Research Of Tensile Properties Of Carbon Sensitive Material And Flexible-elastic Sensor

This paper mainly analyzed the tensile mechanical properties and tensileresistance properties of carbon sensitive materials. Resistance change principle ofCarbon black/silicone rubber material in the process of drawing is analyzed andconfirmed by GEM model, and then revealed the principle of tensile sensor ofcarbon black/silicone rubber material. Based on the piezoresistive properties andthe tensile resistance characteristics of carbon sensitive materials, a flexible-elasticsensor array is designed for complex parts of robot, such as robot elbow.Multiple sets of flexible conductive composites materials are made by fillingwith different types and different components of carbon series conductive material.The tensile mechanical properties and the tensile-resistance characteristics ofvarious carbon sensitive materials are analyzed separately by tensile experiment.The experimental data of stretching range、sensitivity、linearity of multiple sets ofmaterial are compared by combining with microscopic figure.Studying the influence of resistivity and resistance geometry coefficient on“positive tensile-resistance Characteristics”(PTCR) of carbon black/silicon rubberbased on GEM model of general effective medium theory. Through the theory andexperiment, showing that tensile-resistance characteristics of carbon black/siliconrubber is relate to the filler volume fraction and the tensile length. In a certaintensile range of40%, when the ratio of carbon black is near the percolationthreshold, the increasing of resistivity dominated in PTVR effect. With the increaseof filler volume fraction of carbon black, resistance geometry coefficient dominatedin PTVR effect. Within a range of filler content, the PTCR effect is related totensile length. With the increase of tensile length, the main reason of PTCR effectis the change of the resistivity instead of the change of geometric coefficient ofresistance.Based on the tensile-resistance properties and the pressure-resistanceproperties of carbon black/silicone rubber, a soft-elastic array sensor which is ableto measure the pressure and the length for robot skin is designed. The array sensorwith elastic electrode structure is designed, this design make the tactile sensor arraycan stretch and bend, realizing the performance of the soft-elastic. Inserting the tensile sensor into the pressure sensor array at the same time, a kind ofmulti-function flexible-elastic sensor array for robot skin is designed. Reason forerror is analyzed when tension and pressure is function at the same time, realizingthe tension and pressure measurements of sensor array at the same time.