传感技术学报Issue(5)：648-653,6.DOI:10.3969/j.issn.1004-1699.2015.05.007
基于P VDF的三维力机器人触觉传感器的设计
Design of Three-Dimensional Force Tactile Sensor for Robot Based on PVDF
潘奇 1万舟 1易士琳1
作者信息
- 1. 昆明理工大学信息工程与自动化学院，昆明650000
- 折叠
摘要
Abstract
Detecting the force information of an object matters if a robot hand may smoothly grasp the object or not, and the force information may be fully reflected from the three-dimensional direction force. There are still some de-fects in current tactile sensors for detecting three-dimensional force during grasping. Thus,an attempt was made to design a PVDF-based tactile sensors for three-dimensional force in this paper. The structural design of the sensor was presented,and a signal conditioning circuit was designed. Meanwhile,mathematical model were established for the piezoelectric film and the structure of the sensor head. Besides,the sensor was tested and validated and the re-sults shows that the sensor was effective for detecting three-dimensional force in the process of grasping an object with a robot hand.关键词
触觉传感器/PVDF/三维力/压电薄膜Key words
tactile sensor/PVDF/three-dimensional force/piezoelectric film分类
信息技术与安全科学引用本文复制引用
潘奇,万舟,易士琳..基于P VDF的三维力机器人触觉传感器的设计[J].传感技术学报,2015,(5):648-653,6.
