Research Of Three-axis Force Tactile Sensing Technology Applying Piezoelectricity

This paper reviews the current state-of-the-art and direction of research in tactile sensing technology at home and abroad in the first place. The different methods of transduction employed by tactile sensor are examined in detail and the various significant designs that incorporate these methods are described. However, among the numerous tactile sensors, there are no satisfactory solutions when measuring three-axis force directly.This paper brings forward a newly tactile sensing technology applying piezoelectricity of quartz crystal. This new technology has many advantages such as easy to fabricate, low cost, facile micromation, no mechanical interference among element, high sensitivity and strong anti-jamming and easy to realize output of digital signal. Consequently, there is a lot of research being done in this field because of its scientific and practical significance. Moreover, this project gets financial aid from the National Science Foundation of the State.In addition that, the present paper details the principle of the sensor and the corresponding experiment system. It is comprised of a sensor head (a quadrangular pyramid tip , a base, four quartz crystal plates) and a network analyzer and an apparatus to apply three-axis force. According to mechanics, four plates of the quadrangular pyramid tip correspondingly receive four one-dimension forces when applying a three-axis force to the sensor head. Because quartz crystal has a force-frequency effect, namely, resonance frequency change of the quartz crystal is in direct proportion to one-dimension forces applying to it, four certain resonance frequency changes of the four quartz crystal plates are corresponding to a three-axis force. Measure these change, we can calculate the magnitude and direction of the three-axis force.Finally, The paper also describes method and result of experiment based on above mention. The result of experiment prove that there is a excellent linear relationship between three-axis force applying to sensor head and the change of four quartz crystal plates, which indicate that the three-axis force tactile sensing technology applying piezoelectricity of quartz crystal is scientific and feasible.