Large-payload climbing in complex vertical environments using thermoplastic adhesive bonds

Despite many approaches proposed in the past, robotic climbing in a complex vertical environment is still a big challenge. We present here an alternative climbing technology that is based on thermoplastic adhesive (TPA) bonds. The approach has a great advantage because of its large payload capacity and viability to a wide range of flat surfaces and complex vertical terrains. The large payload capacity comes from a physical process of thermal bonding, while the wide applicability benefits from rheological properties of TPAs at higher temperatures and intermolecular forces between TPAs and adherends when being cooled down. A particular type of TPA has been used in combination with two robotic platforms, featuring different foot designs, including heating/cooling methods and construction of footpads. Various experiments have been conducted to quantitatively assess different aspects of the approach. Results show that an exceptionally high ratio of 500% between dynamic payloads and body mass can be achieved for stable and repeatable vertical climbing on flat surfaces at a low speed. Assessments on four types of typical complex vertical terrains with a measure, i.e., terrain shape index ranging from -0.114 to 0.167, return a universal success rate of 80%-100%. © 2004-2012 IEEE.

In situ thermoplastic thread formation for robot built structures

We demonstrate autonomous construction of structures using a robot arm that can fabricate threads of TPA (Thermoplastic Adhesive) in free space on the fly. TPA has many important material properties that help to greatly simplify the otherwise complex task of building structures in complex environments. We present a model for the formation of TPA strings based on plastic deformation which also includes the temperature dependent material properties which change significantly as the thread is formed and cools. Experiments of drawing TPA show that drawing forces due to the viscosity of the TPA are more dominated by the speed of drawing than the changes in viscosity due to temperature. The load bearing capacity of individual strings is also modelled and measured and structures are built using the TPA strings which due to the adhesiveness can be anchored to a wide range surfaces as well as to other strings. © 2013 IEEE.

Thermoplastic Elastomers Based on Compatibilized Poly(butylene terephthalate) Blends: Effect of Functional Groups and Dynamic Curing

Two sets of graft copolymers were prepared by grafting glycidyl methacrylate (GMA) or ally] (3-isocyanate-4-tolyl) carbamate (TAI) onto ethylene/propylene/diene terpolymer (EPDM) in an internal mixer. These graft copolymers were used as the compatibilizer to prepare the thermoplastic elastomers (TPEs) containing 50 wt%, of poly(butylene terephthalate), PBT, 30 wt% of compatibilizer, and 20 wt% of nitrile-butadiene rubber, NBR. The indirect, two-step mixer process was chosen for dynamic curing.

Crystallization behavior of a thermoplastic polyimide derived from 3,3 ',4,4 '-oxydiphthalic dianhydride and 4,4 '-oxydianiline

Nonisothermal and isothermal crystallization kinetics of an aromatic thermoplastic polyimide derived from 3,3',4,4'-oxydiphthalic dianhydride and 4,4'-oxydianiline have been investigated by means of differential scanning calorimetry (DSC) and wide-angle X-ray diffraction. The results for nonisothermal crystallization study showed that a weak melting peak appeared during the first heating process, whereas no crystallization peak appeared in the DSC curve during the subsequent cooling process. On the other hand, the study for the isothermal crystallization in the temperature range of 260-330 degrees C showed that a new exothermic peak appeared at lower temperature for the samples crystallized for 100 min at 300 degrees C.

Blends of Poly(lactic acid) with Thermoplastic Acetylated Starch

Blends of poly(lactic acid)(PLA) and thermoplastic acetylated starch(ATPS) were prepared by means of the melt mixing method. The results show that PLA and ATPS were partially miscible, which was confirmed with the measurement of T-g by dynamic mechanical analysis(DMA) and differrential scanning calorimetry(DSC). The mechanical and thermal properties of the blends were improved. With increasing the ATPs content, the elongation at break and impact strength were increased. The elongation at break increased from 5% of neat PLA to 25% of the blend PLA/ATPS40. It was found that the cold crystallization behavior of PLA changed evidently by addition of ATPS. The cold crystallization temperature(T-cc) of each of PLA/ATPS blends was found to shift to a lower temperature and the width of exothermic peak became narrow compared with that of neat PLA.

Shear-enhanced crystallization of a thermoplastic polyimide derived from 3,3 ',4,4 '-oxydiphthalic dianhydride and 4,4 '-oxydianiline

The aim of this work is to investigate the effect of consecutive shear on the crystallization of an amorphous aromatic polyimide (PI) derived from 3,3',4,4'oxydiphthalic dianhydride (3,3',4,4'-ODPA) and 4,4-oxydianiline (ODA). At 260 degrees C, the increase of shear rate or shear time leads to the increase of crystallinity. Indeed, increasing shear rate can also accelerate the crystallization behavior. Moreover, it was found that a new melting peak appeared at higher temperature for long time or high rate sheared sample. The enhancement of crystallization behavior appears directly linked to the increase of crystal thickness. Particularly, the effect of shear temperature was investigated, and the results revealed that the crystallization of the PI was more sensitive to shear at 260 degrees C, which was 10 degrees above the glass transition temperature (250 degrees C) of the PI. Possible mechanism was proposed to illustrate the effect of consecutive shear on the crystallization of the PI polymer.

