机械手滑觉反馈系统研究

Study of Slip Sensory Feedback System for Robots

随着机械手在各领域工作范围逐渐扩大,针对机械手提取物体过程中易发生滑落的问题,同时基于智能医疗仿生手的实际需要,在机械手上运用PVDF压电薄膜传感器的方式,通过检测机械手与目标物体的触滑觉信号,达到使用反馈系统作用以最小力夹持目标物体,实现对目标物体的稳定抓握。为避免夹持力大小不当使目标物体滑动跌落或者夹坏损伤,还增设信号调制电路以保证检测的信号稳定精确。通过该研究可以极大程度的减小功耗、防止损毁目标物体、实现稳定夹取,经实验结果分析可以辨别对物体的触摸及物体的滑动,保证以恰当力提升目标物体。

With the gradual expansion of the scope of work of the robot in various fields,for the robot to extract objects in the process of easy to slip the problem,and based on the actual needs of intelligent medical bionic hand,the use of PVDF piezoelectric thin film sensor in the robot,through the detection of the robot and the target object of the slippery signal,to achieve the use of feedback system to grip the target object with minimal force,to achieve a stable grip on the target object The piezoelectric thin film sensor is used to detect the tactile slip signal between the robot and the target object.To avoid the improper size of the gripping force making the target object slide down or clamping damage,a signal modulation circuit is also added to ensure the stability and accuracy of the detected signal.This study can greatly reduce power consumption,prevent damage to the target object,and achieve stable gripping,and the experimental results can be analyzed to identify the touching and sliding of the object to ensure the proper force to lift the target object.