基于气压感知的柔性碰撞检测皮肤设计

Skin design for flexible collision detection based on air pressure sensing

针对机器人在复杂环境运行中存在的碰撞安全问题,提出了一种基于气压监控的柔性碰撞检测皮肤。设计并搭建了实验台对柔性碰撞检测皮肤进行碰撞实验,对该皮肤进行了性能分析,实物实验证明:该皮肤设计具有较高的可行性与可靠性。同时,通过有限元分析方法对柔性皮肤进行了充气与碰撞过程的仿真分析,仿真验证了柔性碰撞检测皮肤设计的可行性。仿真结果与实物实验数据具有较高的一致性,验证了有限元仿真模型的可靠性。

Aiming at the collision safety problems of operating robots in complex environments,a flexible collision detection skin based on air pressure monitoring is proposed.A testbed is designed and built to conduct collision experiments with the flexible collision detection skin,and the performance of the skin is analyzed.The physical experiment proves that the skin design has high feasibility and reliability.At the same time,the simulation analysis on the inflation and collision process of the flexible skin is carried out by the finite element analysis method,and the simulation verifies the feasibility of the design of the flexible collision detection skin.The simulation results are in high agreement with the physical experimental data,which verifies the reliability of the finite element simulation model.