基于薄板变形的机器人柔顺触觉传感器研究

Research on Robotic Compliant Tactile Sensor Based on Metal Thin Plate Deformation

针对机器人抓握处于重力场中的等截面均质杆件 ,设计了一种基于薄板变形的柔顺触觉传感器。在传感器中 ,利用金属弹性薄板做弹性元件 ,应变片做触觉敏感单元 ,实现对物体的长度和质量的感知。在传感器的表面封装电流变流体实现了软 /硬抓握。采用合理结构 ,使被抓物体横截面尺寸不受金属弹性薄板尺寸的限制 ,并保证金属薄板不被破坏。另外 ,着重给出了金属薄板的边界条件为一对边固定支撑 ,另一对边简单支撑的情况下传感器的测量原理。最后将传感器安装在机器人平行抓握手爪上 ,进行了抓握试验。实验表明 ,这种触觉传感器测量精度比较高 ,范围广 。

Considering the uniform and homogeneous rod gripped by robots in gravitational field,a kind of compliant tactile sensor was designed.In this kind of sensor,strain gauges were used as sensational tactile elements;metal thin plates were used as elastic elements.The two opposite edges of the metal thin plate were fixedly supported and the other two edges were simply supported.Electrorheological fluids are sealed on the sensor's surface in order that it has the ability of compliant and rigid grip.The sensory principle was put forward.The length and mass of gripped objects can be measured.The size of the cross section of the objects was not limited by the size of the thin plate.The sensor was installed on a robot's parallel gripper and the gripping expriment has been done.The results showed that this kind of tactile sensor has high measure precision,wide measure range and good durable ability.