Mechanical performance analysis and experimental study of soft-bodied bird-billed pneumatic gripper

Purpose Flexible mechanical gripper has better safety and adaptability than a rigid mechanical hand. At present, there are few soft grippers for small objects on a millimeter scale. Therefore, the purpose of this paper is to design a soft pneumatic gripper for grasping millimeter-scale small and fragile objects such as jewelry and electronic components. Design/methodology/approach By simulating the clamping action of the bird’s mouth and combining the high flexibility of the soft material, the bird’s beak soft pneumatic gripper is designed. First, the internal cavity of the gripping end of the gripper is determined by bending deformation calculation, and the brief manufacturing process of the gripper is outlined. Then, the single finger of the soft gripper is modeled mechanically, and the relationship between air pressure and bending deformation of the single finger is obtained. Finally, the experimental platform of the soft mechanical gripper is built, and the gripping performance of silicone rubber material is tested by comparison test, bending deformation test, stability test, adaptability test and gripping accuracy test. Findings The designed gripper has the advantages of simple structure, convenient operation, easy grasping of different small objects of millimeter-scale and good adaptability. It can grasp the precise dispensing needle with a minimum diameter of 0.19 mm, and its accuracy meets daily use. Originality/value A new type of soft pneumatic, the mechanical gripper is proposed and manufactured. According to the shape of the bird’s beak and the calculation of bending performance, a hollow finger gripper with better bending performance is designed. Various test results show that the gripper has a significant clamping effect on millimeter small objects, which supplements the research field of millimeter small object gripper.

An Experimental and Analytical Study on the Bending Performance of CFRP-Reinforced Glulam Beams

The fiber-reinforced polymer is one kind of composite material made of synthetic fiber and resin, which has attracted research interests for the reinforcement of timber elements. In this study, 18 glued-laminated (glulam) beams, unreinforced or reinforced with internally embedded carbon fiber–reinforced polymer (CFRP) sheets, were tested under four-point bending loads. For the reinforced glulam beams, the influences of the strengthening ratio, the modulus of elasticity of the CFRP, and the CFRP arrangement on their bending performance were experimentally investigated. Subsequently, a finite element model developed was verified with the experimental results; furthermore, a general theoretical model considering the typical tensile failure mode was employed to predict the bending–resisting capacities of the reinforced glulam beams. It is found that the reinforced glulam beams are featured with relatively ductile bending failure, compared to the brittle tensile failure of the unreinforced ones. Besides, the compressive properties of the uppermost grain of the glulam can be fully utilized in the CFRP-reinforced beams. For the beams with a 0.040% strengthening ratio, the bending–resisting capacity and the maximum deflection can be enhanced approximately by 6.51 and 12.02%, respectively. The difference between the experimental results and the numerical results and that between the experimental results and analytical results are within 20 and 10%, respectively.

MODELLING OF STEEL-TIMBER COMPOSITE BEAMS: VALIDATION OF FINITE ELEMENT MODEL AND PARAMETRIC STUDY

In this paper, non-linear finite elements models (FEM) of steel-timber composite (STC) beams have been developed and analyzed using ABAQUS software. In the FEM, the loading conditions of STC beams were simulated, and the nonlinear behaviour of the contact interface between the steel and timber components were incorporated adequately into the FEM. For the yield load, the maximum error between the FE results and the experimental results is 14.85%. The maximum average error of the yield deflection is 12.94%. and of the ultimate load is 16.79%. However, the error of key points was less than 17% (within a reasonable range), which proves that the established finite element model, selected material parameters and contact element model can better simulate the bending performance of STC beams. Finally,a parametric study was carried out by using the verified FEM. It is shown that the FEM developed in this study can replicate adequately the load-deflection response, andthe development of stress and plasticity of the bending experiment.Through the parameter study, it can be seen that thedistribution density and mechanical properties of the connection between the glulam and H-section steel can affect the mechanical behavior of the whole STC beams.

Research on Aging Resistance of Three Phase Composites for Anti-collision Intelligent Control of Bridge Engineering

Aminated Carbon Nanotubes (CNTs) and Carbon Fiber (CF) materials for anticollision intelligent control of Bridge Engineering were used to enhance the properties of Bismaleimide Resin (BMI) matrix resin and then tested the moist heat aging, salt spray aging and erosion resistance in this study. The resulted show that when the aging time was 168h, after wet heat and salt spray, the flexural strength and impact strength of three-phase composites with 1.5wt% MWNTs-NH2 content can reach maximum, and the wet heat aging bending performance is 45% better than that of non-added carbon nanotubes, the impact performance is 41% higher, the salt spray aging bending performance is 43% higher and the salt spray aging impact performance is 32% higher.

