磁致伸缩触觉传感单元及其输出特性

翁玲; 解观然; 张冰; 黄文美; 王博文

doi:10.3788/OPE.20192712.2618

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磁致伸缩触觉传感单元及其输出特性

微纳技术与精密机械 | 更新时间：2020-07-09

- 磁致伸缩触觉传感单元及其输出特性
- Magnetostrictive tactile sensor unit and its output characteristics
- 光学精密工程 2019年27卷第12期页码：2618-2627
- 作者机构：
  
  1.不饿河北工业大学省部共建电工装备可靠性与智能化国家重点实验室, 天津 300130
  2.河北工业大学河北省电磁场与电器可靠性重点实验室, 天津 300130
- 作者简介：
  
  [ "翁玲(1978-)，女，河南信阳人，博士，副教授，博士生导师，2008年于河北工业大学获得博士学位，主要从事新型磁性材料与智能器件等方面的研究。E-mail：llweng@163.com" ]
  [ "解观然(1995-)，男，河北衡水人，硕士研究生，2017年在河北工业大学获得学士学位，主要从事磁性材料与器件的研究。E-mail：1072134770@qq.com" ]
  黄文美(1969-)，女，河北望都人，博士，教授，博士生导师，2005于河北工业大学获得博士学位，主要从事新型磁性材料与智能器件、电机控制等方面的研究。E-mail：huzwm@hebut.edu.cn
- 基金信息：
  
  国家自然科学基金(51777053);河北省自然科学基金重点(E2017202035)
- DOI：10.3788/OPE.20192712.2618
  中图分类号： TP212.1
- 收稿日期：2019-05-20，
  
  录用日期：2019-7-19，
  
  纸质出版日期：2019-12-25
- 稿件说明：
移动端阅览
翁玲, 解观然, 张冰, 等. 磁致伸缩触觉传感单元及其输出特性[J]. 光学精密工程, 2019,27(12):2618-2627.

Ling WENG, Guan-ran XIE, Bing ZHANG, et al. Magnetostrictive tactile sensor unit and its output characteristics[J]. Optics and precision engineering, 2019, 27(12): 2618-2627.
翁玲, 解观然, 张冰, 等. 磁致伸缩触觉传感单元及其输出特性[J]. 光学精密工程, 2019,27(12):2618-2627. DOI： 10.3788/OPE.20192712.2618.

Ling WENG, Guan-ran XIE, Bing ZHANG, et al. Magnetostrictive tactile sensor unit and its output characteristics[J]. Optics and precision engineering, 2019, 27(12): 2618-2627. DOI： 10.3788/OPE.20192712.2618.

摘要

为了满足机器人精确感知和抓取物体的需要，首先设计了以铁镓丝为敏感元件的新型触觉传感单元，搭建了传感单元输出特性测试平台，测试了其输出电压与施加静态和动态压力的关系。以触觉传感单元为核心设计了传感器阵列结构，并将传感阵列安装在机械手上，进行了抓取实验。实验结果表明，施加静态压力时，在1.908 kA/m的偏置磁场下，长度为16 mm、直径为0.8 mm的铁镓丝组成的触觉传感单元在2 N压力下的输出电压可达96 mV，灵敏度为48 mV/N。在1~4 Hz、0~2 N的动态压力作用下，传感单元输出曲线平滑，灵敏度高。传感器阵列安装在机械手上，能感知多路压力信息，精确显示机械手指的受力分布情况，可广泛应用在机械手准确抓取与智能控制领域中。

Abstract

In order to enable robots to accurately perceive and grasp objects

a novel type of tactile sensing unit using an iron-gallium wire as the sensitive component was designed

and a test platform was developed to evaluate the output characteristics of the sensing unit. The relationship between the output voltage and the applied static and dynamic pressure was tested. A sensor array structure was designed using the tactile sensing unit as the core; then

the sensing array was mounted on a mechanical hand

and the gripping experiment was performed.The experimental results show that the tactile sensing unit

consisting of a Fe-Ga wire with a length of 16 mm and diameter of 0.8 mm in a bias magnetic field of 1.908 kA/m and a static pressure of 2 N

can achieve an output voltage of 96 mV and a sensitivity of 48 mV/N. Under the dynamic action of 1-4 Hz frequency and 0-2 N pressure

the output curve of the sensing unit is detected to be smooth

and the sensitivity is observed to be high. The sensor array is capable of sensing multiple sets of pressure information to accurately display the force distribution of the mechanical fingers.These properties make the unit widely applicable in the field of accurate grasping and intelligent control.

关键词

Keywords

references

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