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To achieve tactile detection on the irregular surface of a robot link, a flexible annular sectorial sensor with a five-layer structure was proposed that could be wrapped on the surface of a truncated cone-shaped link. The sensor was designed for the detection of a contact position when robots collide with other objects during movement. The sensor obtains the coordinates of the contact position by exerting a constant electric field on the upper and lower conductive layers. The mathematical model linking the coordinates of the contact position and the corresponding electric potential on the conductive layer was established, based on the uniqueness of the electric field. The design of the sensor was simulated using COMSOL software, and the detection error of the contact position was discussed. A sensor sample was fabricated and wrapped on the mechanical arm. The results of the simulations and experiments indicated that the flexible sensor performed very well when wrapped on the robot link.

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In this paper, the NU308 bearing rings were subjected to strengthen grinding treatment (SGT) at ambient temperature. And the running reliabilities of specimens that subjected to SGT and conventional treatment (CT) were respectively investigated by testing dynamic properties including the running temperature, vibrations, and surface burning. Moreover, the residual stress, microtopography, and microstructures on the cross-section were respectively tested with residual stress analyzer and field-emission scanning electron microscopy. The results showed that the running reliabilities of the specimen after SGT had been significantly improved with the reduction of running temperature, vibration, and surface burning. Further study showed that the specimen's surface was filled with disordered micropores after SGT compared to the regular strip texture on the CT specimen's surface, and the maximum residual compressive stress induced by SGT was about −900 MPa. Moreover, the thickness of the residual compressive stress layer was over 180 µm, while the thickness of severe plastic deformation layer was about 50 µm.