio of 10:3. The PDEG was blended with PLLA with a PDEG content of 0wt% to 50wt% by melt blending process. Fourier transform infrared spectrometry (FT-IR) and X-Ray diffractometry (XRD) confirmed the stereocomplex formation between PDEG and PLLA. Characterization by differential scanning calorimetry (DSC) revealed that crystallization temperatures of the blends were decreased in the presence of PDEG. Storage moduli and tan of the blends obtained from dynamic mechanical analysis (DMA) decreased as PDEG content increased. Polarized optical microscopy (POM) micrographs of blends with PDEG content of 1wt% to 5wt% obviously showed that crystallization rate was increased. PDEG has the potential to be an effective nucleating agent and efficient plasticizer for PLLA.

scholarly journals Dielectric, Thermal and Mechanical Properties of l,d-Poly(Lactic Acid) Modified by 4′-Pentyl-4-Biphenylcarbonitrile and Single Walled Carbon Nanotube

Polymers ◽  
2019 ◽  
Vol 11 (11) ◽  
pp. 1867 ◽  
Author(s):  
Fryń ◽  
Bogdanowicz ◽  
Krysiak ◽  
Marzec ◽  
Iwan ◽  
...  
Keyword(s):  
Lactic Acid ◽  
Weight Ratio ◽  
Thermal Response ◽  
Crystal Form ◽  
Optical Microscope ◽  
Poly Lactic Acid ◽  
Scanning Calorimetry ◽  
Single Walled Carbon ◽  
Short Term Strength ◽  
Walled Carbon Nanotubes

We report here the preparation and thermal, electrical and mechanical characterization of binary and ternary films based on l,d-poly(lactic acid) (l,d-PLA) and 4′-pentyl-4-biphenylcarbonitrile (5CB) and Single Walled Carbon Nanotubes (SWCN) with various weight ratio. The transitions for all investigated hybrid compositions detected by differential scanning calorimetry method were shifted to lower temperatures with increasing the concentration of 5CB in the mixture with polymer. Frequency domain dielectric spectroscopy method and thermal imaging together with polarized optical microscope were used to study electric and structural properties of created hybrid compositions. The best electrical conductivity was observed for hybrid composite l,d-PLA:5CB:SWCN with ratio 10:1:0.5 w/w/w - resistance of 41.0 Ω and thermal response up to 160 °C without causing any damages. Films in crystal form are much more inflexible than in amorphous and can be explain by the cold crystallization occurs at heating while the materials changed their physical state. The value of ε’ increases with increasing the 5CB admixture. Moreover, the addition of 5CB to l,d-PLA resulted in increased flexibility of polymeric base films. The best material flexibility and short-term strength were obtained for l,d-PLA sample with 9% 5CB content.

scholarly journals Use of a Mixture of Polyols Based on Metasilicic Acid and Recycled PLA for Synthesis of Rigid Polyurethane Foams Susceptible to Biodegradation

2020 ◽  
Vol 22 (1) ◽  
pp. 69
Author(s):  
Joanna Paciorek-Sadowska ◽  
Marcin Borowicz ◽  
Ewelina Chmiel ◽  
Jacek Lubczak
Keyword(s):  
Thermal Conductivity ◽  
Compressive Strength ◽  
Raw Materials ◽  
Weight Ratio ◽  
Acid Number ◽  
Polyurethane Foams ◽  
Poly Lactic Acid ◽  
Rigid Polyurethane Foams ◽  
Sustainable Resource Management ◽  
Metasilicic Acid

Two polyol raw materials were obtained in the conducted research, one based on metasilicic acid (MSA), the other based on poly(lactic acid) (PLA) waste. The obtained polyols were characterized in terms of their applicability for the production of rigid polyurethane foams (RPUFs). Their basic analytical properties (hydroxyl number, acid number, elemental analysis) and physicochemical properties (density, viscosity) were determined. The assumed chemical structure of the obtained new compounds was confirmed by performing FTIR and 1H NMR spectroscopic tests. Formulations for the synthesis of RPUFs were developed on the basis of the obtained research results. A mixture of polyols based on MSA and PLA in a weight ratio of 1:1 was used as the polyol component in the polyurethane formulation. The reference foam in these tests was a foam that was synthesized only on the basis of MSA-polyol. The obtained RPUFs were tested for basic functional properties (apparent density, compressive strength, water absorption, thermal conductivity coefficient etc.). Susceptibility to biodegradation in soil environment was also tested. It was found that the use of mixture of polyols based on MSA and PLA positively affected the properties of the obtained foam. The polyurethane foam based on this polyol mixture showed good thermal resistance and significantly reduced flammability in comparison with the foam based MSA-polyol. Moreover, it showed higher compressive strength, lower thermal conductivity and biodegradability in soil. The results of the conducted tests confirmed that the new foam was characterized by very good performance properties. In addition, this research provides information on new waste management opportunities and fits into the doctrine of sustainable resource management offered by the circular economy.

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