用于纹理识别与重建的铁镓合金触须传感器阵列  

Galfenol Whisker Sensor Array for Texture Recognition and Reconstruction

作　　者：翁玲[1,2] 罗旭 齐芳芳 李卓林 刘凯乐 Weng Ling;Luo Xu;Qi Fangfang;Li Zhuolin;Liu Kaile(State Key Laboratory of Reliability and Intelligentization of Electrical Equipment Hebei University of Technology,Tianjin 300130 China;Key Laboratory of Electromagnetic Field and Electrical Apparatus Reliability of Hebei Province Hebei University of Technology,Tianjin 300130 China)

机构地区：[1]省部共建电工装备可靠性与智能化国家重点实验室(河北工业大学),天津300130 [2]河北省电磁场与电器可靠性重点实验室(河北工业大学),天津300130

出　　处：《电工技术学报》2024年第4期966-975,共10页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金(52077052,52377007);中央引导地方科技发展资金(226Z1704G);河北省自然科学基金(E2022202067);河北省高等学校科学研究(JZX2023011)资助项目。

摘　　要：受动物触须传感机制的启发,结合铁镓合金(Galfenol)对物体表面纹理高度信息的优良感知能力,设计制作一种铁镓合金触须传感器单元,并将其集成为4×2阵列。基于力学、电磁学理论和压磁方程建立了传感器单元输出电压模型,描述了输出电压与物体表面纹理高度的关系。实验测试了传感器单元的静态和动态特性。设计的传感器单元能够检测物体表面0.01~1.6 mm纹理高度变化,灵敏度为243.3 mV/mm,且具有较快的响应时间(26 ms)和恢复时间(25 ms)。将传感器单元与阵列装载在机械手上滑过具有不同纹理的样品表面,利用输出电压波形可识别与重建样品表面纹理。结果表明,设计的传感器阵列能够高精度地感知物体表面纹理信息,进而指导机械手调整操作策略,完善人机交互过程。The recognition and reconstruction of texture information is significant for robots working in unstructured environments to perceive surface features and adjust operational strategies.As a tactile sensor,the whisker sensor is an effective device for high-precision texture perception of objects because it is not affected by ambient light and unstructured environments and can collect surface texture information of objects through direct contact.Therefore,this paper used a novel magnetostrictive material,Galfenol,to design a whisker sensor unit and array.The output characteristics of the sensor array were analyzed using static and dynamic performance test systems,and it was loaded onto the manipulator for object surface texture recognition and reconstruction.Inspired by the sensing mechanism of animal whiskers and combined with the excellent sensing ability of Galfenol wire on surface texture height information,a Galfenol whisker sensor unit was designed and fabricated.Based on the theory of mechanics,electromagnetism,and piezomagnetic equation,the output voltage model of the whisker sensor unit was established,and the relationship between the output voltage and the surface texture height was described.The parameters of the sensor unit were determined by simulation optimization.A permanent magnet with a magnetic field intensity of 66.1 kA/m was used to provide a bias magnetic field,and Galfenol wire with a length of 16 mm and a tilt angle of 50°was used.The size of the sensor unit is 13 mm×4 mm×13 mm.In order to measure the surface texture of large and complex objects,a 4×2 sensor array was designed based on the sensor unit.The transverse and longitudinal distances between the units in the array are 1.2 mm and 14 mm,respectively.The planar resolution of the array is 1.2 mm.According to different requirements,expanding the array can improve the planar resolution and detection area.The output characteristics of the sensor array were tested by establishing static and dynamic performance test systems.The detection r

关 键 词：铁镓合金 触须传感器 纹理识别 纹理重建 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]