基于电声原理触滑觉传感器的研究  

Research of Touch-Slide Sensor Based Theory of Acoustic

作　　者：王颖[1] 陈进军[1] 

机构地区：[1]贵州大学电气工程学院,贵阳550003

出　　处：《传感技术学报》2009年第12期1701-1703,共3页Chinese Journal of Sensors and Actuators

基　　金：国家级大学生创新性试验计划基金项目资助

摘　　要：滑觉检测是机器人实现软抓取的关键环节,首次提出了一种低成本的基于电声原理的小型滑觉传感器并进行了性能试验研究.该传感器主要由麦克风和一个密封腔组成,结构简单,成本低.通过把物体滑动时造成的微小震动信号转化为声电信号,利用小波分析处理采集到的信号。性能试验表明,该传感器能够提供可靠的触滑动信号。Detection of slide is of important for the robot＇s grasping manipulation. This paper presented a low-cost sensing design based on the principle of the sound of small slide tactile sensor and a study of performance tests. The sensor featuring simple structure and low cost is composed of microphone and a sealed chamber. The contactor transforms slide to vibration which is transformed to electric signal then by acoustic element, and wavelet-analysis is used for signal processing. Experimental result demonstrates that the sensor can provide the reliable signal of the touch-slide.

关 键 词：滑觉传感器 电声 麦克风 小波分析 机械手 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]