Rope-driven manipulator tactile sensing device based on piezoresistive tactile sensor
By installing resistive pressure-sensitive tactile sensors on the rope-driven robotic arm, the problem of the lack of tactile perception in the rope-driven robotic arm is solved, achieving higher intelligence and grasping accuracy, and making it suitable for grasping tasks in more situations.
Patent Information
- Application Number
- CN202422724326.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-08
- Publication Date
- 2025-10-31
- Estimated Expiration
- 2034-11-08
AI Technical Summary
Existing rope-driven manipulators lack tactile sensing capabilities, resulting in insufficient frequency and accuracy of use in complex environments, and making it difficult to effectively integrate with piezoresistive tactile sensors.
A resistive pressure-sensitive tactile sensor is installed at the front end of the rope-driven manipulator and connected to the controller through a data acquisition and processing module to realize the motion control of the manipulator. The sensor consists of an upper electrode substrate, an adhesive layer, an electrode layer, a pressure-sensitive layer, and a lower electrode substrate. Hemispherical protrusions are distributed on the pressure-sensitive layer, the electrode layer is a silver electrode, and the adhesive layer is double-sided tape. The resistance change of the protrusions when they are pressed is used to sense tactile information.
It improves the intelligence level and grasping accuracy of the rope-driven manipulator, enhances its reliability and applicability in complex environments, and achieves more comprehensive tactile perception and grasping capabilities.
Smart Images
Figure CN223493256U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to a tactile sensing device for a rope-driven robotic arm based on a piezoresistive tactile sensor. Background Technology
[0002] The research on intelligent touch has broad application prospects and strong application demand in fields such as medicine, military, robotics, industrial manufacturing, and human-computer interaction. In the wave of continuous development of sensor technology, piezoresistive tactile sensors have gradually occupied an important position due to their unique performance. Their principle is based on the piezoresistive effect of piezoresistive materials. When these piezoresistive materials are subjected to external pressure or mechanical deformation, they will produce corresponding changes in resistance. This characteristic enables them to sensitively sense tactile information.
[0003] Initially, the performance and variety of piezoresistive materials were relatively limited, resulting in shortcomings in accuracy, sensitivity, and applicability of piezoresistive tactile sensors. However, rapid advancements in materials science have significantly improved the performance of piezoresistive tactile sensors, giving them higher sensitivity and faster response times. Simultaneously, breakthroughs in micro- and nano-fabrication technologies have paved the way for the miniaturization and integration of piezoresistive tactile sensors, enabling the fabrication of sensors with high spatial resolution and the ability to detect minute forces. Furthermore, continuously improving packaging technologies have effectively enhanced the stability and reliability of the sensors, allowing them to maintain optimal performance in complex and changing environments.
[0004] In practical applications, piezoresistive haptic sensors have demonstrated enormous potential in numerous fields, including industry, medicine, and consumer electronics. In industry, they assist robots in achieving precise operations and improving the accuracy of product quality inspection; in medicine, they support rehabilitation equipment in sensing changes in human movement and force; and in consumer electronics, they provide smart devices with a more accurate and richer touch interaction experience. Despite significant advancements in piezoresistive haptic sensor technology, several challenges remain, such as further improving their stability and durability in complex environments, reducing costs for wider application, and better integrating them with tethered robotic arms to achieve more comprehensive and accurate tactile perception and grasping. In today's mechanical research and laboratories, different robotic arms assist in a wide variety of tasks, such as grasping operations and data recording.
[0005] Multifunctional robotic arms can significantly improve work efficiency and data accuracy. However, currently available rope-driven robotic arms have limited tactile sensing capabilities, greatly reducing their frequency of use in laboratory and research settings. Summary of the Invention
[0006] To solve the above-mentioned technical problems, this utility model provides a simple and reliable tactile sensing device for a rope-driven manipulator based on a piezoresistive tactile sensor.
