Examination of the carbon nanotube base smart bone structure system aimed at the application about materials for robot structure application

本课题旨在将智能结构与材料系统的概念应用到机器人结构材料中。本文的主题是传感器功能的评价、碳纳米管复合材料制造方法的建立、机械和电气特性的评价以及应用实例。具体实施内容为以下三点。碳纳米管复合材料的试制及性能评价以实现具有传感器特性的结构材料为目标，进行了碳纳米管复合材料的试制。它可以处理为电阻率的变化，因为它被分散在PVDF周围的碳纳米管弯曲，分散在基材周围的碳纳米管之间的距离变化对抗应变，如变形。对应变的响应没有达到它，因为做了传感器特性评估，以获得关于再现和相关性的实际水平，尽管它是可见的。针对二连杆机械臂的故障检测问题，研究了一种基于智能垫圈的螺栓松动检测技术的改进方法。与传统方法相比，由多观察者组成的监督方法成功地提高了螺栓松动检测的精度。将螺栓松动检测技术应用于所制造的实验二连杆机械臂的固定件上，作为实验，展示了智能结构系统的优势。虽然从数值计算的结果可以看出该方法的可行性，但从实验的结果来看，并没有得到预期的结果。

The purpose of this research task aims at applying the concept of the smart structures and materials system to the material for robot structure. The subjects are the evaluation of a sensor function, the establishment of a fabrication method about carbon nanotube (CNT) composite material, the evaluation of the mechanical and electrical characteristics and the exemplification of an application. The contents enforced concretely are three points of the next.1. The trial production of the CNT composite material and characteristic evaluationThe trial production of the CNT composite material was done with the aim of the realization of the structure material which has a sensor character. It can be handled as a change in resistivity because it is bent by dispersing CNT around PVDF and a distance changes between CNT's which dispersed around the base material against the strain such as deformation. A response against the strain didn't reach it as a result of doing sensor characteristic evaluation to get a practical level about that reappearance and the correlation though it was seen.2. The improvement of the method of bolt loosening detection for bolted joint Improvement of the method of a bolt loosening detection technique by the smart washer was examined due to apply the fault detection problem in 2 link robot arm. Comparing with the conventional method, the supervisor by the multiple observer succeeded in the improvement of the bolt loosening detection precision.3. The exemplification of an application It tried the application of the bolt loosening detection to a fixed part in the experimental 2 link robot arm manufactured as an experiment to show the advantage of the smart structure system. Though feasibility could be shown from a result of numerical calculation, it couldn't get an expected result from a result of an experiment.