摘要
触觉传感器是实现机器人触觉感知的最关键器件 ,直接影响机器人感知外界环境和自身状态能力的大小。敏感单元是触觉传感器的核心器件。以 E型方膜结构的敏感单元为例 ,建立微型触觉传感器的三维力学模型 ,计算了微型触觉传感器敏感单元的理论值 ,并与有限元 (FEM)分析得到的值相比较 ,得出了 E型方膜结构类型传感器的静态特性和动态特性 ,讨论了静态和动态特性对结构的敏感性 ,为传感器的优化设计提供依据。
The tactile sensor is the most key device that can realize robot touch perception, directly affect the capability of the robot percept environment and status of itself.The sensitive cell is the nucleus device of the tactile sensor. This text takes the sensitive cell of E-type square as an example, modeling three-dimensional static mechanics model. By means of comparative analysis between theories and finite element method (FEM) of the sensitive cell of micro-tactile sensor, the static and dynamic properties of E-type square diaphragm for sensors are presented. Their sensitivities is also discussed.These can provide bases and supports for optimum design of this kind of sensors.
出处
《机械工程与自动化》
2004年第2期20-22,共3页
Mechanical Engineering & Automation
基金
山西省教育厅三晋学子创新项目 (330 82 )
