磁致伸缩触觉传感器的输出特性研究  

Output Characteristic of Magnetostrictive Tactile Sensor

作　　者：张冰 王博文[1,2] 李云开 ZHANG Bing;WANG Bowen;LI Yunkai(State Key Laboratory of Reliability and Intelligence of Electrical Equipment,School of Electrical Engineering,Hebei University of Technology,Tianjin 300130,China;Key Laboratory of Electromagnetic Field and Electrical Apparatus Reliability of Hebei Province,School of Electrical Engineering,Hebei University of Technology,Tianjin 300130,China;Henan University of Animal Husbandry and Economy,School of Energy and Power Engineering,Zhengzhou 450011,China)

机构地区：[1]省部共建电工装备可靠性与智能化国家重点实验室,河北工业大学电气工程学院,天津300130 [2]河北省电磁场与电器可靠性重点实验室,河北工业大学电气工程学院,天津300130 [3]河南牧业经济学院能源与动力工程学院,郑州450011

出　　处：《传感技术学报》2019年第8期1157-1162,共6页Chinese Journal of Sensors and Actuators

基　　金：河北省自然科学基金项目(E2017202035);河北省科技计划项目(16211709);国家自然科学基金项目(51801053)

摘　　要：基于逆磁致伸缩效应和仿生学原理设计了一种新型的磁致伸缩触觉传感器,应用传感器可以测试机械手抓取力和目标物体刚度。根据电磁学理论、逆磁致伸缩效应和胡克定理,建立了触觉传感器的接触力检测模型和刚度检测模型。制作了磁致伸缩触觉传感器,通过磁场调节装置优化了传感器结构,确定了接触力检测和刚度检测方法。对传感器的输出特性进行了理论分析和实验验证。结果表明,在偏置磁场为2.56kA/m时,传感器在0~1 N接触力下有较高的灵敏度,输出电压相对于未施加力时的最大变化值为22.8mV。该传感器具有结构简单、性能稳定等优点,可以满足机械手对触觉精确感知的要求。A new type of magnetostrictive tactile sensor has been designed,based on the inverse magnetostrictive effect and the principle of bionics,which can be used to test the grasp force of manipulator and detect the stiffness of object.According to the electromagnetism theory,inverse magnetostrictive effect,and Hooke’s Law,the force measurement model and the stiffness detection model have been established.A magnetostrictive tactile sensor was fabricated,and the structure of sensor was optimized by magnetic field strength adjusting device.A method of measuring the force and detecting the stiffness has been determined.The theoretical analysis and experimental verification for the sensor have been carried out.The results have shown that the sensor is most sensitive to the force at the bias magnetic field of 2.56 kA/m.In the range of 0~1 N,the maximum value of output voltage is 22.8 mV.The magnetostrictive tactile sensor has the advantages of simple structure and stable performance,and it can be used to realize the precise sense of touch for a manipulator.

关 键 词：磁致伸缩 触觉传感器 接触力检测 刚度 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置]