| 用于机器人关节的柔性压力触觉传感器设计 |
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| 引用本文： | 黄英,陆伟,赵小文,赵兴. 用于机器人关节的柔性压力触觉传感器设计[J]. 计量学报, 2012, 33(6): 523-527. DOI: 10.3969/j.issn.1000-1158.2012.06.10 |
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| 作者姓名： | 黄英 陆伟 赵小文 赵兴 |
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| 作者单位： | 合肥工业大学电子科学与应用物理学院, 安徽 合肥 230009 |
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| 摘 要： | 分析了碳纤维/硅橡胶导电复合材料的拉伸、弯曲及压敏特性,基于上述特性设计了一种新型的应用于机器人关节等活动部位的柔性压力触觉传感器。通过解耦算法解决了拉伸、弯曲引起的干扰问题,构建了求解接触压力的数学模型。实验结果表明,该柔性触觉传感器具有拉伸和弯曲性,并消除了拉伸和弯曲对接触压力的检测的干扰,可应用于机器人关节。
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| 关 键 词： | 计量学 触觉传感器 碳纤维/硅橡胶 机器人关节 数学建模 |
Design of Flexible Pressure Tactile Sensor for Robot Joint |
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| HUANG Ying , LU Wei , ZHAO Xiao-wen , ZHAO Xing. Design of Flexible Pressure Tactile Sensor for Robot Joint[J]. Acta Metrologica Sinica, 2012, 33(6): 523-527. DOI: 10.3969/j.issn.1000-1158.2012.06.10 |
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| Authors: | HUANG Ying LU Wei ZHAO Xiao-wen ZHAO Xing |
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| Affiliation: | School of Electronic Science & Applied Physics, Hefei University of Technology, Hefei, Anhui 230009, China |
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| Abstract: | On the based of analysis of the tensile, bendability and pressure sensitive characteristics of carbon fiber/silicone rubber, a new flexible pressure tactile sensor for some robot movement parts such as joint is designed. Using decoupled arithmetic to solve the interference problem caused by the sensor stretched or bent, a mathematical model to calculating the contact pressure is constructed. The experimental results demonstrate that the flexible pressure tactile sensor is stretchable and bendable, and eliminates the stretching and bending interference on contact pressure detection, so it can be used in robot joint. |
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| Keywords: | Metrology Tactile sensor Carbon fiber/silicone rubber Robot joint Mathematical modeling |
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