Tactile sensor based on elastomer three-dimensional deformation and detection method

A tactile sensor, three-dimensional deformation technology, applied in the measurement of the elastic deformation force of the measurement gauge, etc., can solve the problems of low detection accuracy, complex circuit, wiring, and manufacturing difficulties

Inactive Publication Date: 2016-11-09
SHANDONG UNIV
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Problems solved by technology

However, the disadvantage of this type of sensor is that there are many leads, the circuit is complicated, and wiring and manufacturing are very difficult.
In practical applic

Method used

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  • Tactile sensor based on elastomer three-dimensional deformation and detection method
  • Tactile sensor based on elastomer three-dimensional deformation and detection method
  • Tactile sensor based on elastomer three-dimensional deformation and detection method

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Embodiment

[0059] Embodiment: a kind of tactile sensor based on elastic body three-dimensional deformation, its structure is as follows figure 1 and figure 2As shown, it includes a sensor bracket 4, a binocular camera 2 is arranged on the sensor bracket 4, a plurality of illumination light sources 3 are installed around the binocular camera 2, and an elastic body 1 is located below the binocular camera 2.

[0060] The elastic body 1 is a hollow hemispherical structure, the outer diameter of the hemispherical structure is 35mm, and the wall thickness is 3mm; the material of the elastic body is silicone rubber, model NE-7130, and the hardness is 30HA; the inner wall of the elastic body is made 6X6 by laser Marking point, diameter 1mm, spacing 5mm, the actual structure of the marking point is as follows image 3 shown.

[0061] The sensor bracket 4 is integrated with the edges around the hemisphere of the elastic body 1, and has a good fixing effect. The binocular camera 2 is arranged s...

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Abstract

The invention relates to a tactile sensor based on elastomer three-dimensional deformation and a detection method. The sensor part mainly comprises an elastomer, a binocular camera and a lighting source, wherein the binocular camera and the lighting source are both located above the elastomer; the binocular camera acquires image information through deformation of the elastomer and the contact force can be solved; and then, the direction and the distribution of the contact force are calculated. Through designing a brand new structure, the three-dimensional deformation of the elastomer is acquired for analysis and calculation to obtain the size and the direction of the contact force, the structure is simple, wiring is convenient, and the whole cost can be greatly reduced.

Description

technical field [0001] The present invention relates to the related technical field of tactile sensors, in particular to a tactile sensor based on three-dimensional deformation of an elastic body and a detection method. Background technique [0002] Tactile sensors are used in a wide range of applications, most commonly based on sensor arrays for detection. However, the disadvantage of this type of sensor is that there are many leads, the circuit is complicated, and wiring and manufacturing are very difficult. In practical applications, the sensor and the operating target are mostly in rigid contact, resulting in low detection accuracy, unsatisfactory operation shock absorption and stability. [0003] Therefore, it is necessary to design a new tactile sensor to solve the above problems. Contents of the invention [0004] The object of the present invention is to provide a tactile sensor based on the three-dimensional deformation of elastic bodies in order to overcome the...

Claims

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Application Information

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IPC IPC(8): G01L1/04
CPCG01L1/04
Inventor 李学勇刘运东路长厚
Owner SHANDONG UNIV
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