一种新的协作机器人人机用电容式多维力传感器设计  

Design of a New Capacitive Multi-dimensional Force Sensor for Collaborative Robot

作　　者：李俊勤[1] 王进花[2] 孙贵香 LI Junqin;WANG Jinhua;SUN Guixiang(Gansu Vocational and Technical College of Communications,Lanzhou 730050,China;School of Electrical Engineering and Information Engineering,Lanzhou University of Technology,Lanzhou 730050,China;Manufacturing Information Engineering Research Center of Gansu Province,Qin'an 741600,China)

机构地区：[1]甘肃交通职业技术学院,兰州730050 [2]兰州理工大学电气工程与信息工程学院,兰州730050 [3]甘肃省秦安县兴国镇农业农村综合服务站,甘肃秦安741600

出　　处：《农机使用与维修》2023年第10期17-20,共4页Agricultural Machinery Using & Maintenance

基　　金：甘肃省教育厅创新基金项目“一种新的协作机器人人机用电容式多维力传感器的设计方法研究”(2021B-461)。

摘　　要：针对传统的应变式和压阻式多维力传感器存在信号需要放大调理、制作工艺难度大、成本较高等不足,设计出一种新型电容式多维力传感器。该传感器把所有的传感元件制造在单个印刷板上,无需粘贴应变片等元件,而是采用容值的变化来感知外部信息;COMSOL多物理场仿真软件仿真分析结果显示该电容式多维力传感器具有输出信号幅值大无需放大、抗干扰能力强、无需粘贴应变片等元器件易于实现小型化、成本较低、运行稳定等优势。Aiming at the shortcomings of traditional strain and piezoresistive multi-dimensional force sensors,such as the signal amplification,and high cost,the paper proposes a new type of capacitive multi-dimensional force sensor.This type of sensor manufactures all sensor components on a single printed board,without attaching electrical components.The results show the capacitive multi-dimensional force sensor has the advantages of large output signal amplitude without amplification,strong anti-interference ability,no stick strain gauge and other components,which is easy to realize miniaturization,low cost and stable operation,etc.

关 键 词：智能机器人 传感原理 仿真分析 COMSOL多物理场仿真软件 电容式多维力传感器 

分 类 号：TP277[自动化与计算机技术—检测技术与自动化装置] TH133.33[自动化与计算机技术—控制科学与工程]