摘要
模拟人手指尖感知机理设计了一种新型磁致伸缩触觉传感器,通过采集多个触点的接触压力获取物品表面的静摩擦系数。触觉传感器具有4个触觉传感单元,每个传感单元主要由Fe-Ga丝(Galfenol)、探测触头、永磁体和霍尔元件组成。触觉传感器的尺寸为10.5 mm×5.5 mm×25 mm。利用磁致伸缩逆效应,电磁学原理以及动力学理论建立了触觉传感单元的压力检测模型和物品静摩擦系数检测模型。分析发现触觉传感单元的输出电压随着压力的增大而增大,当施加压力为2 N时,传感单元的输出电压达到62.6 mV。触觉传感单元的输出电压随着物品表面静摩擦系数的增大而减小。理论与实验证明设计的触觉传感器可以检测抓取物品的压力和物品表面的静摩擦系数。
A novel magnetostrictive tactile sensor was designed to simulate the human fingertip sensing mechanism, which obtains the static friction coefficient of the object surface through acquiring the contact pressure of multiple contacts. The tactile sensor has four tactile sensing units, each unit is mainly composed of Fe-Ga wire(Galfenol), detecting contact, permanent magnet and Hall element. The size of the tactile sensor is 10.5 mm×5.5 mm×25 mm. The pressure test model of tactile sensing unit and the static friction coefficient test model of the object were established using the inverse magnetostrictive effect, electromagnetic principle and dynamic theory. Analysis finds that the output voltage of the tactile sensing unit increases with the increase of pressure. When the applied pressure is 2 N, the output voltage of the sensing unit reaches 62.6 mv. The output voltage of the tactile sensing unit decreases with the increase of the static friction coefficient of the object surface. Theoretical and experiment results show that the designed tactile sensor can detect the pressure of grasping object and the static friction coefficient of the object surface.
作者
薛丰
王博文
赵智忠
黄文美
翁玲
Xue Feng;Wang Bowen;Zhao Zhizhong;Huang Wenmei;Weng Ling(Stute Key Laboratory of Reliability and Itelligence of Eletrical Equipment,Hebei University of Technology,Tianjin 300130,China;Key Laboratory of Electromagnetic Field and Elctrical Apparatus Reliabiliry of Hebei Province,Hebei University of Technology,Tianjin 300130,China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2020年第12期103-110,共8页
Chinese Journal of Scientific Instrument
基金
国家自然科学基金(51777053,51801053,52077052)
河北省自然科学基金(重点项目E2017202035,青年项目E2019202315)资助。
关键词
磁致伸缩
触觉传感器
静摩擦系数
机械手
magnetostriction
tactile sensor
static friction coefficient
manipulator
