基于敏感阵列的触觉传感器结构设计及仿真分析详解.docVIP

基于敏感阵列的触觉传感器结构设计及仿真分析 摘 要 触觉是生物体感知外部环境的重要手段，是仿生机器人研究的一个重要内容。相比于视觉、听觉等其他感知形式，触觉能感知更多信息量，如接触力的大小、柔软性、硬度、弹性、粗糙度、温度和湿度等。三维力触觉传感器，将在体育运动、医疗康复、机器人等领域发挥重要的作用。 本论文利用材料力学、有限元仿真、模式识别等学科的研究成果，从传感器结构设计的角度出发，研究了基于导电橡胶的三维力柔性触觉传感器的若干理论和技术问题，提出了一种新的三维力柔性触觉传感器模型。本论文的主要研究内容如下： (1)利用有限元仿真技术，对基于二层双面节点对称交叉分布的柔性触觉阵列传感器结构进行仿真，建立传感器的三维力一电阻仿真数字模型。 (2)提出基于一种新的柔性触觉传感器N型微结构，建立相应的三维力-电阻数学模型，并利用有限元仿真进行模拟和结构优化。该新型结构首先从结构上对三维力进行了优化，降低了原来高维、多参数传感器信号在实时、精确解耦方面的难度。 关键词：柔性触觉传感器;三维力结构设计; ANSYS仿真分析 Design of The Structure Design and Simulation Analysis of Tactile Sensor Based on Sensitive Array Abstract Tactile is an important sensing for the robots to perceive the external information，in particular，it’ an important research content of bionic robot． to the visual，auditory and other perceived forms，tactile reception can get more information：surface roughness，temperature flexibility and shape etc．．Flexible three-dimensional force tactile sensor play an important role in sports，medical，rehabilitation，robotics and other study fields． This paper made full use of the scientific achievements in the fields of pattern recognition，material mechanics，finite element simulation．In the sensor structure design point of view，we studied some key theoretical and technical problems of the 3D flexible tactile sensor based on the conductive rubber．and present a new 3D force flexible tactile sensor model．The main research contents and innovations are as follows： (1)With finite element simulation，we simulated the structure of flexible tactile sensor array of two layers in symmetric cross distribution，established a 3D stress—resistance simulation model of the sensor． (2)Present a new flexible tactile sensor based on the N—type micro structure，established the 3D stress—resistance mathematical model，and simulated and optimized with finite element simulation．The method decoupling the 3D stress from the structure，reduce the difficulty in decoupling of the high dimensional，multi parameter sensor signals． Keywords