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

本课题的研究目的是将智能结构与材料系统的概念应用于机器人结构材料。这些主题包括传感器功能的评价、碳纳米管复合材料制备方法的建立、机械和电学特性的评价以及应用实例。具体执行的内容有以下三点。碳纳米管复合材料的试制及性能评价碳纳米管复合材料的试制是为了实现具有传感特性的结构材料。它可以作为电阻率的变化来处理，因为它是通过将碳纳米管分散在PVDF周围以及分散在基材周围的碳纳米管与应变(如变形)之间的距离变化来弯曲的。对菌株的响应没有达到它的结果，因为做了传感器特性评估，以获得关于重现性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，对螺栓联接螺栓松动检测方法的改进进行了研究。与常规方法相比，多观测器监督法成功地提高了螺栓松动检测精度。通过一个应用实例，尝试将螺栓松动检测应用于实验制造的两连杆机械臂中的固定部件，以显示智能结构系统的优势。虽然数值计算结果表明了该方法的可行性，但实验结果并不能得到预期的结果。

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.