基于金字塔结构的柔性滑触觉传感器的设计与研究

发布时间：2018-09-08 19:36

【摘要】：机器人皮肤用传感器作为智能机器人感知外界环境信息的重要媒介,是实现人机交互的关键。为解决当前机器人皮肤及相关滑触觉传感器研究中存在柔性较差、量程窄、灵敏度较低的问题,本文提出一种基于金字塔结构的柔性滑触觉传感器。设计了一种基于金字塔结构的柔性滑触觉传感器,分析了影响传感器灵敏度及线性度的关键特性参数,结合金字塔结构的形变理论、Comsol Multiphysics仿真以及实验结果,验证了金字塔结构对提升传感器灵敏度的有效性。综合采用改变极板正对面积、间距以及介质层的相对介电常数以提高传感器在法向和剪切方向上的灵敏度,分析了在三维力作用下传感单元的电容变化机理。结合3D打印技术,系统研究了该柔性滑触觉传感单元及阵列的电极、介质层以及传感器触头的分层制备工艺;设计了基于STM32微处理器以及AD7147-1的阵列信息采集及处理系统,进行了传感器的灵敏度、量程、重复性等静态特性实验。采用快速傅里叶变换对滑动信号进行频谱分析,实现了对传感器的滑动信息的识别。设计了可用于机器人皮肤的传感阵列,并进行了基于LabVIEW的柔性滑触觉传感器的实验。结果表明,柔性滑触觉传感阵列可有效实现在较宽量程范围内灵敏、稳定的感知,可用于电子仿生皮肤上实现三维力和滑觉检测功能。
[Abstract]:The sensor of robot skin is an important medium for intelligent robot to perceive the external environment information, and it is the key to realize man-machine interaction. In order to solve the problems of poor flexibility, narrow measuring range and low sensitivity in the research of robot skin and related sliding tactile sensors, a flexible sliding tactile sensor based on pyramid structure is proposed in this paper. A flexible sliding tactile sensor based on pyramid structure is designed. The key characteristic parameters that affect the sensitivity and linearity of the sensor are analyzed. The simulation and experimental results of the deformation theory Comsol Multiphysics are combined with the deformation theory of the pyramid structure. The effectiveness of pyramid structure in enhancing sensor sensitivity is verified. In order to improve the sensitivity of the sensor in normal direction and shear direction, the capacitance variation mechanism of the sensor unit under the action of three-dimensional force is analyzed by comprehensively changing the positive area, the distance of the polar plate and the relative dielectric constant of the dielectric layer. Combined with 3D printing technology, the layered fabrication process of the flexible sliding tactile sensor unit and array electrode, dielectric layer and sensor contact is systematically studied, and the array information acquisition and processing system based on STM32 microprocessor and AD7147-1 is designed. The sensitivity, range and repeatability of the sensor were tested. The fast Fourier transform (FFT) is used to analyze the frequency spectrum of the sliding signal, and the sliding information of the sensor is recognized. A sensor array for robot skin is designed, and the experiment of flexible sliding tactile sensor based on LabVIEW is carried out. The results show that the flexible sliding tactile sensor array can effectively realize sensitive and stable sensing in a wide range, and can be used to detect 3D force and slippage on the electronic bionic skin.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP212

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