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A six-degree-of-freedom tactile sensor and its decoupling design method

A tactile sensor, degree of freedom technology, applied in the field of sensors, can solve the problem of inability to meet the urgent needs of simultaneous acquisition, achieve ultra-high sensitivity measurement, improve decoupling efficiency, and eliminate common mode signals.

Active Publication Date: 2020-01-07
BEIHANG UNIV
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the above two studies, the coupling effect of shear force and normal pressure force was solved by designing the ingenious structure of the sensor, but only three-dimensional force detection was realized, which could not meet the urgent needs of the tactile sensor for simultaneous acquisition of multi-dimensional force information.

Method used

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  • A six-degree-of-freedom tactile sensor and its decoupling design method
  • A six-degree-of-freedom tactile sensor and its decoupling design method
  • A six-degree-of-freedom tactile sensor and its decoupling design method

Examples

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Effect test

example 1

[0030] Such as figure 1 As shown, this implementation example is based on a six-degree-of-freedom tactile sensor, which is mainly composed of a shear sensing unit 1, a torsion sensing unit 2, and a positive pressure array sensing unit 3. The sensing mechanisms of the three sensing units are all based on capacitive conduction. Due to the external force acting on the sensor, the capacitance structure parameters of the sensor will change. By measuring the capacitance change, the positive pressure Fz, shear force Fx / Fy, and torque Mz / Mx / My acting on the sensor can be sensed. The working principle is as follows image 3 shown.

[0031] The tactile sensor is under the action of the shear force Fx (such as image 3 As shown in (a)), the X-direction finger-shaped sensing pole 8 / 9 moves in opposite directions relative to the X-direction grounding pole, which reduces / increases the facing area of ​​the plate, thus forming a pair of sensing X The differential electrode for the shearing ...

example 2

[0036]The decoupling design method and specific working steps of the six-degree-of-freedom tactile sensor are illustrated with an example. In this example, the six-degree-of-freedom tactile sensor is subjected to an external force, and the force it receives is a combination of forces from three different directions and a torque Synthesis, that is, the force (Fx / Fy / Fz) in the X / Y / Z direction and the torque in the Z direction (Tz). The resultant force causes the sensing poles of the three sensing units of the tactile sensor to rotate in the Z direction, move in the X / Y direction, and compress / stretch in the Z direction relative to their grounding poles. After decoupling the structure of each unit of the sensor, Each unit can eliminate the influence of other force / moment, decoupling design such as figure 2 shown.

[0037] where the positive pressure sensing unit 3, such as figure 2 As shown in (c), the z-direction grounding electrode 11 is slightly larger than the peripheral ...

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Abstract

The invention discloses a six-freedom tactile sensor and a decoupling designing method thereof. The tactile sensor is based on a capacitance conduction principle and is composed of a shearing force sensing unit, a torsion sensing unit and a positive pressure array sensing unit. The six-freedom tactile sensor can simultaneously sense abundant multidimensional information such as shearing, spatial load and torque. According to the six-freedom tactile sensor, intersected axis sensitivity is used as a standard for measuring the decoupling precision for guiding sensor structure designing; decomposition of each dimension force / torque information to three independent sensing unit is ingeniously realized, thereby reducing decoupling difficulty and improving decoupling precision, and independentlyrepresenting a six-freedom force / torque component. Simultaneously, through constructing a double-interdigital-electrode structure and a lose grid-shaped dielectric structure, ultrahigh-sensitivity measurement of the sensor is realized. The six-freedom tactile sensor and the decoupling designing method have advantages of reducing coupling degree and decoupling difficulty in multidimensional measurement of the sensor, remarkably improving decoupling efficiency and realizing decoupling characterization of a six-dimensional force / torque.

Description

technical field [0001] The invention belongs to the technical field of sensors, and relates to a tactile sensor and a decoupling design method thereof, in particular to a six-degree-of-freedom tactile sensor based on capacitive conduction. Background technique [0002] Tactile sensing technology plays a very important role in the application fields of robots, especially bionic robots and service robots. Having the ability of tactile sensing enables robots to accurately and sensitively perceive the external environment, and then move flexibly and freely to achieve safe and natural contact with people. interact. With the rapid development of robot sensing technology, scholars at home and abroad have carried out research on tactile sensors. [0003] The single-dimensional tactile sensor alone is not enough to provide rich tactile perception information to the robot. In order to ensure that the robot can safely and reliably grasp the target, accurately identify the surface text...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01L1/14G01L3/10G01L5/16G01L5/00
CPCG01L1/146G01L3/10G01L5/0042G01L5/165
Inventor 楚中毅苏琳陈根
Owner BEIHANG UNIV
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