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Hao Wen
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Journal Articles
Journal:
Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. August 2021, 13(4): 045001.
Paper No: JMR-20-1500
Published Online: May 26, 2021
Abstract
This paper presents a novel parallel architecture with seven active degrees-of-freedom (DOFs) for general-purpose haptic devices. The prime features of the proposed mechanism are partial decoupling, large dexterous working area, and fixed actuators. The detailed processes of design, modeling, and optimization is introduced, and the performance is simulated. After that, a mechanical prototype is fabricated and tested. Results of the simulations and experiments reveal that the proposed mechanism possesses excellent performances on motion flexibility and force feedback. This paper aims to provide a remarkable solution of the general-purpose haptic device for teleoperation systems with an uncertain mission in complex applications.
Proceedings Papers
Proc. ASME. IMECE2018, Volume 8B: Heat Transfer and Thermal Engineering, V08BT10A058, November 9–15, 2018
Paper No: IMECE2018-86736
Abstract
The application of laser processing as a surface treatment method on oxide dispersion strengthened (ODS) Fe-14Cr ferritic alloys, Fe-14Cr-3W-0.3Ti-xY 2 O 3 (x = 0.3, 0.6, 0.9) (wt%), was examined in this paper. The ODS ferritic alloys with different amount of Y 2 O 3 particles were prepared by mechanical milling and subsequently consolidated by spark plasma sintering (SPS). The effect of surface laser processing on the corrosion behavior was investigated for these ODS alloys with different oxide contents. The corrosion behaviors of SPS consolidated ODS samples with subsequent laser melting/solidification were examined by the means of electrochemical tests and compared with the untreated ODS samples in salt water. Results indicated that for samples without laser treatment, powders are mainly in their elemental state. However, after laser processing, the formation of passive layer and the improvement in the corrosion resistance are noticeable. CALculation of PHAse Diagrams (CALPHAD) calculations were used to identify the equilibrium phases and compared well with the experimental results.
