基于PVDF的欠驱动多指手滑触觉硬件系统

Underactuated multi-fingered hand with tactile sensor hardware system based on PVDF

为解决传统果蔬采摘欠驱动多指手抓取力控制精度不高的问题,提出了一种基于聚偏二氟乙烯(PVDF)压电薄膜技术的新型欠驱动多指手滑触觉系统,该系统由信号采集和信号处理两个模块组成;分别设计了滑触觉传感器,电荷放大、低通滤波、工频限波、电压放大等电路,并进行了捏取和抓取实验。实验结果表明,该系统能较好地控制多指手的抓取精度,实现无损伤抓取,且具有广阔的应用前景。

In order to solve the inaccurate problem of a traditional fruit-vegetable harvesting underactuated multi-fingered hand grasping force, a underactuated multi-fingered hand with tactile system was presented based on polyvinylidene fluorine （PVDF） piezoelectric film technology. The system consists of signal acquisition and signal processing,there were respectively designed that tactile sensor,a charge amplifier circuit, a low pass filtering, a industrial frequency trapped wave, voltage amplifier and so on. The experimental results show that fruits and vegetables be unwounded grabbed by the underactuated multi-fingers hand, and has the wide application prospect.