摘要
为实现智能机器人皮肤对三维力和温度的检测,设计并制作了一种柔性多功能触觉传感器.基于碳黑-硅橡胶显著的压阻效应设计了四电极对称结构的三维力传感器,基于碳纤维-PDMS(聚二甲硅氧烷)显著的温度敏感效应设计了叉指电极结构的温度传感器,分析了检测三维力和温度的工作原理.针对两种导电复合材料存在的力学/温度敏感特性交叉干扰问题,柔性多功能触觉传感器阵列采用三维力和温度传感器凹凸状交替排布的结构.实验结果表明,这种柔性多功能触觉传感器具备检测三维力及温度的功能,可应用于机器人的敏感皮肤.
Flexible multi-functional tactile sensors are designed and fabricated for intelligent robot skin to detect three-dimensional force and temperature.Using the significant piezoresistive effect of carbon black/silicone rubber,a three-dimensional force sensor with four-electrode symmetrical structure is designed.Using the significant temperature sensitive effect of carbon fiber-PDMS（polydimethylsiloxane）,a temperature sensor with interdigitated electrode structure is designed. The principles of three-dimensional force and temperature detection are analyzed.In view of the themechanical/temperature sensitivity cross-interference of the two kinds of conductive composites,the flexible multi-functional tactile sensor array is structured in the way that three-dimensional force and temperature sensors are arranged in alternately concave-convex form. The experiment results prove that the flexible multi-functional tactile sensors have three-dimensional force and temperature detection functions and can be applied to robot sensitive skin.
出处
《机器人》
EI
CSCD
北大核心
2011年第3期347-353,359,共8页
Robot
基金
国家自然科学基金资助项目(61072032)
国家863计划资助项目(2007AA04Z220)
关键词
多功能触觉传感器
机器人皮肤
三维力
温度
multi-functional tactile sensor
robot skin
three-dimensional force
temperature
