机械手触觉技术研究发展综述

Overview of the Development of Manipulator Tactile Technology

如何将复杂的多感知触觉技术融入机械手臂中是目前机器人技术发展中亟待解决的问题。无感官触觉回路的机械手臂并不适用于软体、易碎等物体的抓取,不同的物体需要不同的抓取力规划,抓取力过大往往会造成物体的损坏。从触觉传感器的设计出发,分析国内外机械手臂触觉研究现状,阐述前端执行器机械手触觉传感实现的主要技术,同时包括触觉技术的类型、原理设计、结构实现、传感信号获取与传输、解耦方法、灵敏度等方面的发展,为后期机械手臂实现传感、感知、控制3层执行架构的研究提供了新的思路。

The robotic arm with sensory and tactile circuits has become one of the key technologies in the current robotic arm research.Robotic arms without sensory and tactile circuits are not suitable for grasping soft,fragile objects,and the uniform grasping force of machinery often cause damage to objects.Starting from the function of human hand sensing and perception,analyze the development of domestic and foreign robotics tactile research,explain the main technology of front-end actuator manipulator tactile sensing,including the type of tactile technology,principle design,structural realization.The development of sensor signal acquisition and transmission,decoupling methods,sensitivity,etc.provide a research foundation for robotic arm with three-tier execution architecture of sensing,perception,and control for future research.