一种阻容串联式柔性力传感器  

A flexible force sensor based on a series resistor-capacitor

作　　者：吕文佳 侯振德[1] 屈川[1] 富东慧[1] 徐莲云[1] Lü Wenjia;HOU Zhende;QU Chuan;FU Donghui;XU Lianyun(Department of Mechanics,Tianjin University,Tianjin 300354,China)

机构地区：[1]天津大学机械工程学院力学系,天津300354

出　　处：《实验力学》2020年第5期803-810,共8页Journal of Experimental Mechanics

基　　金：国家自然科学基金(11672350)资助。

摘　　要：本文研制了一种柔性电容电阻串联式力传感器,用来实现提高柔性力传感器测量精确度和增大测量灵敏度的目的。该传感器利用电容电阻串联电路特点,提出了一种双电容串联电阻的传感器结构方案。传感器两侧为电容结构,两电容之间是一导电橡胶弹性层,电学上起电阻的作用。相当于两电容之间串联一个电阻,外力作用时导电橡胶电阻的变化与两电容的变化共同构成最终输出电容值的变化。理论和实验都证明该方法有助于提高传感器的测量灵敏度。通过一系列实验测试了传感器的输出特性,实验结果证明传感器输出电容平均灵敏度由未串联导电橡胶时的0.03pf/N提高到串联后的0.55pf/N。此外,相较于直接测量电阻变化,测量电容输出的相对误差更小,输出信号稳定时间缩短。A new type of flexible force or tactile sensor is developed, based on the characteristic of a series of a resistor and two capacitors, in order to improve the sensor′s sensitivity and accuracy. The structure of the sensor includes two equivalent capacitors and a conductive rubber plate which acts as a resistor being paced between the two capacitors. The force being measured gives rise to the changes of the two capacitor and the resistor values which contribute the final change of an equivalent capacitor value of the entire sensor. The effectiveness of the scheme of series of resistor-capacitors is verified by both theoretical analysis and experimental results. A series of experiments were carried out to test the output characteristics of the sensor. The test results show that the output sensitivity of the sensor increases from 0.03 pf/N to 0.55 pf/N when the scheme of series of resistor-capacitors is applied. In addition, the error of the sensor developed is significantly less than that if the sensor output is replaced with the resistance of the conductive rubber plate.

关 键 词：柔性力传感器 阻容串联 测量误差 测量灵敏度 

分 类 号：TH823[机械工程—仪器科学与技术]