Force regulation is a challenging problem for robot end-effectors when interacting with an unknown environment. It often requires sophisticated sensors with computerized control. This paper presents an adjustable constant-force mechanism (ACFM) to passively regulate the contact force of a robot end-effector. The proposed ACFM combines the negative stiffness of a bistable mechanism and positive stiffness of a linear spring to generate a constant-force output. Through prestressing the linear spring, the constant-force magnitude can be adjusted to adapt to different working environments. The ACFM is a monolithic compliant mechanism that has no frictional wear and is capable of miniaturization. We propose a design formulation to find optimal mechanism configurations that produce the most constant-force. A resulting force to displacement curve and maximal stress curve can be easily manipulated to fit a different application requirement. Illustrated experiments show that an end-effector equipped with the ACFM can adapt to a surface of variable height, without additional motion programming. Since sensors and control effort are minimized, we expect this mechanism can provide a reliable alternative for robot end-effectors to interact friendly with an environment.
To synthesize photonic films without a chiral dopant, a predesigned multiple photopolymerization process was carried out. The photonic films were prepared by the photopolymerization of a mixture of chiral nematic liquid crystals. After polymerization, the chiral dopant, CB15, was removed and recycled. The imprinted photonic polymer films showed Bragg reflection without the presence of the chiral dopant. Upon the sensing of solvents in aqueous solution, significant color changes and peak shifts were observed by the naked eye and ultraviolet–visible spectroscopy, respectively. A linear calibration curve between the central wavelength of the reflection band of the fabricated imprinting film and the volume ratio of 1,4‐dioxane in water was observed. Furthermore, the sensing of chloroform content in methanol, ethanol, and acetone via the imprinted film were also investigated. The results suggest that the synthesized imprinted photonic films can detect different kinds of mixed solvents. The sensing properties of the photonic films were further improved by copolymerization with a rhodamine‐derived monomer. The synthesized modified photonic films can detect heavy metal ions in aqueous solution. This study reports a novel, recyclable, and easy approach to detect organic solvents and copper ions in aqueous solution.
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