新型柔性三维力触觉传感器的设计与研究  

Design and research of a new flexible three-dimensional force tactile sensor

作　　者：秦冲 QIN Chong(College of Applied Engineering,Henan University of Science and Technology,Sanmenxia 472000,China;Automotive Department of Sanmenxia Polytechnic,Sanmenxia 472000 China)

机构地区：[1]河南科技大学应用工程学院,河南三门峡472000 [2]三门峡职业技术学院汽车学院,河南三门峡472000

出　　处：《传感器与微系统》2023年第10期99-102,共4页Transducer and Microsystem Technologies

基　　金：2021年度河南省高等学校重点科研项目(21B460009)。

摘　　要：对柔性三维力触觉传感器进行了研究和设计,详细分析了该器件的基本结构和材料选型,基于实验方式对器件的性能和功能进行了验证分析。根据验证的结果可知,该传感器具备了较高的灵敏度,其中,在x,y轴上可以达到1.8 V/N,而在z轴内则为3.1 V/N,验证该传感器的性能良好。在灵巧手中集成设计的传感器,进一步进行实验验证,结果表明:可以实现对水杯的自适应抓取控制,验证了该传感器的性能,可用于工业机器人设计等领域中。The flexible three-dimensional force tactile sensor is studied and designed.Basic structure and material selection of the device are analyzed in detail.The performance and function of the device are verified and analyzed based on the experimental method.According to the verification results,the sensor has high sensitivity,which can reach 1.8 V/N in x and y axis and 3.1 V/N in z axis.It is verified that the sensor has good performance.Then,the sensor is integrated in the dexterous hand,and further verified by experiments.The research result shows that the adaptive grasping control of the water cup can be realized,and the performance of the sensor is verified.It can be used in the field of industrial robot design,and so on.

关 键 词：柔性三维力触觉传感器 纳米复合物 触觉感知 人机交互 仿人灵巧手 自适应抓取 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]