用于巡检机器人拔插作业的柔性触觉末端  

Flexible tactile end for plugging/unplugging operation of inspection robot

作　　者：黄厚柱 滕飞 余宏波 唐欣悦 刘平 HUANG Houzhu;TENG Fei;YU Hongbo;TANG Xinyue;LIU Ping(State Grid Chuzhou Power Supply Company,Chuzhou239000,Anhui Province,China;School of Microelectronics,Hefei University of Technology,Hefei230601,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230601

出　　处：《电子元件与材料》2024年第10期1207-1213,共7页Electronic Components And Materials

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

摘　　要：采用PVDF-HFP和BMIM-PF6作为基体和离子源,结合三聚氰胺骨架和浸渍工艺,制备得到基于复合多孔离子凝胶介电层的电容式柔性压力传感单元,压力传感单元具有高灵敏度(17.2kPa^(-1))和宽检测范围(0~500kPa)。然后,结合霍尔芯片、弹性体和钕铁硼磁铁,设计得到霍尔式切向力传感单元,切向力传感单元具有高灵敏度(8.610mT·N^(-1))和宽检测范围(0~20N)。最终,集成前述压力及切向力传感单元,制备出一种具有多维力感知功能的机器人柔性触觉末端,将触觉末端应用于插头和光纤尾纤的拔插作业,结果表明:在该触觉末端的辅助下,巡检机器人能实时监测并判断拔插作业中如滑移、正常、卡壳等典型工作状态,有效提高巡检机器人的作业安全性和成功率。A capacitive flexible pressure sensing unit with a composite porous ionogel dielectric layer was developed using PVDF-HFP and BMIM-PF6 as the matrix and ion source,respectively.The sensing unit was further enhanced by a melamine framework and impregnation process,resulting in high sensitivity(17.2kPa^(-1))and wide detection range(0-500kPa).In addition,a Hall-type tangential force sensing unit was designed,in which a Hall chip,an elastomer,and a NdFeB magnet were integrated to provide high sensitivity(8.610mT·N^(-1))and wide detection range(0-20N).Finally,by integrating the above pressure and tangential force sensing unit,a flexible haptic end of the robot with multi-dimensional force sensing function was prepared,and this haptic end was applied for the insertion and removal of plugs and fiber optic pigtails.The results show that with the assistance of the haptic end,the inspection robot is able to monitor and judge typical working conditions such as slipping,normal condition,and jammed during the insertion and removal operations,which effectively improves the safety and success rate of the operation of the inspection robot.

关 键 词：触觉末端 多维力传感器 拔插作业 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]