Browsing by Subject "manipulation"
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Item Electric field manipulation of polymer nanocomposites: processing and investigation of their physical characteristics(2009-05-15) Banda, SumanthResearch in nanoparticle-reinforced composites is predicated by the promise for exceptional properties. However, to date the performance of nanocomposites has not reached its potential due to processing challenges such as inadequate dispersion and patterning of nanoparticles, and poor bonding and weak interfaces. The main objective of this dissertation is to improve the physical properties of polymer nanocomposites at low nanoparticle loading. The first step towards improving the physical properties is to achieve a good homogenous dispersion of carbon nanofibers (CNFs) and single wall carbon nanotubes (SWNTs) in the polymer matrix; the second step is to manipulate the well-dispersed CNFs and SWNTs in polymers by using an AC electric field. Different techniques are explored to achieve homogenous dispersion of CNFs and SWNTs in three polymer matrices (epoxy, polyimide and acrylate) without detrimentally affecting the nanoparticle morphology. The three main factors that influence CNF and SWNT dispersion are: use of solvent, sonication time, and type of mixing. Once a dispersion procedure is optimized for each polymer system, the study moves to the next step. Low concentrations of well dispersed CNFs and SWNTs are successfully manipulated by means of an AC electric field in acrylate and epoxy polymer solutions. To monitor the change in microstructure, alignment is observed under an optical microscope, which identifies a two-step process: rotation of CNFs and SWNTs in the direction of electric field and chaining of CNFs and SWNTs. In the final step, the aligned microstructure is preserved by curing the polymer medium, either thermally (epoxy) or chemically (acrylate). The conductivity and dielectric constant in the parallel and perpendicular direction increased with increase in alignment frequency. The values in the parallel direction are greater than the values in the perpendicular direction and anisotropy in conductivity increased with increase in AC electric field frequency. There is an 11 orders magnitude increase in electrical conductivity of 0.1 wt% CNF-epoxy nanocomposite that is aligned at 100 V/mm and 1 kHz frequency for 90 minutes. Electric field magnitude, frequency and time are tuned to improve and achieve desired physical properties at very low nanoparticle loadings.Item Orienting Deformable Polygonal Parts without Sensors(2012-02-14) Kristek, ShawnParts orienting is an important part of automated manufacturing. Sensorless manipulation has proven to be a useful paradigm in addressing parts orienting, and the manipulation of deformable objects is a growing area of interest. Until now, these areas have remained separate because existing orienting approaches utilize forces that if applied to deformable parts violate the assumptions used by existing algorithms, and could potentially break the part. We introduce a new algorithm and manipulator actions that, when provided with the geometric description and a deformation model of choice for the part, exploits the deformation and generates a Plan that consists of the shortest sequence of manipulator actions guaranteed to orient the part up to symmetry from any unknown initial orientation and pose. Additionally, the algorithm estimates whether a given manipulator is sufficiently precise to perform the actions which guarantee the final orientation. This is dictated by the particular part geometry, deformation model, and the manipulator action path planner which contains simple end-effector constraints and any standard motion planner. We illustrate the success of the algorithm with multiple parts through 192 trials of experiments that were performed with low-precision robot manipulators and six parts made of four types of materials. The experimental trials resulted in 154 successes, which show the feasibility of deformable parts orienting. The analysis of the failures showed that for success the assumptions of zero friction are essential for this work, increased manipulator precision would be beneficial but not necessary, and a simple deformation model can be sufficient. Finally, we note that the algorithm has applications to truly sensorless manipulation of non-deformable parts.