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The diodes of nanocrystalline SiC on epitaxial crystalline (n−/n+)6H-SiC wafers were investigated, where the (n+)6H-SiC layer was treated as cathode. For the first unit, a heavily boron doped SiC film as anode was directly deposited by plasma enhanced chemical vapor deposition method on the wafer. As to the second one, an intrinsic SiC film was fabricated to insert between the wafer and the SiC anode...
The purpose of this research is to present a new method to achieve precise position tracking control for robot finger with variable stiffness mechanism. First, the variable stiffness design of the finger which is actuated by SMA-3 fibers is presented. Then, the relationship between the variation of pulling force ΔF of the bending robot finger and input voltage of SMA-3 is established. In addition,...
In this paper, a novel variable stiffness finger actuated by heating the embedded SMA fibers is proposed. First, the concept of the variable stiffness mechanism and fabrication of the finger which can demonstrate continuous deformation are presented. Then, the parameters of the SMA used for variable stiffness are identified, which are used to model the phase transformation processes of its Young’s...
The application of lightweight robotic arms is having been expanded from factory automation to the service areas. It is significant to make lightweight robotic arms much safer and lighter for human-robot co-existence. This study presents an overall structure optimization design approach to minimize the mass of the lightweight robotic arm with the constraints on structural strength and drive trains...
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