Sun Zhenguo

Superunderactuated Multifingered Hand for Humanoid Robot

A novel underactuated finger mechanism was designed. Finger mechanism was incorporated into a humanoid robot hand to obtain more degrees of freedom with less actuators and good grasping functions with shape adaptation, therefore decreasing the requirements for the control system. A novel superunderactuated multifingered hand (TH-2 Hand) for a humanoid robot was designed based on a previous underactuated finger mechanism. The TH-2 Hand was attached to a humanoid robot because of its high personification, superunderactuation, compactness, easy real-time control, small volume, light weight, and strong grasping function.

Detection of graphite balls for the fuel handling system in HTGR using eddy current testing

The spherical graphite fuel elements (graphite balls) are transported into and out of the core in high-temperature gas-cooled pebble bed reactors (HTGR) by a fuel handling system (FHS) during plant operation. In order to control the reactor, it is necessary to have information on the location and movement of the graphite balls at various points of the FHS. In this paper, a new through-transmission eddy current testing probe has been put forward to detect the graphite balls. The probes electromagnetic finite element model (FEM) has been established so as to study the factors affecting the performance of the probe. On this basis, electromagnetic detection parameters and probe designs have been optimised. According to the results of analysis, a bidirectional detector for the fuel ball handling system of HTGR has been developed. The experimental results confirm the validity of the FEM, and show that the detector works accurately and reliably, which meets the requirements of application in HTGR.