| With the development of robot technology, much attention has been attracted to the research on tactile sensor. Being an important sensing capability of ideal robots, tactile sensor acquires the external information via interaction to help robots to complete a variety of complex tasks with accurate perception. The tactile sensor used as a robot's skin should be able to provide spatiotemporal information on contact between its body surface and manipulated object. Especially, it should be able to measure 3-D force. The tactile sensor also needs to be so flexible that it can be mounted on curved robot's surface.Recently, different types of techniques have been explored in realizing the tactile sensors based on MEMS, capacitive, piezoelectric and PVDF techniques.Most of sensors are just combined arrays, which limit their flexibility. However, for most of objects to be interacted with robots, their surfaces are highly curved rather than being simple planar. Therefore, the research and development of tactile skin-like sensor array with good flexibility is essential. And the other is thin and flexible, but detected tactile information is generally limited to pressure force. Hence it cannot meet the actual demand for robots, especially for bio-robot.In this paper, we present a new three-dimensional force flexible tactile sensor made via "overall injection molding" technique. A new type of pressure-conductive rubber is adopted as sensitive material. This sensor is flexible and it can also measure three-dimensional continuous force. The other advantage of the sensor is that we can fix its structure first, and then fill the model with conductive rubber, so we can produce three-dimensional force flexible tactile sensors in batches.This paper is supported by the Foundation of 863 Program(Grant2007AA04Z220) and National Science Foundation of China(Grant#60672024).The main contents of the paper are as follows:1 . A acquisition and analyzing system for a new flexible three-dimension force sensor. A brief description of block diagram acquisition system of flexible three-dimension force sensor, and then introduce the design of flexible three-dimension force sensor and test principle , solving the crosstalk problem. A detailed description of the circuit of flexible three-dimension force sensor is introduced, from device selection to the final formation of the circuit are given a description. A relatively completed description is given to the development firmware, including the establishment of development environment,the specific design of . And introuducing the design of USB-based communication in detail.2. The design of software system on PC-based.As the system application software of the flexible three-dimension force sensor is developed under Windows XP environment. I/O request processing method was introduced in Windows XP environment. And drivers are introduced, mainly about the WDM driver and USB driver. The filtering algorithms of the flexible three-dimension force sensor was introduced, and then introducing the design of system application software of the flexible three-dimension force sensor.3.Sesor performance test platform building and experiment results analysis.In terms of featurs of sensor date process system:real-time,high-speed signal acquisition and analysis.The MCU achieves the function of the AD sampling and communication with PC by using C8051F320,and PC is mainly the software system which includes the acquirement of the sensing information,signal processing and the design of the USB port.Through the calibration platform,we calibrate the flexible three-dimension force sensor.In this paper we also introduce the process of platform building,calibrate experiment process and as well as the optimize method for adjusting dates... |
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