PVDF薄膜传感器滑动信号的积分简化识别算法  

Integrally Simplified Recognition Algorithm of sliding signal of PVDF Thin Film Sensor

作　　者：刘伟[1] 丁力平[1] 翟建军[1] 武新光[2] 贺鋆轩 LIU Wei;DING Liping;ZHAI Jianjun;WU Xinguang;HE Junxuan(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics&Astronautics,Nanjing 210016,China;Xi’an North Hui’an Chemical Industry Co.,Ltd.,Xi’an 710000,China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016 [2]西安北方惠安化学工业有限公司,陕西西安710000

出　　处：《机械制造与自动化》2020年第3期175-178,共4页Machine Building & Automation

摘　　要：将PVDF压电薄膜作为传感元件,设计滑觉传感器模块,用于反馈机器人抓取时物体的相对滑动状态感知。针对其触觉、滑觉信号难以区分的问题,分析了现有方法的缺点和局限性,设计了一种基于积分简化的滑动信号识别算法,将信号曲线与坐标轴围成的面积作为考量标准,可实时、高效地识别滑动信号,通过试验验证了算法的可行性。研究表明,当信号的δ值超过40%时即可视为产生了滑动。该算法可以为实现机器人末端执行器柔顺抓取技术中的滑觉检测提供参考。The PVDF piezoelectric thin film as the sensing element is used to design a sliding sensor module,which is used to feedback the sliding state of the object grasped by robot.Aiming at the problem that it is hard to distinguish the tactile and sliding signals,the shortcomings and limit-ations of the existing methods are analyzed.A sliding signal recognition algorithm based on integral simplification is proposed.The area enclosed by the signal curve and the coordinate axis are taken as the consideration standard which is used to identify slip signals efficiently.The feasibility of the algorithm is verified by experiments.The research result shows that it can be regarded as slip when the recognition value of the signal exceeds 40%.The reference is provided for the sliding detection in the robot gripper gripping.

关 键 词：PVDF压电薄膜 滑觉传感器 信号处理 滑动识别 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]