Research On Data Acquisition System Of Non-uniform Tactile Sensor Array

In recent years, it has become a hotspot of research on robot tactile sensingtechnology, which is similar to human tactile sensor array technology for robotperception and interaction with the outside world, and it has become standard featuresof intelligence for mobile robots. In this paper, on the basis of the previous tactile sensorarray, it is aimed at the distinction of the intelligent robot tactile sensor array used in thesensing suit have different resolutions at different data acquisition region, and it cannotbe applied to the changeable situation in the adhesion of surface curvature, afteranalyzing the development history and current situation of the development of robottactile sensor at home and abroad, and after focusing on studying the intelligent robotsensor which used in suit design principle of sensor array and on the basis of the designthe whole array of different regions have different resolution of non-uniformdistribution of tactile sensor array, and developed the corresponding data acquisitionsystem. This data acquisition system has characteristics of local resolution adjustable,good array flexibility, corrosion resistance, wear resistance, impact resistance and etc,laying the foundation for suit to the practical application of robot tactile sensor.According to the design, the system hardware is mainly divided into a few parts:8x8main tactile sensor array and its driver scanning hardware,8x8secondary arraytactile sensor and its driver scanning hardware, SCB-68board connectors, PCI-6259data acquisition card and its connected shielded cable and installing a PC to theLabVIEW development platform, etc. Software on the SCM writes the sensor array ofhardware drivers and initialization procedures, based on the NI LabVIEW virtualinstrument software development platform design, writing the analog signal acquisitionprogram, the digital clock signal acquisition program and square wave output. In asingle sensitive element of conductive rubber a certain pressure, conductive rubber willbe compressed with the size of the force, which leads to a change in its resistance. In thecase of access to the reference voltage, the output voltage of the sensitive element willchange and it can reflect the size of the pressure. This paper design the non-uniformdistribution of scanning circuit by subprime array to replace the main array on aconductive rubber unit, made into greater density, higher resolution of the sensor array,it is written by the LabVIEW virtual instrument program timing controlling circuitthrough frequency division processing, controlling the main array progressive, scanning and secondary array per column, progressive scan, and put the scanning to the forcesignal conversion of voltage signal and stress position signal input to the dataacquisition card at the same time, through the virtual instrument program, make theinformation collected by displayed on PC.Through theoretical and experimental research, this paper designed bynon-uniform tactile sensor array data acquisition system, which realizes the array of thedata collected and improves local resolution tactile sensor array. It provides a newmethod for the development of robot tactile sensing suit.