[0007] The technical solution of this utility model to solve the above-mentioned technical problems is: a tactile sensing device for a rope-driven manipulator based on a piezoresistive tactile sensor, including a resistive piezoresistive tactile sensor, a data acquisition module, and a data processing module. The front end of the rope-driven manipulator is provided with a groove, and the resistive piezoresistive tactile sensor is installed in the groove. The groove opening is sealed with touch silicone. The signal output terminal of the resistive piezoresistive tactile sensor is connected to a controller after passing through the data acquisition module and the data processing module in sequence. The controller is connected to the rope-driven manipulator to control the movement of the rope-driven manipulator.
[0008] The aforementioned tactile sensing device for a rope-driven robotic arm based on a piezoresistive tactile sensor includes, from top to bottom, an upper electrode substrate, an adhesive layer, an electrode layer, a piezoresistive layer, and a lower electrode substrate.
[0009] The aforementioned tactile sensing device for a rope-driven robotic arm based on a piezoresistive tactile sensor includes a pressure-sensitive layer comprising a substrate and pressure-sensitive structures neatly distributed on the substrate.
[0010] The aforementioned tactile sensing device for a rope-driven robotic arm based on a piezoresistive tactile sensor has several protrusions distributed in the pressure-sensitive structure.
[0011] In the aforementioned tactile sensing device for a rope-driven robotic arm based on a piezoresistive tactile sensor, the protrusion is hemispherical.
[0012] The tactile sensing device for the rope-driven manipulator based on the piezoresistive tactile sensor described above has a radius of approximately 200 μm for the protrusion.
[0013] The aforementioned tactile sensing device for a rope-driven robotic arm based on a piezoresistive tactile sensor has a silver electrode layer.
[0014] The aforementioned tactile sensing device for a rope-driven robotic arm based on a piezoresistive tactile sensor has an electrode layer with a parallel arrangement structure.
[0015] In the aforementioned tactile sensing device for a rope-driven robotic arm based on a piezoresistive tactile sensor, the adhesive layer is double-sided tape, which is used to bond the upper electrode substrate and the lower electrode substrate together.
[0016] The beneficial effects of this utility model are as follows: This utility model is equipped with a resistive pressure-sensitive tactile sensor on the rope-driven manipulator, which enables the rope-driven manipulator to have sensing capabilities, thereby better contacting and grasping objects in the corresponding environment, improving the intelligence level of the rope-driven manipulator, enhancing the accuracy and reliability of the rope-driven manipulator in grasping objects, and making it applicable to more grasping occasions. Attached Figure Description
[0017] Figure 1 This is a schematic diagram of the structure of this utility model.
[0018] Figure 2 This is a schematic diagram showing the installation location of the pressure-sensitive tactile sensor.
[0019] Figure 3 This is a schematic diagram of the structure of a pressure-sensitive tactile sensor.
[0020] Figure 4 This is the circuit connection diagram of this utility model.
[0021] Figure 5 This is the circuit diagram of the data acquisition module. Detailed Implementation
[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments.
[0023] like Figures 1-4 As shown, a tactile sensing device for a rope-driven manipulator based on a piezoresistive tactile sensor includes a resistive pressure-sensitive tactile sensor 8, a data acquisition module, and a data processing module. The front end of the rope-driven manipulator 9 has a groove, and the resistive pressure-sensitive tactile sensor 8 is installed in the groove. The groove opening is sealed with a semi-ellipsoidal touch silicone 7. The signal output terminal of the resistive pressure-sensitive tactile sensor 8 is connected to a controller after passing through the data acquisition module and the data processing module. The controller is connected to the rope-driven manipulator 9 to control the movement of the rope-driven manipulator 9.
