Abstract
In-situ micro/nano characterization is an indispensable methodology for material research. However, the precise in-situ SEM twisting of 1D material with large range is still challenge for current techniques, mainly due to the testing device’s large size and the misalignment between specimen and the rotation axis. Herein, we propose an in-situ twist test robot (iTRo) to address the above challenges and realize the precise in-situ SEM twisting test for the first time. Firstly, we developed the iTRo and designed a series of control strategies, including assembly error initialization, triple-image alignment (TIA) method for rotation axis alignment, deformation-based contact detection (DCD) method for sample assembly, and switch control for robots cooperation. After that, we chose three typical 1D material, i.e., magnetic microwire Fe74B13Si11C2, glass fiber, and human hair, for twisting test and characterized their properties. The results showed that our approach is able to align the sample to the twisting axis accurately, and it can provide large twisting range, heavy load and high controllability. This work fills the blank of current in-situ mechanical characterization methodologies, which is expected to give significant impact in the fundamental nanomaterial research and practical micro/nano characterization.
Highlights
Twisting test plays an indispensable role among all the three widely accepted mechanical test approaches in material research, i.e., stretching, bending and twisting
Current nanorobotic manipulation systems for SEM are mainly subjected to linear motion. They are capable for the in-situ stretching and bending test effectively, they cannot meet the requirement of twisting test needing precise rotational operation
The in-situ twisting test robot (iTRo) for SEM mainly consists of two independent 3-DOF manipulators, i.e., left manipulator (LM) and right manipulator (RM) on the same basement stage, and a SEM vision feedback system
Summary
Twisting test plays an indispensable role among all the three widely accepted mechanical test approaches in material research, i.e., stretching (compressing), bending and twisting. Limited to the inherent drawbacks of the traditional instruments in structure and working mechanism, it is hardly possible to align the sample perfectly into the rotation axis of the rotation table, so that the effective gauge need to be lengthened to reduce the influence of the vertical misalignment[11,12,13] It affect the measurement accuracy, and make it nearly impossible to integrate within SEM for in-situ twisting test. Current nanorobotic manipulation systems for SEM are mainly subjected to linear motion They are capable for the in-situ stretching (compressing) and bending test effectively, they cannot meet the requirement of twisting test needing precise rotational operation. Torsion test of magnetic microwire, glass fiber, and human hair is implemented and the experimental results are discussed
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