Reusable and flexible capturing of space debris is highly required in future aerospace technologies.A tendon-actuated flexible robotic arm is therefore proposed for capturing floating targets in this paper.Firstly,an ...Reusable and flexible capturing of space debris is highly required in future aerospace technologies.A tendon-actuated flexible robotic arm is therefore proposed for capturing floating targets in this paper.Firstly,an accurate dynamic model of the flexible robotic arm is established by using the absolute nodal coordinate formulation(ANCF)in the framework of the arbitrary Lagrangian-Eulerian(ALE)description and the natural coordinate formulation(NCF).The contact and self-contact dynamics of the flexible robotic arm when bending and grasping an object are considered via a fast contact detection approach.Then,the dynamic simulations of the flexible robotic arm for capturing floating targets are carried out to study the influence of the position,size,and mass of the target object on the grasping performance.Finally,a principle prototype of the tendon-actuated flexible robotic arm is manufactured to validate the dynamic model.The corresponding grasping experiments for objects of various shapes are also conducted to illustrate the excellent performance of the flexible robotic arm.展开更多
The interest in curtailing environmental pollution issues through physical separation processes has inspired an extensive search for novel nanoporous materials with exceptional adsorption capabilities.Covalent triazin...The interest in curtailing environmental pollution issues through physical separation processes has inspired an extensive search for novel nanoporous materials with exceptional adsorption capabilities.Covalent triazine frameworks(CTFs),emerged as a class of crystalline covalent organic frameworks(COFs),have been widely examined for various separation applications,owing to their large porosity,high stability,and rich nitrogen(N)doping.The development of CTFs for efficient adsorption of mercury(Ⅱ)(Hg^(2+))is of great importance for the field,whereas it is rarely attempted,on account of limited synthetic strategies and unknown structural-property relations of conventional CTFs derived from ionothermal approaches.Herein,we report rational synthesis of a crystalline CTF with methylthio pendant arms for efficient removal of Hg^(2+)with an exceptional capacity of 751 mg·g^(-1),ranking at the top among previously-reported adsorbents.This work may open up new possibility in the synthesis of COFs for various separations.展开更多
基金funded by the"14th Five-Year Plan"Civil Aerospace Pre-research Project of China(Grant No.D010301).
文摘Reusable and flexible capturing of space debris is highly required in future aerospace technologies.A tendon-actuated flexible robotic arm is therefore proposed for capturing floating targets in this paper.Firstly,an accurate dynamic model of the flexible robotic arm is established by using the absolute nodal coordinate formulation(ANCF)in the framework of the arbitrary Lagrangian-Eulerian(ALE)description and the natural coordinate formulation(NCF).The contact and self-contact dynamics of the flexible robotic arm when bending and grasping an object are considered via a fast contact detection approach.Then,the dynamic simulations of the flexible robotic arm for capturing floating targets are carried out to study the influence of the position,size,and mass of the target object on the grasping performance.Finally,a principle prototype of the tendon-actuated flexible robotic arm is manufactured to validate the dynamic model.The corresponding grasping experiments for objects of various shapes are also conducted to illustrate the excellent performance of the flexible robotic arm.
基金The National Natural Science Foundation of China(22078349,22005319,52170109)Self-deployment Program from Lanzhou Institute of Chemical Physics(E30159SQ).
文摘The interest in curtailing environmental pollution issues through physical separation processes has inspired an extensive search for novel nanoporous materials with exceptional adsorption capabilities.Covalent triazine frameworks(CTFs),emerged as a class of crystalline covalent organic frameworks(COFs),have been widely examined for various separation applications,owing to their large porosity,high stability,and rich nitrogen(N)doping.The development of CTFs for efficient adsorption of mercury(Ⅱ)(Hg^(2+))is of great importance for the field,whereas it is rarely attempted,on account of limited synthetic strategies and unknown structural-property relations of conventional CTFs derived from ionothermal approaches.Herein,we report rational synthesis of a crystalline CTF with methylthio pendant arms for efficient removal of Hg^(2+)with an exceptional capacity of 751 mg·g^(-1),ranking at the top among previously-reported adsorbents.This work may open up new possibility in the synthesis of COFs for various separations.
