一种基于导电橡胶的三维力柔性触觉传感器阵列机理与仿真研究  

Mechanism and Simulation Research on a 3D Flexible Tactile Sensor Array Based on Conductive Rubber

作　　者：李珊红[1,2] 汪玉冰[2] 曹会彬[2] 丁俊香[3] 黄英[4] 双丰[2] 葛运建[2] 

机构地区：[1]中国科学技术大学自动化系,合肥230027 [2]中国科学院合肥智能机械研究所,合肥230031 [3]中国人民解放军陆军军官学院,合肥230031 [4]合肥工业大学应用物理系,合肥230009

出　　处：《传感技术学报》2013年第4期476-480,共5页Chinese Journal of Sensors and Actuators

基　　金：国家自然科学基金项目(61072032);安徽省自然科学基金项目(1308085QF104);中国博士后科学基金项目(2011M501072)

摘　　要：根据接触力学理论和导电橡胶的电阻应变关系,对一种基于压敏导电橡胶的三维力柔性触觉传感器阵列的传感机理进行深入的探索,并应用静电比拟法导出传感器节点间电阻与表面应力激励的关系,建立了传感器阵列表面三维力激励与输出电阻的物理模型。以此为基础对传感器输入输出特性进行了仿真,并基于仿真结果对传感器结构进行优化。仿真结果验证了该传感器结构设计的合理性。According to the contact mechanics theory and the relationship between the resistance and strain of conductive rubber,sensing mechanism of a 3D flexible tactile sensor array based on pressure-sensitive conductive rubber is explored in more detail.The relationship between the surface stress excitation of the sensor and resistance between two nodes is calculated by applying franklinic analogue method.And a physical model of a 3D force excitation and output resistances of the sensor is employed.On this basis,simulations of input-output characteristic of the sensor are carried out.And the structure of the sensor is optimized according to the simulation results.The simulations indicate the validity of 3D force measurement of the sensor.

关 键 词：触觉传感器 导电橡胶 三维力 传感机理 结构优化 

分 类 号：TP212.1[自动化与计算机技术—检测技术与自动化装置]