电容式滑觉传感器设计与应用  

Design and application of capacitive slip sensor

作　　者：许德成[1] 郭小辉[2] 

机构地区：[1]吉林师范大学信息技术学院,吉林四平136000 [2]合肥工业大学电子科学与应用物理学院,安徽合肥230009

出　　处：《传感器与微系统》2015年第11期85-88,共4页Transducer and Microsystem Technologies

基　　金：吉林省教育厅"十二五"科学技术研究项目(吉教科合字第2013203号)

摘　　要：提出了一种用于智能机器人仿生皮肤的电容式滑觉传感器,用以解决智能机器人软抓取过程中滑觉信息的感知问题。阐述了电容式滑觉传感器的结构设计、滑觉感知机理,并借助ANSYS有限元仿真软件进行滑觉感知机理验证。基于CC2530低功耗微处理器与AD7147-1型电容数字转换器构建便携式电容滑觉信息感知系统。根据差分电容式滑觉传感器的输出可实现全方向性滑觉力检测功能。实验结果表明:该电容式滑觉传感器具有结构简单、设计合理、加工制作方便、成本低且高灵敏度等优点。To solve problem of information perception of slipping during process of intelligent robot soft scraping,a capacitive slip sensor is proposed for intelligent robot bionic skin. Structure design of capacitive slip sensor,working principle are introduced,and sense perception mechanism is verified by using ANSYS finite element simulation software. Meanwhile,a portable capacitive sense information perception system is constructed based on low power consumption microprocessor CC2530 and AD7147-1 capacitance-to-digital converter. The omnidirectional slip force detection can be realized based on output of differential capacitive slip sensor.Experimental results indicate that the capacitive slip sensor has simple structure, reasonable design,easy manufacture,low cost and high sensitivity,etc.

关 键 词：滑觉传感器 电容式 智能机器人 传感信息处理 高灵敏度 差分电容器 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]