面向机器人触力觉感知的磁场解析与仿真

为了探究适用于柔性机器人触力觉感知装置的磁场计算方法,利用弹性橡胶与霍尔器件设计带有凸起结构的感知装置. 利用环式Halbach阵列的磁场方程,对形变后装置的磁场进行计算. 为了验证所提出的计算方法,基于COMSOL Multiphysics平台构建并求解不同形变下感知装置的有限元仿真模型. 通过对比理论计算结果与模型仿真结果,验证了所提出的计算方法在不同形变下均有较好的适用性. 进一步的数据拟合表明,随着仿真网络的不断细化,仿真值逐渐逼近理论值,最小误差为3.18%,证明二者具有较高的一致性.

Analysis and simulation of magnetic field for robot tactile perception

A sensing device with a convex structure was designed using elastic rubber and Hall devices, in order to explore the magnetic field calculation method suitable for the flexible tactile sensing device. The magnetic field generated by the deformed device was then calculated based on the magnetic equation of the Halbach cylinder. To further verify the proposed calculation method, finite element simulation models of the sensing device under different deformations were constructed and solved based on the COMSOL Multiphysics platform. Comparing the calculation results with the simulation results shows that the proposed calculation method has great applicability under different deformations. Moreover, data fitting demonstrates that the simulation value gradually approaches the theoretical value with the continuous refinement of the simulation network. The minimum error was 3.18%, proving the high consistency between the simulated value and the theoretical value.