Fakultät 09 / Institut für Produktentwicklung und Konstruktionstechnik
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- Anthropomorphic robotic hands (1)
- Autoclave (1)
- Autoklav (1)
- Gaseous hydrogen (1)
- Hand prostheses (1)
- Handprothese (1)
- Hydrogen sorption curves (1)
- Hydrogen uptake (1)
- Martensitic stainless steel (1)
- Parametric model (1)
Hydrogen is nowadays in focus as an energy carrier that is locally emission free. Especiallyin combination with fuel-cells, hydrogen offers the possibility of a CO2neutral mobility, providedthat the hydrogen is produced with renewable energy. Structural parts of automotive componentsare often made of steel, but unfortunately they may show degradation of the mechanical propertieswhen in contact with hydrogen. Under certain service conditions, hydrogen uptake into the appliedmaterial can occur. To ensure a safe operation of automotive components, it is therefore necessary toinvestigate the time, temperature and pressure dependent hydrogen uptake of certain steels, e.g., todeduct suitable testing concepts that also consider a long term service application. To investigate thematerial dependent hydrogen uptake, a tubular autoclave was set-up. The underlying paper describesthe set-up of this autoclave that can be pressurised up to 20 MPa at room temperature and can beheated up to a temperature of 250◦C, due to an externally applied heating sleeve. The second focusof the paper is the investigation of the pressure dependent hydrogen solubility of the martensiticstainless steel 1.4418. The autoclave offers a very fast insertion and exertion of samples and thereforehas significant advantages compared to commonly larger autoclaves. Results of hydrogen chargingexperiments are presented, that were conducted on the Nickel-martensitic stainless steel 1.4418.Cylindrical samples 3 mm in diameter and 10 mm in length were hydrogen charged within theautoclave and subsequently measured using thermal desorption spectroscopy (TDS). The resultsshow how hydrogen sorption curves can be effectively collected to investigate its dependence ontime, temperature and hydrogen pressure, thus enabling, e.g., the deduction of hydrogen diffusioncoefficients and hydrogen pre-charging concepts for material testing.
Grasping and manipulation with anthropomorphic robotic and prosthetic hands presents a scientific challenge regarding mechanical design, sensor system, and control. Apart from the mechanical design of such hands, embedding sensors needed for closed-loop control of grasping tasks remains a hard problem due to limited space and required high level of integration of different components. In this paper we present a scalable design model of artificial fingers, which combines mechanical design and embedded electronics with a sophisticated multi-modal sensor system consisting of sensors for sensing normal and shear force, distance, acceleration, temperature, and joint angles. The design is fully parametric, allowing automated scaling of the fingers to arbitrary dimensions in the human hand spectrum. To this end, the electronic parts are composed of interchangeable modules that facilitate the echanical scaling of the fingers and are fully enclosed by the mechanical parts of the finger. The resulting design model allows deriving freely scalable and multimodally sensorised fingers for robotic and prosthetic hands. Four physical demonstrators are assembled and tested to evaluate the approach.