面向微小软排线装配的阵列触觉状态感知技术

Assembly Array Tractile State Sensing Technology of Micro Flexible Flat Cables

针对微小软排线装配操作中器件体积小且存在视觉遮挡的问题,提出一种基于电容式阵列触觉传感器的机器人软排线装配状态感知技术。首先,对电容式三维触觉感知机理进行分析,并针对软排线装配的小尺寸空间感知需求,设计了一种基于垂直拓扑网状介质层的高灵敏阵列触觉传感器,实现微小软排线装配状态的高灵敏感知。其次,为突破布线复杂度与阵列扫描周期的限制,基于电容数字芯片拓展实现高动态三维阵列信息扫描系统的设计与微小软排线装配状态的高动态感知,并完成小型化电容式阵列触觉传感器的一体化制备。最后,搭建机器人软排线装配操作系统并实时采集和分析软排线装配过程中的阵列触觉信息特征,以验证所提出技术的准确性和有效性。

For the problems of small device size and visual occlusion during the micro flexible flat cable assembly operations,an assembly state sensing technology of micro flexible flat cables was proposed based on capacitive array tactile sensors herein.Firstly,the mechanism of capacitive three-dimensional tactile sensing was analyzed,and a highly sensitive array tactile sensor based on vertical topological mesh dielectric layer was designed to realize highly sensitive sensing of the assembly state of the micro flexible flat cables.Secondly,in order to overcome the limitation of wiring complexity and array scanning cycle,based on the expansion of capacitive digital chip,the highly dynamic three-dimensional array information scanning system was designed and the highly dynamic sensing for assembly states of micro flexible flat cables was realized,and the miniaturized capacitive array tactile sensors were fabricated integrally.Finally,the robot micro flexible flat cable assembly operating system was built and the array tactile information features were collected and analyzed in real time during the assembly processes,so as to verify the accuracy and effectiveness of the proposed technology.