Soft robots combine the load-bearing capability of rigid material with the resilience, shape-shifting capabilities of soft materials. This paper presents a novel soft actuator with stiffness variation using particulate jamming technology. We design a hybrid composite structure consisting of driving layer and jamming layer. The driving layer with the arc air chamber aim to achieve large bending deformation. A membrane containing particles is integrated with driving layer to module its stiffness. The influence factors of stiffness variation were analyzed from energy of point of view. The dependence of granular attributes on the stiffness of the actuator was studied. Furthermore, we illustrated influence of stiffness changes on the kinematic and dynamic performance of the soft actuator. The experimental results showed these performance indexes are twofold. On the one hand, the structural parameters have significant effect on the bending angle, but on the other hand they have little effect on the end force. We found that flow resistance inside air chamber results in bending morphology variation. The dynamic response subjected to a square-wave air pressure was analyzed to exhibit the actuator’s transient and steady vibration behavior. The actuator with greater stiffness has faster responsiveness, but smaller range of motion. These conclusions are helpful to adjust the stiffness behavior and to improve motion performance.
This paper reviews the study of wind induced vibration of transmission power tower-line system. Each fields of research of transmission power tower-line system —analysis model, dynamic characteristic, wind response and vibration control —are systematically introduced. the problem that exist in this stage and the development trend are summarized in the conclusions.
With the advent of the era of knowledge economy, Chinese power enterprises realize that intellectual property is becoming an important intangible asset. How to optimize the management organizational structure of intellectual property right has received increasing attention. This article analyzes the present situation of Chinese power enterprises, sums up the characteristics of advanced enterprises’ management organization structure, and provides an idea of optimization.
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