基于压电式新型三维力传感器的设计

The Design of a New Type Three-dimension Power Transducer Based on Piezoelectricity

从生物压电效应和人体“皮肤效应”原理出发,提出了一种基于压电式的新型三向力检测方法,阐述了三向力传感器的设计思想和基本组成结构,并从理论上对传感器工作原理进行了检测,推导了计算空间三向力大小和方向的公式。该三向力传感器不但可以用于机械空间力的测量,且还可用于机器人表皮的传感,为实现新型的智能机器人触觉力传感器系统提供了一种新的方法。

This paper provides a new type three-dimension power transducer technology based on piezoelectricity from the piezoelectricity of the biology and the work theory of skin, and expounds the design method and basic structure of sensing head. Through the analysis of principle, the formula to calculate the value and direction of three-dimension force is derived finally. The new kind sensing head can not only be used to measure the mechanical power, but also be use to the design of the robot＇s skin, which provides the basis to complete the three-dimension tactile sensing system for intelligent robot.