[0024] like Figure 3 As shown, the resistive pressure-sensitive tactile sensor 8 includes, from top to bottom, an upper electrode substrate 6, an adhesive layer 5, an electrode layer 4, a pressure-sensitive layer 2, and a lower electrode substrate 1. The pressure-sensitive layer 2 includes a substrate and pressure-sensitive structures 3 neatly distributed on the substrate. The pressure-sensitive structures 3 have several hemispherical protrusions distributed within them, each protrusion having a radius of approximately 200 μm. The electrode layer 4 is a silver electrode, and the electrode layer 4 adopts a parallel arrangement structure. The adhesive layer 5 is a double-sided tape, which is used to bond the upper electrode substrate 6 and the lower electrode substrate 1 together. The electrode layer 4 and the pressure-sensitive layer 2 are also bonded together with the double-sided tape, so that the electrode layer 4 and the pressure-sensitive layer 2 are in just contact and there is no interaction force between them. When the resistive pressure-sensitive tactile sensor 8 is subjected to external pressure, the pressure-sensitive structure 3 on the pressure-sensitive layer 2 will come into contact with the electrode layer 4. The more the pressure-sensitive structure 3 comes into contact with the electrode layer 4, the smaller the resistance output value at both ends of the electrode layer 4 will be. The change in the resistance output value causes the voltage in the amplification circuit to change after the resistive pressure-sensitive tactile sensor 8 is connected to the amplification circuit, and thus the output analog signal that needs to be measured also changes.
[0025] like Figure 5As shown, the resistive pressure-sensitive tactile sensor 8 is connected to the data acquisition module, connected in series with resistor R0, and then connected to a second-order filter amplifier circuit after passing through a voltage follower. Finally, it is connected to a resistor R5 for voltage division, which is convenient for practical applications. The output port is connected to the data processing module for ADC sampling.
[0026] The data acquisition module acquires the analog signal output by the resistive pressure-sensitive tactile sensor 8 to read the signal source. The weak analog signal needs to be filtered and amplified by the conditioning circuit. Both the filtering and amplification circuits use LM324 quad operational amplifier integrated circuits to make the voltage value reach the desired range before ADC sampling can be performed, thereby realizing the effective acquisition of the signal sensed by the resistive pressure-sensitive tactile sensor 8. The data processing module converts the analog signal into a digital signal and sends it to the controller. The controller outputs corresponding control signals to the rope-driven manipulator 9 according to the digital signal to control the movement of the rope-driven manipulator 9.
Claims
1. A tactile sensing device for a rope-driven robotic arm based on a piezoresistive tactile sensor, characterized in that: The device includes a resistive pressure-sensitive tactile sensor, a data acquisition module, and a data processing module. The front end of the rope-driven manipulator has a groove, in which the resistive pressure-sensitive tactile sensor is installed. The groove opening is sealed with touch silicone. The signal output terminal of the resistive pressure-sensitive tactile sensor is connected to the controller after passing through the data acquisition module and the data processing module. The controller is connected to the rope-driven manipulator to control its movements.
2. The tactile sensing device for a rope-driven robotic arm based on a piezoresistive tactile sensor according to claim 1, characterized in that: The resistive pressure-sensitive tactile sensor includes, from top to bottom, an upper electrode substrate, an adhesive layer, an electrode layer, a pressure-sensitive layer, and a lower electrode substrate.
3. The tactile sensing device for a rope-driven robotic arm based on a piezoresistive tactile sensor according to claim 2, characterized in that: The pressure-sensitive layer includes a substrate and pressure-sensitive structures neatly distributed on the substrate.
4. The tactile sensing device for a rope-driven robotic arm based on a piezoresistive tactile sensor according to claim 3, characterized in that: The pressure-sensitive structure has several protrusions distributed in it.
5. The tactile sensing device for a rope-driven robotic arm based on a piezoresistive tactile sensor according to claim 4, characterized in that: The protrusion is hemispherical.
6. The tactile sensing device for a rope-driven robotic arm based on a piezoresistive tactile sensor according to claim 5, characterized in that: The radius of the protrusion is approximately 200 μm.
7. The tactile sensing device for a rope-driven robotic arm based on a piezoresistive tactile sensor according to claim 2, characterized in that: The electrode layer is a silver electrode.
8. The tactile sensing device for a rope-driven robotic arm based on a piezoresistive tactile sensor according to claim 2, characterized in that: The electrode layers are arranged in a parallel configuration.
9. The tactile sensing device for a rope-driven robotic arm based on a piezoresistive tactile sensor according to claim 2, characterized in that: The adhesive layer is a double-sided adhesive tape, which is used to bond the upper electrode substrate and the lower electrode substrate together.