Abstract: The effect on densification and mechanical properties of 3 mol% Y-TZP ceramics doped with niobium oxide (0.1 wt. % to 1 wt. %), has been investigated in this study. Green samples were compacted by uniaxial pressing and cold isostatically pressed at 200 MPa. All samples have been sintered over the temperature range of 1250°C to 1500°C with a ramp rate of 10°C/ minute and 2 hours of holding time. The sintered bodies were examined to determine the phase content, bulk density, Vickers hardness and flexural strength of the Y-TZP material. The results showed that the addition of 1 wt. % Nb2O5 was effective in aiding densification (~99% theoretical density). It also improved the Vickers hardness (~13 GPa), when the samples were sintered below 1300°C compared to the undoped Y-TZP sintered at the same temperature. The Nb2O5 addition to the Y-TZP matrix also displayed an increment of flexural strength as the dopant content was increased.

• Publication Date: 03-Aug-2014
• DOI: 10.15224/978-1-63248-008-8-83
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Abstract: This paper presents a feasibility study for applying electrostatic actuators on wall climbing robot (WCR). These film actuators have generated useful level of attachment force on vertical wall surface. It works on non-conductive surface such as ceramic tiles. The confirmed advantages of electrostatic adhesion are encouraging for the development of WCR. Design considerations for the WCR are also discussed, to particularly include an active tail for countering pitch-back moment. The control strategy for WCR is not complicated and involves only a separate circuitry to provide HVdc to the electrostatic actuators. As a short summary, electrostatic adhesion is a feasible method to empower ordinary tracked mobile robot for becoming a WCR.

• Publication Date: 03-Aug-2014
• DOI: 10.15224/978-1-63248-008-8-84
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