摘要
针对机器人柔顺抓握与稳定操作，给出了一种新型柔顺触觉传感器．这种触觉传感器能够在较小的接触力下产生较大的变形，从而顺从物体的形状，获取较多的接触信息．并能有效地改善指面的性能，降低接触感知时接触力对物体和传感器造成的破坏和其它不良影响．根据微小电容测量存在的问题，给出电容式触觉阵列的测试原理和方法，实现了触觉单元微小电容的测量．建立了触觉信号采集与处理的硬件及软件系统．
in this paper, we proposed a new design of flexible tactile sensor, which can be used for compliant grasp and dexterous manipulation. This new sensor have a controllable compliance layer which use athin polyrethm foam fulfilled with electrorheological fluid as dielectric medium. This sensor shows larger deformation under slight contact force, and conforms more the surface of the object, and more information aboutthe object can be obtained by the sensor. On the other hand, it can advance the charateristics of the fingersurface, the damages and other harmful effects on object and sensor that caused by contact should be prevented.The detecting theory and method are researched for solving the problems in mini capacitor detection, and thedata gathering system of capacitor array in tactile sensor is set up. The hardware and software are also given.
出处
《河北工业大学学报》
CAS
1999年第6期4-7,共4页
Journal of Hebei University of Technology
基金
国家自然科学基金!69485007
