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Flexible sensing array for manipulator sensing and preparation and application method thereof

A sensor array and sensor array technology, applied in the field of flexible sensors, to achieve the effects of improving sensitivity, good repeatability and high flexibility

Active Publication Date: 2021-11-16
TAIYUAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, using the combination of flexible sensor arrays and manipulators to realize the detection of the proximity and shape of objects by manipulators has rarely been studied.

Method used

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  • Flexible sensing array for manipulator sensing and preparation and application method thereof
  • Flexible sensing array for manipulator sensing and preparation and application method thereof
  • Flexible sensing array for manipulator sensing and preparation and application method thereof

Examples

Experimental program
Comparison scheme
Effect test

preparation example Construction

[0050] The preparation method of flexible sensor array comprises the following steps:

[0051] Step 1: Mix one-dimensional conductive nanomaterials and two-dimensional conductive nanomaterials (such as CNT and Mxene) in a certain ratio (0.5-2:1), configure composite conductive nanomaterials, and add them to a beaker. Then add SEBS powder, the mass ratio of SEBS and composite conductive nanomaterials is 1:0.2-0.5, and stir evenly with a glass rod.

[0052] Step 2: Add absolute ethanol to the beaker so that the absolute ethanol can cover the material. Put the beaker into an ultrasonic machine and heat it in a blast drying oven until the ethanol is completely evaporated. The dried material is ground to obtain a uniformly mixed composite nano material.

[0053] Step 3: Add paraffin oil to the material (the mass ratio of paraffin oil and SEBS is 2.5-3.5:1), and stir evenly with a glass rod. Put the mixed material into a crucible and lay it flat, then put it into a box furnace, h...

example 1

[0068] A flexible proximity and pressure sensing array based on composite nanomaterials for bionic manipulator sensing, including: film substrates, electrodes, flexible piezoresistive sensing units, and flexible capacitive sensing units.

[0069] The film substrate is a 100 μm PET film.

[0070] The electrode 2 is a 3ⅹ3 interdigitated electrode array, and the material can be silver, copper and other nano-materials, printed on the film substrate.

[0071] The flexible piezoresistive sensing unit is composed of multiple piezoresistive sensing patches of the same size from the same sensing material. The sensing patch is made of composite nanomaterials as the sensitive material, in the shape of a cube or cylinder, etc., with a thickness of 3 -3.5mm.

[0072] The flexible capacitive sensing unit is a capacitive sensing patch made of SEBS and paraffin, and its shape and size are consistent with the piezoresistive sensing unit.

[0073] The sensor patches are attached to the electr...

example 2

[0089] A flexible proximity and pressure sensing array based on composite nanomaterials for three-finger manipulator sensing, including: a film substrate, electrodes, a flexible piezoresistive sensing unit, and a flexible capacitive sensing unit.

[0090] The film substrate is a 50 μm PET film.

[0091] The electrode is an array of interdigitated electrodes, and the material can be nano-materials such as silver and copper, which are printed on the film substrate.

[0092] The piezoresistive sensing unit is composed of multiple piezoresistive sensing patches from the same sensing material and of the same size. The sensing patch is made of CNT as the sensitive material, in the shape of a cube or cylinder, etc., with a thickness of 3-3.5mm .

[0093] The capacitive sensing unit is a capacitive sensing patch, made of SEBS and paraffin, with the same shape and size as the piezoresistive sensing unit.

[0094] The sensor patches are attached to the electrodes one by one to form a ...

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Abstract

The invention discloses a flexible sensing array for manipulator sensing and a preparation and application method thereof, and relates to the field of flexible sensor manufacturing. The technical problem to be solved is to provide an improvement of a wearable flexible sensor array hardware structure for manipulator sensing and an improvement of a preparation method. According to the invention, a flexible piezoresistive sensor and a capacitive sensor are integrated, so that a manipulator can detect the shape of an object and the approaching of the object; Theflexible sensing array includes an elastomer, a PET film substrate and a silver nanoelectrode, wherein the elastomer is made of elastic rubber and composite conductive nano; according to the invention, the approaching distance and the shape of an object are analyzed by using the resistance change of the stress sensor in each direction and the capacitance change of a capacitive sensor displayed by an impedance analyzer connected in parallel with the sensor; The flexible sensing array has the characteristics of high sensitivity, high reliability, high flexibility, long service life and the like, and can be widely applied to the field of object sensing measurement of the mechanical arm.

Description

technical field [0001] The invention relates to a flexible sensing array for manipulator sensing and a preparation and application method thereof, belonging to the technical field of flexible sensors. Background technique [0002] With the development of flexible matrix materials, flexible sensors emerge as the times require. Flexible sensors have the characteristics of flexibility, extension, freedom to bend or even fold, easy to carry, and wearable. According to the application, it can be divided into flexible pressure sensor, flexible gas sensor, flexible humidity sensor, flexible temperature sensor, flexible strain sensor, flexible magnetic impedance sensor and flexible thermal flow sensor, etc.; according to the sensing mechanism, it can be divided into flexible resistive sensor, flexible capacitor sensor, flexible piezomagnetic sensor and flexible inductive sensor, etc. [0003] The structure of the flexible sensor is flexible and diverse, and can be arranged arbitra...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L5/22G01L1/18G01L1/14G01B7/28G01B7/02
CPCG01L5/228G01L1/18G01L1/14G01B7/28G01B7/02Y02P10/25
Inventor 张强桑胜波张芮杨琨李强张文栋刘艳季超裴臻
Owner TAIYUAN UNIV OF TECH
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