一种机械手用触觉传感器设计及仿真分析  

Design and simulation analysis on a tactile sensor for grasping manipulator

作　　者：张兴国[1] 李成浩[1] 张磊[1] 郭旭[1] 张柏[1] 

机构地区：[1]南通大学机械工程学院,江苏南通226019

出　　处：《中国农机化学报》2016年第4期222-227,共6页Journal of Chinese Agricultural Mechanization

基　　金：江苏省自然科学基金面上项目(BK20131205)

摘　　要：为检测机械手抓取过程中接触位置和接触力的大小,设计具有一定柔性的触觉传感器。采用电阻式触摸屏结构确定接触位置,利用硅橡胶受力挤压变形引起电容的变化确定接触力的大小。通过仿真实验,得到不同接触形状下传感器的测量能力,并分析产生误差的原因。In order to detect the contact position and contact force in the process of robot hand grasping,a tactile sensor with a certain flexibility is designed.Resistive touching screen structure is adopted to define the contacting position,and contacting force is determined by the change of capacitance of silicone rubber caused by the compression load deformation.Measurement capability of the sensor is obtained by simulation experiment under different shape of contacting and the causes of error are analyzed.

关 键 词：触觉传感器 接触位置 接触力 仿真 MULTISIM 

分 类 号：TP212.1[自动化与计算机技术—检测技术与自动化装置]