Research On Three - Dimensional Force Sensor Based On PVDF

Robot technology is constantly developing, with its expanding range of applications and fields of application, the operation of the actual work requirements are becoming increasingly high, in particular industrial processes require objects soft crawl. Most of the existing robot tactile sensor directly detects the vertical force between the sensor and the object in the direction of the contact surface, which is feasible in the case of a hard object grab. However, the object of the process to achieve a soft crawling, the problem is not fully explained, this is because we can not determine the security and stability of soft or fragi le objects crawl require much force. In this case, the robot without destroying the object is to grab an object, the forces of multidimensional objects detection is crucial. In the complex process of crawling, crawling thing is being affected moment multidimensional force, by the direction parallel to the contact surface force detection can fully react the forces of objects, summary, with respect to grab soft objects or easily broken objects only, three-dimensional surface of the contact force information becomes extremely important. After a comparative study of the various existing robot tactile sensors, this paper studies the characteristics of piezoelectric PVDF piezoelectric film, presents a simple structure, small size, high sensitivity, ease of integration, ease of detecting the direction of the force based on the three-dimensional PVDF the three-dimensional force tactile sensor robot.The main contents are as follows:1) In-depth study of the existing tactile sensor design method, based on these, the use of physical parameters and polyvinylidene fluoride piezoelectric properties vinyl film designed a PVDF-based three-dimensional force tactile sensor robot, accurate real-time detection of three-dimensional force information, then the forces for effective analysis.2) Using3d linear theory and high-order theory established higher-order semi-analytical axisymmetric finite element equations of piezoelectric composite structure, and implemented finite element model analysis for the tactile sensor based on piezoelectric laminated structure. The error of simulation results lower than in4%, verified the rationality and feasibility of the structure, shorten the cycle of sensor design effectively. 3) According to the needs of the experiment, at the same time of making sensor signal conditioning circuit and data acquisition system is designed, the PVDF three-dimensional force robot tactile sensor output weak charge signals are amplified and deal with the noise, through the data acquisition card are transferred to the computer for further analysis and processing, the final analysis for three dimensional force information. Finally, through dynamic test and analysis, the experimental results show that the three-dimensional force robot tactile sensor based on PVDF performance is good, have good practical value.