基于正交试验的仿人手指传感器多参数分析与优化

Multi-parameter Optimization Design and Analysis of Humanoid Finger Sensor Based on Orthogonal Test

针对目前空间机器人仿人手指触觉传感器灵敏度低的问题,引入了正交试验进行结构参数分析与优化。在ANSYS软件中建立了仿人手指传感器中内部导电液体简化湍流模型,针对流体的粘度、管径、内部压强、管道弧度四个参数,采用多因素正交试验优化得到了经由流体衰减最小的四种参数数值。优化前后的手指传感器数据采集对比结果证明,优化后的传感器响应更快、获得数据准确性更高,可作为后续研究的参考。

To solve the low sensitivity problem of the tactile sensor in space robot,a structure optimization method for the new humanoid finger sensor was proposed.In ANSYS simulation software,a simplified turbulence model of internally conductive liquid in the humanoid finger sensor was established.Based on the finger sensor simulation model,four parameters including the fluid viscosity,the pipe diameter,the internal pressure and the pipe radian were selected as the structural optimization targets.The values of the four parameters with minimum attenuation via fluid were obtained by using multi-factor orthogonal test combined with ANSYS simulation.Finally,through the comparison and verification of the data collected by the finger sensor after the optimization of structural parameters and the unoptimized finger sensor,it was concluded that the optimized sensor had faster response and higher data accuracy.It may serve as a good reference for future researches.