摘要
基于炭黑／硅橡胶复合材料的压力以及拉伸敏感特性，设计了一种可用于检测机器人皮肤接触压力和拉伸特性的新型传感器阵列。该传感器阵列的弹性电极结构克服了传统传感器不可拉伸的缺点，实现了传感器阵列的柔／弹性；阵列中设计了9个检测压力的传感器单元和2个检测拉伸的传感器单元，通过传感器结构设计和拉／压干扰特性分析以及补偿算法解决了拉伸和压力同时测量时的干扰问题，并构建了求解压力与拉伸的数学模型。实验结果表明：该传感器阵列实现了对压力和拉伸的同步检测，可用于机器人柔性皮肤中关节等部位。
Based on the pressure and tension characteristics of carbon black-silicone rubber composite, a new type of sensor array is designed for detecting pressure and tension of the robot skin. Flexible electrode overcomes the shortcomings of traditional sensors for it can not be stretched, makes the sensor array flexible. The array 9 pressure sensor units are designed to detect pressure and 2 tension sensor units are designed to detect tension, the interference problem of detecting pressure and tension simultaneously is solved by sensor structure design and compensating algorithm, and mathematical model is also built for solving pressure and tension. The experimental results demonstrate that the sensor array can detect pressure and tension simultaneously, and can be used in robot flexible skin on joints.
出处
《计量学报》
CSCD
北大核心
2015年第4期393-396,共4页
Acta Metrologica Sinica
基金
国家自然科学基金(61072032
61201076)
