基于Fe-Ga合金丝的柔性触觉传感器阵列设计与输出特性  

Design and output characteristics of flexible tactile sensor array based on Fe-Ga alloys wire

作　　者：张冰[1,2] 徐卫星 李骞[1] 张品[1] ZHANG Bing;XU Weixing;LI Qian;ZHANG Pin(School of Energy and Intelligence Engineering,Henan University of Animal Husbandry and Economy,Zhengzhou 450011,China;State Key Laboratory of Reliability and Intelligence of Electrical Equipment,School of Electrical Engineering,Hebei University of Technology,Tianjin 300130,China)

机构地区：[1]河南牧业经济学院能源与智能工程学院,河南郑州450011 [2]河北工业大学电气工程学院、省部共建电工装备可靠性与智能化国家重点实验室,天津300130

出　　处：《传感器与微系统》2023年第4期51-54,58,共5页Transducer and Microsystem Technologies

基　　金：河南省重点研发与推广专项(科技攻关)项目(222102210236);河南省高等学校重点科研项目(20B460009);博士科研启动基金资助项目(2021HNUAHEDF019);国家自然科学基金资助项目(52077052)。

摘　　要：基于生物皮肤的触觉感知机理和维拉利效应,以铁镓(Fe-Ga)合金丝为核心传感元件,设计了一种新型的触觉传感单元和柔性触觉传感器阵列,可用于测试机械手的接触力。根据线性压磁方程和电磁学理论,建立了触觉传感单元的接触力检测模型,制作了触觉传感单元和柔性触觉传感器阵列样机,并通过实验对其输出特性进行了验证。结果表明:触觉传感单元在0~3 N范围内,灵敏度为127 mV/N,且动态性能良好。将2个2×2柔性传感器阵列安装于机械手的柔性指节处,夹取具有柱面特征和球面特征的物体,全部触头均接触到目标物体,实现了在智能机械手的曲面装载和精确感知要求。Based on the tactile sensing mechanism of biological skin and the Villari effect,a novel tactile sensing unit and flexible tactile sensor array are designed using iron-gallium(Fe-Ga)alloy wire as the core sensing element,which can be used to test the contact force of the manipulator.According to the linear piezomagnetic equation and electromagnetic theory,the contact force detection model of the tactile sensing unit is established,and the prototypes of the tactile sensing unit and flexible tactile sensor array are fabricated,and its output characteristics are verified through experiments.The results show that the sensitivity of tactile sensing unit is 127 mV/N in the range of 0~3 N,and the dynamic performance is good.Two 2×2 flexible sensor arrays are installed on the flexible knuckles of the manipulator,and objects with cylindrical and spherical features are gripped.All the contacts are in contact with the target object.The requirements of surface loading and accurate sensing on the intelligent manipulator are fulfilled.

关 键 词：铁镓合金 触觉 柔性 传感器 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置]