【摘要】：機器人皮膚用傳感器作為智能機器人感知外界環(huán)境信息的重要媒介,是實現(xiàn)人機交互的關鍵。為解決當前機器人皮膚及相關滑觸覺傳感器研究中存在柔性較差、量程窄、靈敏度較低的問題,本文提出一種基于金字塔結構的柔性滑觸覺傳感器。設計了一種基于金字塔結構的柔性滑觸覺傳感器,分析了影響傳感器靈敏度及線性度的關鍵特性參數(shù),結合金字塔結構的形變理論、Comsol Multiphysics仿真以及實驗結果,驗證了金字塔結構對提升傳感器靈敏度的有效性。綜合采用改變極板正對面積、間距以及介質層的相對介電常數(shù)以提高傳感器在法向和剪切方向上的靈敏度,分析了在三維力作用下傳感單元的電容變化機理。結合3D打印技術,系統(tǒng)研究了該柔性滑觸覺傳感單元及陣列的電極、介質層以及傳感器觸頭的分層制備工藝;設計了基于STM32微處理器以及AD7147-1的陣列信息采集及處理系統(tǒng),進行了傳感器的靈敏度、量程、重復性等靜態(tài)特性實驗。采用快速傅里葉變換對滑動信號進行頻譜分析,實現(xiàn)了對傳感器的滑動信息的識別。設計了可用于機器人皮膚的傳感陣列,并進行了基于LabVIEW的柔性滑觸覺傳感器的實驗。結果表明,柔性滑觸覺傳感陣列可有效實現(xiàn)在較寬量程范圍內靈敏、穩(wěn)定的感知,可用于電子仿生皮膚上實現(xiàn)三維力和滑覺檢測功能。
[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.
【學位授予單位】：合肥工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP212

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本文編號：2231492