基于L型铁钴的三维力触觉传感器设计及输出特性  

Design and Output Characteristics of Three-Dimensional Force Tactile Sensor Based on L-Type Iron and Cobalt

作　　者：崔淼 李明明[1,2] 黄文美[1,2] 翁玲[1,2] Cui Miao;Li Mingming;Huang Wenmei;Weng Ling(State Key Laboratory of Reliability and Intelligence of Electrical Equipment,Hebei University of Techology,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]河北工业大学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 [2]河北工业大学河北省电磁场与电器可靠性重点实验室,天津300130

出　　处：《电工技术学报》2024年第16期4944-4954,共11页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金(51801053,52077052);河北省自然科学基金(E2022202067);中央引导地方科技发展资金(226Z1704G)资助项目。

摘　　要：该文提出了一种基于L型铁钴丝的三维力触觉传感器,利用磁致伸缩材料铁钴合金设计制作了三维力触觉传感单元,并测试了该结构的输出特性。基于电磁原理、逆磁致伸缩效应和欧拉伯努利动力学原理,推导了输出电压方程。搭建触觉传感单元实验平台,对传感器进行法向和切向标定,设计的传感器法向测力范围为0~13 N,切向测力范围为0~6 N,输出特性具有良好的线性关系。其中,0~8 N法向力范围内灵敏度约为23.997 mV/N,9~13 N法向力范围内灵敏度约为17.537 mV/N;0~4 N切向力范围内灵敏度约为11.599 mV/N,5~6 N切向力范围内灵敏度约为6.281mV/N。在4Hz频率、2N法向力条件下,该传感器动态响应的输出电压幅值变化范围为46.5~49.8mV,与静态力输出电压幅值的相对误差低于5%,响应时间和恢复时间分别为25 ms和29ms,表明该传感器具有良好的动态特性。分别采用广义逆矩阵和BP神经网络对传感器测得的三维力进行解耦,其中,BP神经网络解耦方法平均误差仅有2.90%,可有效提高测量精度。该传感器体积小、输出线性度好,可同时实现静态力和动态力的测量,在智能机器人等领域具有良好的应用前景。In today's era,manipulators,as a replacement and function extension for human hands,have been widely used in various industrial fields.In order to meet more complex perception needs,more and more three-dimensional force tactile sensors have emerged.According to the different sensing mechanisms,three-dimensional force sensors can be divided into piezoelectric,piezoresistive,capacitive,electromagnetic,photoelectric and other types.Piezoresistive sensors are measured by the change in resistance of resistance,which has a certain hysteresis and cannot measure the physical quantity in dynamic scenarios well;In the measurement of capacitive sensors,the influence of parasitic capacitance cannot be ignored,and its measurement circuit is complex;Electromagnetic sensors are susceptible to interference from the external environment.As a piezomagnetic material,magnetostrictive material has the characteristics of changing with the magnetization state of the applied material under stress,can respond instantaneously,and the output signal is stable.This gives magnetostrictive materials a great advantage in tactile sensing,enabling fast measurement of dynamic and static forces.Among many magnetic materials,new sensitive magnetostrictive materials represented by iron gallium are widely used in sensors that measure small forces such as displacement,texture and touch due to their high sensitivity and strong linearity.However,iron-gallium alloy has excellent electromagnetic properties in a single fixed orientation,and has certain limitations in multi-dimensional force measurement.In this paper,a three-dimensional force tactile sensor based on L-type iron-cobalt wire is proposed,and a three-dimensional force tactile sensing unit is designed and fabricated by using magnetostrictive material iron-cobalt alloy,and the output characteristics of the structure are tested.Based on the electromagnetic principle,the inverse magnetostrictive effect and the Euler Bernoulli kinetic principle,the output voltage equation is derived.The experimental

关 键 词：逆磁致伸缩效应 BP神经网络 L型铁钴丝 动态力测量 静态力测量 

分 类 号：TM274[一般工业技术—材料科学与工程]