用于电力巡检机器人智能夹持及旋拧作业的柔性触觉末端  

Flexible Tactile End-Effector for Intelligent Clamping and Screwing Operations of Power Inspection Robots

作　　者：郭欣欣 滕飞 郭旭 刘健 张培远 刘平 Guo Xinxin;Teng Fei;Guo Xu;Liu Jian;Zhang Peiyuan;Liu Ping(State Grid Chuzhou Power Supply Company,Chuzhou 239000,China;School of Microelectronics,Hefei University of Technology,Hefei 230601,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,合肥230601

出　　处：《微纳电子技术》2024年第10期108-115,共8页Micronanoelectronic Technology

基　　金：国家电网有限公司科技项目(B312M023000R);安徽省教育厅协同创新项目(GXXT-2023-075)。

摘　　要：面向电力巡检机器人对旋拧作业状态进行精确监测的需求,采用聚乙烯醇、溴化钠作为介电层,并结合纱网-砂纸倒模工艺,制备了一种具有微结构化复合离子凝胶介电层的高灵敏柔性电容式压力传感器。由于离子凝胶介电层和微结构的引入,该电容式压力传感器在较低压力下(0~75kPa)具有较高的灵敏度(26.85kPa^(-1))以及高线性度(相关系数R^(2)=0.994),在较高压力下(75~270kPa)也能具备一定的灵敏度(12.58kPa^(-1))和更高的线性度(R2=0.997)。由于粗糙表面容易形变,该传感器的最小检测限为2kPa,立体网格结构也使该传感器具有快速响应特性(60ms)以及在频率4Hz压力加载下稳定的信号响应。结合差动式结构与所研制的柔性压力传感器,开发了一种具有夹持及旋拧感知功能的机器人柔性触觉末端,并将其应用于单模ST尾纤与旋钮开关两类旋拧作业。应用结果表明该柔性触觉末端可以有效区分旋拧过程中相对滑动、正常旋拧以及卡壳三种常见状态,有效提升电力巡检机器人作业的安全性及成功率。In order to meet the demand of accurately monitoring the screwing operation state of the power inspection robots,a highly sensitive flexible capacitive pressure sensor with microstructured composite ionic gel dielectric layer was prepared by using polyvinyl alcohol and sodium bromide as dielectric layers and combing yarn mesh and sandpaper inverting process.Due to the introduction of ionic gel dielectric layer and microstructure,the capacitive pressure sensor has high sensitivity(26.85 kPa^(-1))and high linearity(correlation coefficient R^(2)=0.994)at low pressures(0-75 kPa).At higher pressure(75-270 kPa),the sensor can also have a high sensitivity(12.58 kPa^(-1))and higher linearity(R2=0.997).Because the rough surface is easy to deform,the sensor has a minimum detection limit of 2 kPa.The three-dimensional grid structure also gives the sensor a fast response characteristic(60 ms)and a stable signal response under pressure loading at a frequency of 4 Hz.Combining the differential structure and the developed flexible pressure sensor,a robot flexible tactile end-effector with clamping and screwing sensing functions was developed,and it was applied to two types of screwing operations of the singlemode ST pigtail and knob switch.The application results show that the flexible tactile endeffector can effectively distinguish the three common states of relative sliding state,normal screwing state and jamming state during the screwing process,effectively improving the safety and success rate of the operation of power inspection robots.

关 键 词：触觉末端 电容式压力传感器 灵敏度 旋拧作业 电力巡检机器人 

分 类 号：TP212.1[自动化与计算机技术—检测技术与自动化装置]