Three-dimensional calibration device for curve flexible touch sensor array

Abstract

The invention discloses a three-dimensional calibration device for a curve flexible touch sensor array, which comprises a three-dimensional guide rail robot, a three-dimensional force loading mechanism, an array platform and a control part electrically connected with the array platform, wherein the three-dimensional guide rail robot comprises an X axis guide rail, a Y axis guide rail and a Z axis guide rail, each of which is provided with a grating ruler having a position detection function; the three-dimensional force loading mechanism is arranged at the lower end of the Z axis guide rail through an installing flange of a parallel mechanism; the three-dimensional force loading mechanism comprises the parallel mechanism and a three-dimensional force detecting part; and the three-dimensional force detecting part is arranged at the operation tail end of the parallel mechanism. The device is used for realizing the accurate positioning by driving the three-dimensional guide rail robot to drive the three-dimensional force loading mechanism to perform spatial positioning and matching with the closed loop position control of the grating ruler. The parallel mechanism is used for adjusting the posture of a three-dimensional force loading head. When three-dimensional force detected by a standard three-dimensional touch sensor reaches a preset value, a measuring value and a corresponding matrix position coordinate of a sensor sampling circuit are outputted.

Description

technical field [0001] The invention belongs to the field of sensor applications, in particular to a calibration device for a curved surface flexible tactile sensor array, which is applied to three-dimensional force calibration of a three-dimensional curved surface shape. Background technique [0002] Flexible tactile sensor arrays are one of the hotspots in robotic skin research. Such sensor arrays have similar perception capabilities to human skin, and are a type of sensor with high precision, high resolution, high-speed response, and the ability to measure large-area tactile information. Flexible tactile sensor arrays, especially large-area, high-density dot-matrix sensor arrays in the shape of space surfaces, have important and irreplaceable uses in the detection field. The emergence of such sensors has greatly promoted the application of array sensors. [0003] Typical array sensor products, such as the pressure distribution test system launched by Tekscan in the Unite...

AI Technical Summary

Problems solved by technology

However, the calibration device and calibration method mentioned in this patent document have deficiencies. First, the calibration array platform of the calibration device is flat and cannot calibrate a flexible sensor array with a curved surface shape; The tactile information of the three-dimensional tactile sensor array cannot be calibrated; thirdly, the calibration platform of the calibration device uses a mechanical limiter to limit the range of the sensor matrix. Since the positioning device is an open-loop control, it is calibrated The positioning accuracy of the sensor array unit is not high

In short, using this calibration device cannot achieve three-dimensional calibration of flexible tactile sensor arrays on curved surfaces.

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