电工技术学报2024，Vol.39Issue(16)：4944-4954,11.DOI:10.19595/j.cnki.1000-6753.tces.231082
基于L型铁钴的三维力触觉传感器设计及输出特性
Design and Output Characteristics of Three-Dimensional Force Tactile Sensor Based on L-Type Iron and Cobalt
摘要
Abstract
In today's era,manipulators,as a replacement and function extension for human hands,have been widely used in various industrial fields.In order to meet more complex perception needs,more and more three-dimensional force tactile sensors have emerged.According to the different sensing mechanisms,three-dimensional force sensors can be divided into piezoelectric,piezoresistive,capacitive,electromagnetic,photoelectric and other types.Piezoresistive sensors are measured by the change in resistance of resistance,which has a certain hysteresis and cannot measure the physical quantity in dynamic scenarios well;In the measurement of capacitive sensors,the influence of parasitic capacitance cannot be ignored,and its measurement circuit is complex;Electromagnetic sensors are susceptible to interference from the external environment.As a piezomagnetic material,magnetostrictive material has the characteristics of changing with the magnetization state of the applied material under stress,can respond instantaneously,and the output signal is stable.This gives magnetostrictive materials a great advantage in tactile sensing,enabling fast measurement of dynamic and static forces.Among many magnetic materials,new sensitive magnetostrictive materials represented by iron gallium are widely used in sensors that measure small forces such as displacement,texture and touch due to their high sensitivity and strong linearity. However,iron-gallium alloy has excellent electromagnetic properties in a single fixed orientation,and has certain limitations in multi-dimensional force measurement.In this paper,a three-dimensional force tactile sensor based on L-type iron-cobalt wire is proposed,and a three-dimensional force tactile sensing unit is designed and fabricated by using magnetostrictive material iron-cobalt alloy,and the output characteristics of the structure are tested.Based on the electromagnetic principle,the inverse magnetostrictive effect and the Euler Bernoulli kinetic principle,the output voltage equation is derived. The experimental platform of the tactile sensing unit was built,the normal and tangential calibration of the sensor was carried out,and the normal force measurement range of the designed sensor was 0～13 N,the tangential force measurement range was 0～6 N,and the output characteristics had a good linear relationship.Among them,the sensitivity in the range of 0～8 N normal force is about 23.997 mV/N,and the sensitivity in the range of 9～13 N normal force is about 17.537 mV/N;The sensitivity in the range of 0～4 N tangential force is about 11.599 mV/N,and the sensitivity in the range of 5～6 N tangential force is about 6.281 mV/N.Under the condition of 4 Hz frequency and 2 N normal force,the output voltage amplitude change range of the dynamic response of the sensor is 46.5～49.8 mV,the relative error with the amplitude of the static force output voltage is less than 5％,and the response time and recovery time are 25 ms and 29 ms,respectively,indicating that the sensor has good dynamic characteristics.The generalized inverse matrix and BP neural network are used to decouple the three-dimensional force sensed by the sensor,and the average error of the BP neural network decoupling method is only 2.90％,which can effectively improve the measurement accuracy.The sensor has small size and good output linearity,which can realize the measurement of static force and dynamic force at the same time,and has a good application prospect in intelligent robots and other fields.关键词
逆磁致伸缩效应/BP神经网络/L型铁钴丝/动态力测量/静态力测量Key words
Inverse magnetostrictive effect/BP neural networks/L-type iron cobalt wire/dynamic force measurement/static force measurement分类
信息技术与安全科学引用本文复制引用
崔淼,李明明,黄文美,翁玲..基于L型铁钴的三维力触觉传感器设计及输出特性[J].电工技术学报,2024,39(16):4944-4954,11.基金项目
国家自然科学基金(51801053,52077052)、河北省自然科学基金(E2022202067)和中央引导地方科技发展资金(226Z1704G)资助项目. （51801053,52077052）
