Sliding wall-climbing robot （SWCR） is applied worldwide for its continuous motion, however, considerable air leakage causes two problems： great power consumption and big noise, and they constraint the robot＇s comp...Sliding wall-climbing robot （SWCR） is applied worldwide for its continuous motion, however, considerable air leakage causes two problems： great power consumption and big noise, and they constraint the robot＇s comprehensive performance. So far, effective theoretical model is still lacked to solve the problems. The concept of SWCR＇s adsorption performance is presented, and the techniques of improving utilization rate of given adsorption force and utilization rate of power are studied respectively to improve SWCR＇s adsorption performance. The effect of locomotion mechanism selection and seal＇s pressure allocation upon utilization rate of given adsorption force is discussed, and the theoretical way for relevant parameters optimization are provided. The directions for improving utilization rate of power are pointed out based on the detail analysis results of suction system＇s thermodynamics and hydrodynamics. On this condition, a design method for SWCR-specific impeller is presented, which shows how the impeller＇s key parameters impact its aerodynamic performance with the aid of computational fluid dynamics （CFD） simulations. The robot prototype, BIT Climber, is developed, and its functions such as mobility, adaptability on wall surface, payload, obstacle ability and wall surface inspection are tested. Through the experiments for the adhesion performance of the robot adsorption system on the normal wall surface, at the impeller＇s rated rotating speed, the total adsorption force can reach 237.2 N, the average effective negative pressure is 3.02 kPa and the design error is 3.8% only, which indicates a high efficiency. Furthermore, it is found that the robot suction system＇s static pressure efficiency reaches 84% and utilization rate of adsorption force 81% by the experiment. This thermodynamics model and SWCR-specific impeller design method can effectively improve SWCR＇s adsorption performance and expand this robot applicability on the various walls. A sliding wall-climbing robot with high adhesion efficiency is developed, and this robot has the features of light body in weight, small size in structure and good capability in payload.展开更多
The microstructure and mechanical properties of Mg-6Al-1.2Y-0.9Nd magnesium alloy with Sb, Sm, or Sn addition were investigated through X-ray diffraction （XRD）, optical microscopy （OM）, scanning electron microsco...The microstructure and mechanical properties of Mg-6Al-1.2Y-0.9Nd magnesium alloy with Sb, Sm, or Sn addition were investigated through X-ray diffraction （XRD）, optical microscopy （OM）, scanning electron microscopy （SEM）, and energy dispersive spectroscopy （EDS）. The results show that small amounts of Sb, Sm, and especially Sn can refine the grains of the alloy. High melting point Sb3Y5, Al2Sm, and Nd5Sn3 intermetallic compounds can be formed respectively when Sb, Sm, and Sn are added to the alloy. Sb and Sm can improve the tensile strength of the alloy at ambient and elevated temperatures. The tensile strength of the alloy with Sm addition is the highest at 293 and 423 K. However, the tensile strength of the alloy with Sn addition is the highest at 448 K.展开更多
The effects of rare earth(RE) elements Y and Nd on the microstructure and mechanical properties of Mg-6Al magnesium alloy were investigated.The results show that a proper level of RE elements can obviously ref ine the...The effects of rare earth(RE) elements Y and Nd on the microstructure and mechanical properties of Mg-6Al magnesium alloy were investigated.The results show that a proper level of RE elements can obviously ref ine the microstructure of Mg-6Al magnesium alloys,reduce the quantity of β-Mg17Al12 phase and form Al2Y and Al2Nd phases.The combined addition of Y and Nd dramatically enhances the tensile strength of the alloys in the temperature range of 20-175℃.When the content of RE elements is up to 1.8%,the values of tensile strength at room temperature and at 150℃ simultaneously reach their maximum of 253 MPa and 196 MPa,respectively.The main mechanisms of enhancement in the mechanical properties of Mg-6Al alloy with Y and Nd are the grain ref ining strengthening and the dispersion strengthening.展开更多
Since Y has a great solid solubility in magnesium alloys, it helps enhancing the heat-resistant property of magnesium alloys. The effects of Y on microstructures and mechanical properties of Mg-6Al alloy have been stu...Since Y has a great solid solubility in magnesium alloys, it helps enhancing the heat-resistant property of magnesium alloys. The effects of Y on microstructures and mechanical properties of Mg-6Al alloy have been studied in this work. The results show that Y addition refines grains of Mg-6Al alloy, and reduces the amount of the Mg 17 Al 12 phase. At the same time, the high melting-point Al 2 Y phase particles are formed. According to the mathematical model of the two-dimensional lattice misfit proposed by Braffit, it is believed that the Al 2 Y particles can serve as the nucleation sites for α-Mg. After T6 treatment, both elongation and ultimate tensile strength of Mg-6Al alloy at the room temperature and high-temperature increased firstly and then decreased, with increasing Y addition. The peak mechanical properties were achieved in the Mg-6Al-1.2Y alloy system. Y addition appears to change the fracture characteristic of Mg-6Al alloy. With 1.2wt%Y, the fracture surface of the alloy showed a lot of dimples and tearing ridges which connected the microscopic dimples and the fracture is mixed fracture of quasi-cleavage and ductile fracture.展开更多
