基于液态金属的大变形柔性弯曲传感器设计

Design of Large Deformation Flexible Bending Sensor Based on Liquid Metal

软体机器人具有人机共融性好等特点,在人机协作领域得到了广泛的发展。以液态金属为传感介质,以内部具有微流道的弹性硅胶材料作为液态金属载体,设计了一种可以检测大挠度弯曲变形的柔性传感器。利用整体打印的双材料圆弧放大结构,将被测物体的弯曲变形转化为外侧硅胶微流道的拉伸变形,从而改变液态金属电阻实现对大挠度弯曲变形的检测。实验结果表明:该柔性弯曲传感器具有变形适用范围大,重复性高、动态响应好等优点,在软体机器人领域具有广泛的应用前景。

Benefit from the great human-robot inclusiveness,soft robots have been extensively developed in the field of human-robot interaction.Using liquid metal as the sensing medium and the elastic silicone material with micro-channels as the liquid metal carrier,a flexible sensor that can detect large deflection and deformation was designed.Using the integrally printed bi-material arc amplification structure,the bending deformation of the measured object can be converted into the stretching deformation of the outer silicone material flow channel,thereby changing the resistance of the liquid metal to realize the detection of large deflection bending deformation.Experimental results show that the flexible bending sensor has the advantages of large deformation application range,high repeatability,and good dynamic response.It has wide application prospect in the field of soft robots.