气室结构触觉传感器的研究

为了解决机械手触觉传感问题,介绍了一种气室结构触觉传感器及信号处理系统,并分析了传感器的结构及敏感原理和相应的信号处理方法。传感系统采用金属弹性元件为敏感器件,传感区域充满气体,当有物体触及时,弹性片将产生变形,变形信号通过光导纤维传输至信号处理器,CCD光电转换器将光信号转换为电信号。处理系统分析判断触及物体的大小、位置。阐述了传感系统所具有的体积小、触点多、灵敏度高等优点,并提出了应用设计方案。对于机械手触觉传感领域的研究具有一定的参考价值。

Research for Air-chamber Structured Tactile Sensor

In order to resolve the tactile problem of manipulator, an air-chamber structured tactile sensor and its signal processing system are introduced. The sensor's structure and the principle of sensitivity are analyzed. The method of signal processing is put forward. The sensor system uses the elastic metal component as sense organ. The sense area is full of air. When it is touched, the clip will distort, the distortion signal will be detected and transmit to charge coupled device(CCD) by optic fiber, CCD converts the optic signal into electric signal. Then the signal processing system analyzes the size and the position of the touching object. The tactile sensor is with little volume, many point sensed, high sensitive characters. A design of application is put forward. All of these have valuable reference for the study in this field.