Preparation of fully cross-linked CNBR/PP-g-GMA and CNBR/PP/PP-g-GMA thermoplastic elastomers and their morphology, structure and properties

Binary CNBR/PP-g-GMA and ternary CNBR/PP/PP-g-GMA thermoplastic elastomers were prepared by reactive blending carboxy nitrile rubber (CNBR) powder with nanometer dimension and polypropylene functionalized with glycidyl methacrylate (PP-g-GMA). Morphology observation by using an atomic force microscope (AFM) and TEM revealed that the size of CNBR dispersed phase in CNBR/PP-g-GMA binary blends was much smaller than that of the corresponding CNBR/PP binary blends. Thermal behavior of CNBR/PP-g-GMA and CNBR/PP blends was studied by DSC. Comparing with the plain PP-g-GMA, T, of PP-g-GMA in CNBR/PP-g-GMA blends increased about 10degreesC. Both thermodynamic and kinetic effects would influence the crystallization behavior of PP-g-GMA in CNBR/PP-g-GMA blends. At a fixed content of CNBR, the apparent viscosity of the blending system increased with increasing the content of PP-g-GMA. FTIR spectrum verified that the improvement of miscibility of CNBR and PP-g-GMA was originated from the reaction between carboxy end groups of CNBR and epoxy groups of GMA grafted onto PP molecular chains. Comparing with CNBR/PP blends, the tensile strength, stress at 100% strain, and elongation at break of CNBR/PP-g-GMA blends were greatly improved.

Synthesis and characterization of a novel biodegradable, thermoplastic polyurethane elastomer

A series of biodegradable, thermoplastic polyurethane elastomers poly (epsilon-caprolactone-co-lactide)polyurethane [PCLA-PU] were synthesized from a random copolymer Of L-lactide (LA) and epsilon-caprolactone (CL), hexamethylene diisocyanate, and 1,4-butanediol. The effects of the LA/CL monomer ratio and hard-segment content on the thermal and mechanical properties of PCLA-PUs were investigated. Gel permeation chromatography, IR, C-13 NMR, and X-ray diffraction were used to confirm the formation and structure of PCLA-PUs. Through differential scanning calorimetry, tensile testing, and tensile-recovery testing, their thermal and mechanical properties were characterized. Their glass-transition temperatures were below -8 degrees C, and their soft domains became amorphous as the LA content increased. They displayed excellent mechanical properties, such as a tensile strength as high as 38 MPa, a tensile modulus as low as 10 MPa, and an elongation at break of 1300%. Therefore, they could find applications in biomedical fields, such as soft-tissue engineering and artificial skin.

HPVC/TPU共混物的相容性研究

用傅立叶变换红外光谱（ＦＴ－ＩＲ）、动态力学分析（ＤＭＡ），对高聚合度聚氯乙烯／热塑性聚氨酯（ＨＰＶＣ／ＴＰＵ）共混物的相容性进行了研究。结果表明，共混物中ＴＰＵ分子上的氨基（－ＮＨ－）与ＨＰＶＣ分子上的氯（－Ｃｌ）形成了类氢键结构。ＨＰＶＣ与ＴＰＵ分子间有一定的相容性，并且ＴＰＵ的结构组成与共混配比对体系的相容性有较大的影响。

Study on the beta relaxation mechanism of thermosetting polyimide thermoplastic polyimide blends

The thermosetting polyimide PMR-I5 and its blends with thermoplastic polyimides have been studied by dynamic mechanical analysis. The results obtained indicate that the level of beta relaxations in PMR-15 are increased with an increase in cross-linking density. This phenomenon is interpreted as a change of chemical structure during the cross-linking process. Addition of thermoplastic polyimide makes the magnitude of beta relaxations increase when PMR-15 is the major component. This might be due to the strong intermolecular charge-transfer interaction between PI and PI or PMR-15 and PMR-15 molecular chains being partly replaced by the weak intermolecular interaction between PI and PMR-15 in PMR-15/PI blends, resulting in some phenylene rings or imide groups in PIs and PMR-15 chains being able to participate in beta relaxation. However, this increment in beta relaxation magnitude can be reduced by heat treatment of the sample, as a result of phase separation. Hence, it is concluded that the beta relaxation magnitude is determined by the number of groups which can participate in relaxation per unit length, i.e. the magnitude of beta relaxation increases with decreasing interaction between the molecular chains. Copyright (C) 1996 Elsevier Science Ltd

Miscibility and crystallization behavior of thermosetting polyimide thermoplastic polyimide blends

Compatibility, morphology, crystalline structure and mechanical properties of the blends of a thermosetting polyimide with thermoplastic polyimides consisting of dianhydrides of different lengths have been studied by the use of dynamic mechanical analysis (DMA), differential scanning calorimetry (DSC), scanning electron microscopy (SEM) and small-angle X-ray scattering (SAXS) techniques. The results of our research show that the blends change from compatible to semi-compatible when the difference between the length of the dianhydrides of the two components increases. Addition of a thermoplastic polyimide inhibits the crystallization of the thermosetting component. However, this effect decreases with increasing length of the dianhydrides and the distribution of the molecules of the thermoplastic polyimide component changes from interlamellar to interfibrillar. Impact strength and morphology of the fractured surfaces indicate that among the semiinterpenetrating polymer networks (semi-IPN) obtained the toughening effect of the partially compatible one is the best. The results are discussed in terms of charge transfer interaction between imide group and p-phenylene group.