用于检测三维力的柔性触觉传感器结构研究及有限元分析

doi:10.3969/j. issn. 1000-1158.2014.05.11

摘要
图/表
参考文献(15)
相关文章 (15)

全文: PDF (909 KB) HTML (1 KB)
输出: BibTeX | EndNote (RIS)

摘要基于力敏导电橡胶材料，设计了一种四电极对称结构的三维力柔性触觉传感器。利用有限元分析软件 ANSYS，结合橡胶材料的Mooney-Rivlin本构模型，对传感器加载垂直力和剪切力进行有限元分析，得到传感器在三维力作用下的应力应变分布状态，并进行了实验验证，结果表明了传感器结构设计和数学模型构建的合理性。通过对传感器传力的触头材料和形状进行有限元分析，表明触头选择硬度相对较大的材料，制成长椭球状半径（a=1. 5b)，可以优化传感器的性能，为用于检测三维力的柔性触觉传感器的实际应用提供了依据。

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	刘彩霞
	黄英
	繆伟
	蔡文婷
	袁海涛
	曹广辉

关键词 ：计量学, 触觉传感器, 三维力, 力敏导电橡胶, 有限元

Abstract：Based on flexible pressure-sensitive conductive rubber, a flexible tactile sensor with four-electrode symmetrical structure, which has three-dimensional force detection function, is designed. Combined finite element analysis software ANSYS with the Mooney-Rivlin theory of rubber, the strain and stress information of the flexible tactile sensor under the action of vertical force and shear stress is obtained through Finite element analysis. The rationality of the structure of three-dimension force tactile sensor and the mathematical models of calculating three dimension forces was verified by experiment. By using finite element analysis on the materials properties and geometric configuration of force transmission hemisphere, the research indicates that the harder materials and the prolate ellipsoid shape (radius a = l. 5b) can optimize the characteristic of the sensor. It provides the basis for the practical application of the flexible tactile sensor for the detection of three-dimensional force.

Key words： Metrology Tactile sensor Three-dimension force Pressuresensitive conductive rubber Finite element

基金资助:国家自然科学基金(61072032);合肥工业大学校科研基金(2012HGXJ0065)

作者简介: 刘彩霞(1975 -)，女，河南禹州人，合肥工业大学副教授，硕士，主要从事敏感材料与传感技术研究。hgdliucakia@ 163.com

引用本文:

刘彩霞，黄英，繆伟，蔡文婷，袁海涛，曹广辉. 用于检测三维力的柔性触觉传感器结构研究及有限元分析[J]. 计量学报, 2014, 35(5): 458-462.
LIU Cai-xia, HUANG Ying, MIAO Wei, CAI Wen-ting, YUAN Hai-tao, CAO Guang-hui. The Structure Research and Finite Element Analysis of Flexible Tactile Sensor for the Detection of Three-dimensional Force. Acta Metrologica Sinica, 2014, 35(5): 458-462.

链接本文:

http://jlxb.china-csm.org:81/Jwk_jlxb/CN/10.3969/j. issn. 1000-1158.2014.05.11 或 http://jlxb.china-csm.org:81/Jwk_jlxb/CN/Y2014/V35/I5/458

[1 ] Van Anh Ho,Dao D V,Sugiyama S,et al. Design of a small-scale tactile sensor with three sensing points for using in robotic fingertips[ G ]//2010 IEEE International Conference on Robotics and Automation, 2010,Anchorage, Alaska, 4855 -4860.

[2] Tanaka M,Iijim T,Tanakashi Y, et al. Development of a 3D tactile sensor [ J ]. Journal of Materials Processing Technology,200Ί, 181 (1 - 3) ：286 - 290.

[3 ] Noda K, Hoshino K, Matsumoto Κ, et al. A shear stress sensor for tactile sensing with the piezoresistive cantilever standing in elastic material [ J ]. Sensors and Actuators A :physical, 2006,127(2) ： 295 -301.

[4] Hu Y, Katragadda R B, Tu H,ei a/. Bioinspirer 3-D tactil sensor for minimally invasive surgery [ J ]. Journal of microelectro-mechanical systems, 2010, 19 (6) ： 1400 -1407.

[5] Chen T Y,Wang Y G,Lo G Y, et al. A novel integrated transparent flexible tactile sensor [ G ]//Transducers 2011 16th International, Beijing, China, 2011, 1052 -1055.

[6] Huang Y M, Tsai N G, Lai J Y. Development of tactile sensors for simultaneous, detection of normal and shear stresses [ J ]. Sensors and Actuators A ： Physical, 2010, 159(2) :189 -195.

[7] Su W S, Hu G F, Lin G M, ei al. Development of a 3d distributed carbon nanotubes on flexible polymer for normal and shear forces measurement [ G ]//Micro Electro Mechanical Systems, 2010 IEEE 23 rd International Conference on, Hong Kong, China, 2010, 615-618.

[8] 黄英，陆伟，赵小文，等.基于碳纤维复合材料的柔性复合式触觉传感器[J].计量学报，2012,33 (3): 221 -226.

[9] 王富耻，张朝辉.ANSYS10.0有限元分析理论与应用 [M].北京：电子工业出版社，2006: 1 -4.

[10] 张振秀，聂军，沈梅，等.ANSYS中超弹性模型及其在橡胶工程中的应用[J].橡塑技术与装备，2005,31 (9):1-4.

[11] 黄英，张玉刚，仇怀利，等.柔性触觉传感器用导电橡胶的纳米&02改性技术[J].仪器仪表学报，2009, 30(5) ：949 -953.

[12] 曹广辉，黄英，张武，等.三维柔性触觉传感器模型仿真及试验研究[J].电子测量与仪器学报，2011,25 (2):129 -134.

[13] Papakostas T V, Lima J, Lowe M. A large area force sensor for smart skin applications [ J ]. Sensors, Proceedings of IEEE, 2002, 2： 1620-1624.

[14] 黄英，陆伟，赵小文，等.用于机器人皮肤的柔性多功能触觉传感器设计与实验[J ].机器人，2011，33 (3): 347 -353.

[15] Huang Y, Ming X Η, Xiang Β, et al. Two Types of Flexible Tactile Sensor Arrays of Robot for Three-dimension Force Based on Piezoresistive Effects [G]// ROBIO 2008 IEEE International Conference on, Bangkok,Thailand,2009:1032 - 1037.