用于机器人抓取的谐振式柔性二维力传感器  

A resonant Flexible Two-Dimension Force Sensor for Robotic Grasping

作　　者：滕飞 王贞体 刘平 郭欣欣 刘健 黄英 TENG Fei;WANG Zhengti;LIU Ping;GUO Xinxin;LIU Jian;HUANG Ying(State Grid Chuzhou Power Supply Company,Chuzhou Anhui 239000,China;School of Microelectronics,Hefei University of Technology,Hefei Anhui 230009,China)

机构地区：[1]国家电网滁州供电公司,安徽滁州239000 [2]合肥工业大学微电子学院,安徽合肥230009

出　　处：《传感技术学报》2024年第8期1329-1334,共6页Chinese Journal of Sensors and Actuators

基　　金：浙江省科学技术厅领雁计划项目(2022C03052);安徽省教育厅协同创新项目(GXXT-2021-30)。

摘　　要：现有柔性多维力传感器普遍采用多单元结构组合来监测力输入,信号获取与分析难度大。提出了一种能够无线监测法向力与切向力的谐振式柔性力传感器。传感器由封装层、介质层、电感层以及电阻层构成,其中介质层材料为硅橡胶(Silicone Rubber,SR)与石墨烯(Graphene,GR)组成的柔性复合材料,电阻层材料为调制的炭黑(Carbon Black,CB)油墨。封装后的传感器在有线测试中表现出不错的力、电学性能,在无线测试中对法向力与切向力的灵敏度分别为2.78 MHz/N(0~20 N)与0.43 dB/N(0~5 N)。将传感器安装在机械手上以监测抓取过程中的法向力与切向力变化,研究结果表明该传感器在机器人触觉领域具有应用前景。The force inputs of the most existing flexible multi-dimensional force sensors are generally monitored by the combination of multiple elements,which makes the signal acquisition and analysis more difficult.A resonant flexible force sensor which can monitor the normal force and tangential force wirelessly is proposed.The sensor is composed of a packaging layer,a dielectric layer,an inductance layer and a resistance layer,wherein the dielectric layer material is a flexible composite material composed of silicone rubber(SR)and graphene(GR),and the resistance layer material is modulated carbon black(CB)ink.The encapsulated sensor shows good mechanical and electrical performance in the wired test.The sensitivity to the normal force and tangential force in the wireless test is 2.78 MHz/N(0-20 N)and 0.43 dB/N(0-5 N)respectively.The sensor is installed on the manipulator to monitor the change of normal force and tangential force in the process of grasping.The results of research show that the resonant flexible force sensor has a broad application prospect in the field of robot touch.

关 键 词：机器人 触觉感知 多维力传感器 谐振式 机器人抓取 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]