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针对现有机器人触觉传感器存在可穿戴性与可移植性差、不易维护及扩展等缺点,提出了一种可用于机器人仿生皮肤的全柔性电容式触觉传感器,并设计成12×12正方形触觉传感阵列和正六边形触觉模块两种可拼接式阵列结构.以炭黑填充硅橡胶作为电容式触觉传感器的弹性电介质,聚酰亚胺为柔性基体,有机硅导电银胶和金属膜为上下两柔性极板,共同构成压力敏感单元.介绍了电容式柔性触觉传感器的工作原理、结构设计及两种与之对应的电容触觉阵列无线数据采集与处理系统.实验结果表明,该全柔性电容式触觉阵列传感器及信号提取系统具有良好的稳定性与灵敏度,可用作人工皮肤实现全触觉感知.
Aiming at the shortcomings of existing robotic tactile sensors such as poor wearability and portability, difficult to maintain and extend, a fully flexible capacitive tactile sensor that can be used for bionic skin of robots is proposed and designed into a 12 × 12 square tactile sensing array And hexagonal tactile module are two kinds of splicing array structure.With carbon black filled silicon rubber as a capacitive touch sensor elastic dielectric, polyimide as a flexible substrate, silicone conductive silver adhesive and metal film for the upper and lower flexible electrodes Board and constitute a pressure-sensitive unit together.The operating principle, structure design and two corresponding capacitive touch sensor wireless data acquisition and processing systems are introduced.The experimental results show that the full-flexible capacitive touch sensor And signal extraction system has good stability and sensitivity, can be used as artificial skin to achieve full tactile perception.