A tactile sensor used for a robot

A tactile sensor, sensor technology, applied in instruments, metering, measuring devices, etc., by measuring the change force of the magnetic properties of materials caused by applied stress, can solve the problems that cannot meet the precise perception of robots, the accuracy does not meet the requirements, and the influence of the external environment Large problems, such as obvious inverse magnetostrictive effect, improved measurement accuracy, and low saturation magnetic field.

Active Publication Date: 2016-12-14
HEBEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although some of these pressure sensors have been applied to robot tactile force measurement, their shortcomings are also quite obvious.
Among them, although the resistance strain type pressure sensor is cheap, because its accuracy does not meet the requirements, it cannot meet the precise perception of the tactile force by the robot; the piezoresistive pressure sensor has the characteristics of simple structure and miniaturization, but it is greatly affected by the external environment. , poor linearity an

Method used

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  • A tactile sensor used for a robot
  • A tactile sensor used for a robot
  • A tactile sensor used for a robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] Example 1: Pressure amplitude F under different bias magnetic fields 0 Relation test with output voltage V peak. The main purpose of this embodiment is to study the sensor input-output relationship and discuss the influence of the bias magnetic field on the input-output relationship.

[0038] Experimental platform construction: follow figure 1 The sensor structure shown is installed with various components, and the sensor is fixed on the test bench. The pressure applying device uses the DC-300-3 type vibration test system, and the oscilloscope uses the DPO 3014 type digital oscilloscope.

[0039] Experimental process and results: The external force applied to the sensor rubber contact is F(t)=F 0 sinωt, the simulated robot arm grabs objects at a certain frequency, and applies pressure with a certain frequency to the cantilever pressure sensor (f=2.5Hz). The external force directly acts on the elastic contact, and the pressure is transmitted to the free end of the FeGa mate...

Embodiment 2

[0040] Embodiment 2: Testing the relationship between the bias magnetic field H and the peak output voltage V under different pressures. The main purpose of this embodiment is to study the relationship between the sensor output and the bias magnetic field, and discuss the influence of pressure on the relationship between the output and the bias magnetic field.

[0041] The experimental platform was set up as in Example 1.

[0042] Experimental process and results: The external force applied to the sensor rubber contact is the same as in Example 1. First, the amplitude of the external force is kept unchanged, the bias magnetic field H is changed, and the peak value of the induced voltage is read by the DPO 3014 digital oscilloscope. Then change the amplitude of the external force and repeat the above operation. There are 6 sets of experiments in this embodiment. Plotting the experimental results into a graph, the relationship between the bias magnetic field H and the peak output vo...

Embodiment 3

[0043] Embodiment 3: The bias magnetic field is set to 4.8kA / m, and the output voltage u(t) and time t are tested under different pressures. It can be seen from Embodiment 1 and Embodiment 2 that when the bias magnetic field is 4.8 kA / m, the peak value of the output voltage is the largest and the output signal is the most obvious, so it is more appropriate to set the bias magnetic field as 4.8 kA / m.

[0044] The experimental platform was set up as in Example 1.

[0045] Experimental process and results: The magnetic field regulator set the bias magnetic field to 4.8kA / m, only the amplitude of the external force was changed, and the output voltage was read by the digital oscilloscope. There are 6 sets of experiments in this embodiment. The relationship curve between output voltage u(t) and time t under different pressures is as follows Image 6 Shown. The relationship between the output voltage u(t) and the time t is close to changing according to the sine law, which conforms to th...

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Abstract

The invention relates to a tactile sensor for a robot. The main part of the sensor comprises a sensor shell, a rubber contact, a fixing device, a transmission rod, a testing coil, FeGa materials, a spring, a left permanent magnet, a right permanent magnet and a magnetizer, wherein the rubber contact is semispherical and is fixed on the right side of the upper surface of the sensor shell; the upper end of the transmission rod is embedded in the rubber contact; the lower end of the transmission rod vertically goes through the fixing device and the sensor shell to be connected with the FeGa materials. The left end of the FeGa materials is fixed on the inner wall of the left end of the sensor shell. The upper surface of the right end of the FeGa materials is connected to the upper end of the spring. The testing coil sleeves the middle portion of the FeGa materials. A magnetizer is laid on the internal bottom of the sensor shell. The left end and the right end of the magnetizer are respectively fixed with a left permanent magnet and a right permanent magnet. Pole heads of the two permanent magnets are disposed in a staggered mode. The tactile sensor of the invention can satisfy the requirement of the precision of tactile measurement by robot fingers.

Description

Technical field [0001] The present invention applies the magnetostrictive FeGa material to the field of tactile sensors, and designs a new type of magnetostrictive tactile sensor based on the FeGa material, which can be applied to a robot finger to realize accurate perception of tactile force. The core part of the tactile sensor is a pressure transmission device, a magnetic field adjustment device, FeGa material and a signal measurement device. Its characteristics are simple structure, high precision, strong adaptability and long life. technical background [0002] With the development of modern information technology, the application range of tactile sensors has become increasingly widespread. Especially the rapid development of intelligent robots requires accurate perception of tactile force. In terms of tactile force measurement, there are many types of pressure sensors implemented by different principles, such as resistance strain pressure sensors, piezoresistive pressure s...

Claims

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Application Information

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IPC IPC(8): G01L1/12G01L9/16
CPCG01L1/125G01L9/16
Inventor 王博文王启龙韩建晖万丽丽曹淑瑛
Owner HEBEI UNIV OF TECH
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