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High-sensitivity flexible magnetostrictive tactile sensor array for manipulator

A tactile sensor, high-sensitivity technology, applied in the direction of measurement, instrument, measuring device, etc. by measuring the change of magnetic properties of materials caused by applied stress, which can solve the problem that objects with low sensitivity, large size, and similar hardness cannot be accurately distinguished, etc. problem, to protect from damage, improve flexibility and smoothness

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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a flexible magnetostrictive tactile sensor with high sensitivity based on the inverse magnetostrictive effect and the tunnel magnetoresistance effect, aiming at the problem that the existing tactile sensor has a large size and low sensitivity, and cannot accurately distinguish objects with similar hardness. sensor array

Method used

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  • High-sensitivity flexible magnetostrictive tactile sensor array for manipulator
  • High-sensitivity flexible magnetostrictive tactile sensor array for manipulator
  • High-sensitivity flexible magnetostrictive tactile sensor array for manipulator

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Effect test

Embodiment 1

[0063] Embodiment 1: Using a TMR element as a magnetic field sensor, a gallium iron wire with a length of 6 mm and a diameter of 0.4 mm is applied in the range of 0-4N to the relationship between the pressure and the output voltage. The main purpose of this embodiment is to study the input-output correspondence of the tactile sensing unit and the force measurement sensitivity.

[0064] Experimental platform construction: according to figure 1 and Figure 6 As shown, the tactile sensing unit is assembled according to the design structure to form a 2×5 tactile sensing array; this experimental platform is composed of a digital push-pull force meter, an adjustable DC power supply, a DH-8303 data acquisition card, and a computer; The sensing array is fixed on the base of the digital push-pull force gauge, and the position of the dowel bar of the push-pull force gauge is adjusted so that it faces any unit of the sensing array; the output mode of the push-pull force gauge is set so...

Embodiment 2

[0067] Embodiment 2: The high-sensitivity flexible magnetostrictive tactile sensor array is installed to the one-sided finger of three-finger manipulator (Righthand: ReFlex2) (the one side of described three-finger manipulator is two fingers arranged in parallel, and the other side is one Separately arranged fingers, unilaterally refers to the inner surface of one side with only one finger), so that the sensor array can completely cover the entire phalanx of the manipulator. The computer is used to control the grasping speed and displacement distance of the manipulator to keep it consistent in the process of multiple grasping, and to grasp the rubber cylinder with the same shape and volume and a Shore hardness difference of 10 degrees.

[0068] Experimental process and results: Adjust the grabbing angle and grabbing position of the three-finger manipulator so that the tactile sensor array installed on the surface of the robot finger bone can completely adhere to the surface of ...

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Abstract

The invention relates to a high-sensitivity flexible magnetostrictive tactile sensor array for a manipulator. The sensing array comprises 10 touch sensing units; each tactile sensing unit comprises a cylindrical contact, an iron gallium wire, a base, a strip-shaped permanent magnet and a TMR element; the front end of the cuboid of each base is of a triangular wedge-shaped structure with the same bottom face; the strip-shaped permanent magnets are embedded in top through grooves of the corresponding cuboids; the TMR elements are fixed at the rear parts of the cuboids; three through holes are distributed in the portion, above the wedge-shaped structure, of the front end of each cuboid. a vertical plate is arranged at the bottom of each cylindrical contact; and one end of each iron gallium wire is inserted into the vertical plate of the cylindrical contact, and the other end of each iron gallium wire passes through the circular hole of the cuboid of the base and is connected with the corresponding TMR element. The sensor array has the advantages of high sensitivity, small size, high integration level, high response speed and flexibility, and can accurately sense static and dynamic forces.

Description

technical field [0001] The invention applies magnetostrictive material iron-gallium alloy wire and TMR (Tunnel Magnetic Resistance) tunnel magneto-resistance element to the sensor field of the manipulator. The product is a high-sensitivity flexible magnetostrictive tactile sensor array based on the inverse magnetostrictive effect and tunnel magnetoresistance effect, which can be installed on the inner side of the mechanical finger bone to grasp objects and accurately distinguish objects with similar hardness. Background technique [0002] In the modern industrial automation production environment, manipulators are usually used instead of humans to complete certain complex tasks, such as the installation, welding, and placement of large parts. The accurate perception of tactile information by the manipulator is an important indicator to improve the accuracy of the operation, so the manipulator is required to be equipped with a tactile sensor with high sensitivity. The core c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L1/12
CPCG01L1/125G01L1/127G01L1/122
Inventor 翁玲杨惠文王博文张原野赵轩罗旭齐芳芳
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