电涡流柔性触觉传感器的结构设计与实验  

Structure Design and Experiment of Eddy Current Flexible Tactile Sensor

作　　者：朱姿娜 张芮 曾阳浩 陈赛旋 ZHU Zina;ZHANG Rui;ZENG Yanghao;CHEN Saixuan(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China;Shanghai Collaborative Innovation Center of Intelligent Manufacturing Robot Technology for Large Components,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620 [2]上海市大型构件智能制造机器人技术协同创新中心,上海201620

出　　处：《机械科学与技术》2024年第5期865-873,共9页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然基金青年基金项目(51705305);江苏省重点研发计划(BE2020082-3);上海市大型构件智能制造机器人技术协同创新中心开放基金项目(ZXY20211101)。

摘　　要：基于电涡流原理设计了一种可检测三维力的柔性触觉传感器。该传感器的结构采用多线圈阵列与柔性材料相结合的方式,外部施加的力使柔性材料形变,从而使金属薄层与线圈的间距改变,进而各线圈的感应电压发生变化。通过外部施加的力与线圈输出的感应电压之间的关系,建立对应的特征函数,判断外力施加的方向和大小。根据所设计的传感器结构确定制造工艺并进行制备,经一系列试验测试了传感器的输出特性,结果表明所设计的传感器具备三维传感能力,满足机器人柔性触觉感知和三维测量工作的需要。Based on the principle of eddy current,a flexible tactile sensor which can detect three-dimensional force is designed.The sensor structure uses a combination of multi-coil arrays and flexible materials.The external force deforms the flexible material,which changes the distance between the thin metal layer and the coils,and then changes the induced voltage of each coil.Through the relationship between the external force and the induced voltage,the corresponding characteristic function is established to judge the direction and magnitude of the external force.According to the designed structure,the manufacturing process to prepare the sensor is determined.After a series of experiments,the output characteristics of the sensor were tested.These results show that the designed sensor has the three-dimensional sensing capability,which meets the requirement of the robot's flexible tactile sensing and the measurement of three-dimensional force.

关 键 词：电涡流 触觉传感器 柔性 三维传感 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]