机器人触须传感器的静态工作机理

Static working principle of robot whisker sensors

触须传感器只能够测量触须根部的位移量,因而建立了柔性触须的力学模型.以触须的偏转角来表征触须的弯曲状态,且推导出触须的偏转角与触须接触点位置的关系方程.利用触须传感器测量出触须根部的位移量,得到物体接触距离的实验曲线.通过与理论曲线的比较,表明触须传感器能够测量触须与物体接触点的位置.由实验数据可知,触须偏转角的大小与接触的距离成反比,且接触的距离越近偏转角变化的速率越快,由此可获得待测物体的位置信息.

For the reason that whisker sensors can only measure the displacement of whisker root alone, the mechanical model of the flexible whisker was established. The bending situation of the whisker was characterized by the magnitude of deflection angle, and an relation equation between deflection angle and the contact position was deduced. The displacement of the whisker root was measured with the whisker sensors, and an experimental curve of the contact position was obtained. Comparison of the experimen- tal curve with a theoretical curve indicated that the contact position between the robot whisker and the measured object can be measured with the whisker sensors. The experimental data showed that the magnitude of deflection angle was inversely proportional to the contact distance, and the smaller distance was more rapid magnitude as the deflection angle increases, based on which the localization information of a target object was obtained.