摘要
在跌落测试系统机械手提升试品以及自动调整试品跌落角的过程中,可能发生试品滑动甚至脱落现象,为保证安全稳定夹持,可通过检测试品与机械手之间的滑动,采用机械手夹持力反馈控制系统,实时补偿夹紧力。为实时检测滑动情况,选用增加橡胶表皮的聚偏二氟乙烯(PVDF)压电薄膜传感器做为触滑觉检测的敏感单元,设计调理电路对传感器输出的电荷信号进行转换和放大,使其变为可分辨、可用阈值法进行判断的触觉信号和滑觉信号。实验结果表明,粘贴橡胶表皮的传感器可以用来检测滑觉;经过调理电路输出后的信号可明显分辨触觉和滑觉。
In the process of lifting the test system robot to lift the sample and automatically adjust the drop angle of the sample,the sample might slide or even fall off. To ensure safe and stable clamping,the sliding between the sample and the robot can be detected by using the mechanical clamp. The clamping force is compensated by the force feedback control system in real time. In order to detect the sliding condition in real time,in this paper,a poly vinylidene fluoride(PVDF)piezoelectric film sensor is added with rubber skin as a sensitive unit for the touch-slip detection and a conditioning circuit is designed to convert and amplify the charge signal output from the sensor. It becomes a haptic signal and a slick signal that can be distinguished and judged by the threshold method. The experimental results show that the sensor attached to the rubber skin can be used to detect the slid;the signal outputted by the conditioning circuit can clearly distinguish the touch and the slid.
作者
赵婧婧
冯进良
汤寒宇
孙维丽
王浩浩
ZHAO Jing-jing;FENG Jin-liang;TANG Han-yu;SUN Wei-li;WANG Hao-hao(School of Optoelectronic Engineering,Changchun University of Science and Technology,Changchun 130022)
出处
《长春理工大学学报（自然科学版）》
2020年第2期43-47,共5页
Journal of Changchun University of Science and Technology(Natural Science Edition)
关键词
PVDF压电传感器
触滑觉
信号调理
夹持
PVDF piezoelectric sensor
tactile and slip sense
piezoelectric effect
clamp