基金supported by Ministry of Housing and Urban-Rural Development of China (Grant No. 2007-k8-6)National Natural Science of Foundation of China (Grant No. 60975070)
文摘Sliding wall-climbing robot （SWCR） is applied worldwide for its continuous motion, however, considerable air leakage causes two problems： great power consumption and big noise, and they constraint the robot＇s comprehensive performance. So far, effective theoretical model is still lacked to solve the problems. The concept of SWCR＇s adsorption performance is presented, and the techniques of improving utilization rate of given adsorption force and utilization rate of power are studied respectively to improve SWCR＇s adsorption performance. The effect of locomotion mechanism selection and seal＇s pressure allocation upon utilization rate of given adsorption force is discussed, and the theoretical way for relevant parameters optimization are provided. The directions for improving utilization rate of power are pointed out based on the detail analysis results of suction system＇s thermodynamics and hydrodynamics. On this condition, a design method for SWCR-specific impeller is presented, which shows how the impeller＇s key parameters impact its aerodynamic performance with the aid of computational fluid dynamics （CFD） simulations. The robot prototype, BIT Climber, is developed, and its functions such as mobility, adaptability on wall surface, payload, obstacle ability and wall surface inspection are tested. Through the experiments for the adhesion performance of the robot adsorption system on the normal wall surface, at the impeller＇s rated rotating speed, the total adsorption force can reach 237.2 N, the average effective negative pressure is 3.02 kPa and the design error is 3.8% only, which indicates a high efficiency. Furthermore, it is found that the robot suction system＇s static pressure efficiency reaches 84% and utilization rate of adsorption force 81% by the experiment. This thermodynamics model and SWCR-specific impeller design method can effectively improve SWCR＇s adsorption performance and expand this robot applicability on the various walls. A sliding wall-climbing robot with high adhesion efficiency is developed, and this robot has the features of light body in weight, small size in structure and good capability in payload.
文摘The microstructure and mechanical properties of Mg-6Al-1.2Y-0.9Nd magnesium alloy with Sb, Sm, or Sn addition were investigated through X-ray diffraction （XRD）, optical microscopy （OM）, scanning electron microscopy （SEM）, and energy dispersive spectroscopy （EDS）. The results show that small amounts of Sb, Sm, and especially Sn can refine the grains of the alloy. High melting point Sb3Y5, Al2Sm, and Nd5Sn3 intermetallic compounds can be formed respectively when Sb, Sm, and Sn are added to the alloy. Sb and Sm can improve the tensile strength of the alloy at ambient and elevated temperatures. The tensile strength of the alloy with Sm addition is the highest at 293 and 423 K. However, the tensile strength of the alloy with Sn addition is the highest at 448 K.
文摘The effects of rare earth(RE) elements Y and Nd on the microstructure and mechanical properties of Mg-6Al magnesium alloy were investigated.The results show that a proper level of RE elements can obviously ref ine the microstructure of Mg-6Al magnesium alloys,reduce the quantity of β-Mg17Al12 phase and form Al2Y and Al2Nd phases.The combined addition of Y and Nd dramatically enhances the tensile strength of the alloys in the temperature range of 20-175℃.When the content of RE elements is up to 1.8%,the values of tensile strength at room temperature and at 150℃ simultaneously reach their maximum of 253 MPa and 196 MPa,respectively.The main mechanisms of enhancement in the mechanical properties of Mg-6Al alloy with Y and Nd are the grain ref ining strengthening and the dispersion strengthening.
文摘Since Y has a great solid solubility in magnesium alloys, it helps enhancing the heat-resistant property of magnesium alloys. The effects of Y on microstructures and mechanical properties of Mg-6Al alloy have been studied in this work. The results show that Y addition refines grains of Mg-6Al alloy, and reduces the amount of the Mg 17 Al 12 phase. At the same time, the high melting-point Al 2 Y phase particles are formed. According to the mathematical model of the two-dimensional lattice misfit proposed by Braffit, it is believed that the Al 2 Y particles can serve as the nucleation sites for α-Mg. After T6 treatment, both elongation and ultimate tensile strength of Mg-6Al alloy at the room temperature and high-temperature increased firstly and then decreased, with increasing Y addition. The peak mechanical properties were achieved in the Mg-6Al-1.2Y alloy system. Y addition appears to change the fracture characteristic of Mg-6Al alloy. With 1.2wt%Y, the fracture surface of the alloy showed a lot of dimples and tearing ridges which connected the microscopic dimples and the fracture is mixed fracture of quasi-cleavage and ductile fracture.
