柔性触觉传感阵列力觉标定及加载系统

Force calibration and loading system for flexible tactile array sensor

为解决现有触觉力标定系统不易实现对柔性触觉传感阵列中任意触觉单元进行标定,且存在精度低、不易操作等弊端,设计并研制了一种柔性触觉传感阵列力觉标定及加载系统。利用STM32F103VET6高性能微处理器控制步进电机以联动S型高精度压力传感器实现二维力的精确加载与标定,并将标定信息于上位机实时图形化显示。介绍了标定平台的结构特点、工作原理及系统软硬件设计,通过对系统误差分析及平台标定测试,可实现二维力加载范围0-50 N,法向与切向精确度为0.18%FS。触觉力加载应用实验表明,该加载平台具有较高的测量精度和较强的实用性,为不同结构单元的柔性触觉传感阵列二维力标定及加载提供了便利。

In order to solve the deficiency that the existing tactile force calibration system can hardly realize the calibration of any haptic unit in flexible tactile sensor array,and to overcome the drawbacks of low precision,difficult to operate in existing tactile force calibration system,a tactile force calibration and loading system for flexible tactile array sensor is designed and developed in this paper.A STM32F103VET6 high performance microprocessor is adopted to control the stepper motor and S shape high precision force sensor,and achieve 2D force precise loading and calibration,and the calibration information is displayed on the host PC as real-time graphical display. The structure characteristics,operating principle and system software and hardware design of the calibration platform are introduced. Through system error analysis and platform calibration test,the proposed system can achieve the two-dimensional force loading range of 0 - 50 N and the normal and tangential accuracy of 0. 18% FS. The tactile force loading application experiments show that the loading platform has high measurement precision and strong practicability,which provides a good solution for the two-dimensional force loading and calibration of flexible tactile sensor array with different units.