Bending performance of cross-laminated timber-concrete composite slabs according to the composite method

Bending strength tests were conducted of cross-laminated timber (CLT)-concrete composite slabs according to the shear connection method and carbon fiber reinforced plastic (CFRP) reinforcement. The bending strength of the composite slab that was shear-connected with an epoxy adhesive was 17% higher than that of a composite slab that was shear-connected with a self-tapping screw. In addition, the CLT-concrete slip of the former composite slab was also measured as 20% lower than the latter under the same load, showing a behavior close to that of a full composite. Both shear connection methods generated a failure in a low load-deformation section when there was a defect in the outermost tensile laminae of the CLT. In contrast, the CFRP reinforcement in the tension part of the composite slab suppressed the failure at the defect in the outermost tensile laminae. This reinforcement effect increased the reliability of the bending performance of the composite slab by preventing the failure of the composite slab while in a constant failure mode. Furthermore, the slip of the composite slab decreased 49% after its reinforcement with CFRP, showing a behavior close to that of a full composite.

Full-Scale Model Experimental Study of the Flexural Behavior of Hollow Slabs Strengthened by UHPC

The hollow slabs strengthened by ultrahigh performance concrete (UHPC) composite beam show many advantages over traditional reinforcement methods. In this paper, full-scale model load tests were carried out on an nonstrengthened prestressed concrete hollow slab and an UHPC-strengthened prestressed concrete hollow slab, comparing the load deflection, crack width, bearing capacity, deformation resistance, and self-vibration frequency of the two. Static loading experimental results indicate that UHPC enhances the overall performance of prestressed concrete hollow slabs by decreasing deflection and crack width and improving bearing capacity. The strengthening effects of UHPC on a prestressed concrete hollow slab’s flexural behavior are also discussed, such as deflection, crack width, bearing capacity, deformation resistance, self-vibration frequency, flexural behavior, and cracking load. Deflection and crack width under a load of 800 kN decreased by 45.8% and 56.3%, respectively, and the initial self-vibration frequency, ultimate bearing capacity, and cracking load increased 19.2%, 21.4%, and 50%, respectively. The plane assumption can be made generally throughout the overall test process while using UHPC strengthening, which significantly constrains crack width and improves stiffness and deformation capacity. The UHPC layer and the prestressed concrete hollow slab were connected by shear studs to produce a good composite action between them, and the bending performance and bearing capacity of the whole structure were clearly improved. In addition to experiments, a validated numerical model is developed to verify the flexural performance of hollow slab strengthened by UHPC.

Effect of Low Temperatures on the Mechanical Performance of GFRC Modified by Low Carbon Cement

Glass fibre reinforced cement (GFRC) is a composite material with great ductility but it undergoes severe strength and ductility degradation with ageing. Calcium sulfoaluminate (CSA) cement is low carbon cement, and more importantly, it exhibits great potential to produce more ductile and durable GFRC. This study focuses on mechanical performance, e.g., compressive strength, stress-strain curve, and freeze-thaw resistance of CSA/GFRC as well as its microstructural characteristics under low temperatures. XRD was applied to investigate the hydration mechanism of CSA cement under −5°C, 0°C, and 5°C. It was found out that low-temperature environments have very little effect on the type of hydration products, and the main hydration product of hydrated CSA cement cured under low temperatures is ettringite. Moreover, low-curing temperatures have an adverse effect on the compressive strength developments of CSA/GFRC but the strength difference compared with that under 20°C reduces gradually with increasing curing ages. In terms of bending performance, both ultimate tensile strength and ultimate strain value indicate considerable degradation with ageing under low temperatures after 14 d. The ultimate strain value reduces to 0.34% at −5°C, 0.39% at 0°C, and 0.44% at 5°C compared with 0.51% for that cured at 20°C for 28 d. The tensile strength of samples cured at −5°C for 28 d is only 15.2 MPa, taking up only 40% of that under 20°C. CSA/GFRC also demonstrated great capability in the antifreeze-thaw performance, and the corresponding strength remains 95.9%, 94.7%, 94.2%, and 94.3%, respectively, for that cured under 20°C, 5°C, 0°C, and −5°C after 50 freeze-thaw cycles. Microstructural studies reveal that densification of the interfilamentary space with intermixtures of C-A-S-H and ettringite is the main reason that causes the degradation of CSA/GFRC, which may result in loss on flexibility when forces are applied, therefore reducing the post-peak toughness to some extent.