机械手触觉技术研究发展综述  

Overview of the Development of Manipulator Tactile Technology

作　　者：王宏民 梁靖斌 李江源 潘增喜 邓辅秦 WANG Hongmin;LIANG Jingbin;LI Jiangyuan;PAN Zengxi;DENG Fuqin(Faculty of Intelligent Manufacturing of Wuyi University,Jiangmen 529000,China;Shenzhen Institute of Artificial Intelligence and Robotics for Society,The Chinese University of Hong Kong(Shenzhen),Shenzhen 518000,China)

机构地区：[1]五邑大学智能制造学部,广东江门529000 [2]深圳市人工智能与机器人研究院,香港中文大学(深圳),广东深圳518000

出　　处：《传感器世界》2021年第12期1-9,共9页Sensor World

基　　金：国家重点研发计划-动态开放环境下基于5G的异构多机器人自主协同技术(No.2020YFB1313300);智能增材制造(No.2018GR007)。

摘　　要：如何将复杂的多感知触觉技术融入机械手臂中是目前机器人技术发展中亟待解决的问题。无感官触觉回路的机械手臂并不适用于软体、易碎等物体的抓取,不同的物体需要不同的抓取力规划,抓取力过大往往会造成物体的损坏。从触觉传感器的设计出发,分析国内外机械手臂触觉研究现状,阐述前端执行器机械手触觉传感实现的主要技术,同时包括触觉技术的类型、原理设计、结构实现、传感信号获取与传输、解耦方法、灵敏度等方面的发展,为后期机械手臂实现传感、感知、控制3层执行架构的研究提供了新的思路。The robotic arm with sensory and tactile circuits has become one of the key technologies in the current robotic arm research.Robotic arms without sensory and tactile circuits are not suitable for grasping soft,fragile objects,and the uniform grasping force of machinery often cause damage to objects.Starting from the function of human hand sensing and perception,analyze the development of domestic and foreign robotics tactile research,explain the main technology of front-end actuator manipulator tactile sensing,including the type of tactile technology,principle design,structural realization.The development of sensor signal acquisition and transmission,decoupling methods,sensitivity,etc.provide a research foundation for robotic arm with three-tier execution architecture of sensing,perception,and control for future research.

关 键 词：触觉技术 机械手 阵列式传感器 传感器材料 力反馈 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]