本文關(guān)鍵詞： 觸須傳感器 霍爾元件 有限元仿真 距離測量 輪廓檢測　出處：《南京航空航天大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

【摘要】：嚙齒類動物利用觸須可以識別物體和躲避障礙,依據(jù)仿生學(xué)的原理,本文設(shè)計(jì)了一種電磁式觸須傳感器陣列,通過仿真和實(shí)驗(yàn)證明了該觸須傳感器陣列對物體表面特征具有識別能力。本文主要展開了如下的工作:1.建立了觸須傳感器掃描物體的力學(xué)模型,推導(dǎo)出了接觸距離的計(jì)算公式,在此基礎(chǔ)上設(shè)計(jì)了基于霍爾元件的電磁式觸須傳感器。根據(jù)觸須傳感器輸出信號的特點(diǎn),對信號調(diào)理電路進(jìn)行了優(yōu)化,完成了PCB電路板的制作,以及信號處理系統(tǒng)的測試。2.運(yùn)用ANSYS/LS-DYNA建立了觸須和物體的有限元模型,對不同距離的物體進(jìn)行了掃描。利用MATLAB編寫了數(shù)據(jù)處理程序,對實(shí)驗(yàn)數(shù)據(jù)進(jìn)行了分析處理,得出了所測物體的輪廓坐標(biāo)數(shù)據(jù),證明了實(shí)驗(yàn)方案的有效性和可行性。3.設(shè)計(jì)了基于PC機(jī)的觸須傳感器系統(tǒng),實(shí)現(xiàn)了觸須傳感器的運(yùn)動控制,包括步進(jìn)電機(jī)和兩軸工作臺的控制。利用LABVIEW編寫了數(shù)據(jù)采集程序,完成了掃描實(shí)驗(yàn)數(shù)據(jù)的實(shí)時(shí)采集,實(shí)現(xiàn)了數(shù)據(jù)的實(shí)時(shí)處理和顯示。4.完成了不同距離物體的測量實(shí)驗(yàn)以及不同半徑圓柱輪廓的擬合實(shí)驗(yàn),證明了使用電磁式觸須傳感器可以很好的對物體進(jìn)行測量。運(yùn)用觸須陣列對不同形狀物體的輪廓表面進(jìn)行了檢測,完成了輪廓表面多組數(shù)據(jù)的采集,提高了采集速度,實(shí)驗(yàn)證明觸須陣列系統(tǒng)具有良好的可靠性和測量擬合精度。
[Abstract]:Rodents can recognize objects and avoid obstacles by using tentacles. According to the principle of bionics, an electromagnetic antenna sensor array is designed in this paper. It is proved by simulation and experiment that the antenna sensor array has the ability to recognize the surface features of the object. In this paper, the main work is as follows: 1.The mechanical model of the object scanned by the tentacle sensor is established, and the formula for calculating the contact distance is derived. On this basis, the electromagnetic tentacle sensor based on Hall element is designed. According to the characteristics of the output signal of the tentacle sensor, the signal conditioning circuit is optimized, and the PCB circuit board is fabricated. The finite element model of tentacles and objects is established by using ANSYS/LS-DYNA, and the objects at different distances are scanned. The program of data processing is written by MATLAB, and the experimental data are analyzed and processed. The contour coordinate data of the measured object are obtained, and the validity and feasibility of the experimental scheme are proved. 3. The tentacle sensor system based on PC is designed, and the motion control of the tentacle sensor is realized. It includes the control of stepping motor and two-axis workbench. The program of data acquisition is written by LABVIEW, and the real-time acquisition of scanning experimental data is accomplished. Real time data processing and display. 4. Experiments of measuring objects with different distances and fitting experiments of cylindrical contours with different radii are completed. It is proved that the electromagnetic tentacle sensor can be used to measure the object, and the antenna array is used to detect the contour surface of the object with different shapes. The multi-group data collection on the contour surface is completed, and the acquisition speed is improved. The experimental results show that the antenna array system has good reliability and precision of measurement and fitting.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP212

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