Design And Simulation Of Three-dimensional Tactile-thermal Sensor Based On PVDF

For the development of intelligent robots, the tactile sensor is an important sensorindispensable. Currently, unidirectional force tactile sensor research has maderemarkable achievements, the technology is relatively mature, to achieve thecommercialization of some products, but only a simple detection method to force,limits the scope of application of tactile sensors, and it is difficult to meet theintelligent robot for tactile sensor flexibility, multidimensional and versatilityrequirements. Therefore, this article has designed a three-dimensional tactile-thermalsensor which is based on polyvinylidene fluoride (PVDF) film, the main researchcontents are as follows:Firstly, the paper analyzes the research status of tactile-thermal sensors at homeand abroad, and has studied the principles, performance and advantages anddisadvantages of various tactile sensors. The problems and reasons of tactile-thermalsensor are analyzed. And it is compared tactile sensors which are produced by makinguse of the piezoresistive effect, capacitance change, the magnetostrictive effect, opticaland the piezoelectric effect. That lays a foundation of using the piezoelectric effect toproduce tactile-thermal sensor.Secondly, this article analyzes the superiority of PVDF piezoelectric film from thesensitive material, and description of the sensing principle and the measurement circuitof the PVDF film in detail. And use the finite element analysis software ANSYS toanalyze different shapes of PVDF piezoelectric film. The main analyzes the effect ofcurvature and the arch height for sensitivity of PVDF piezoelectric film, that lays thefoundation of analysis based on the design of the surface of PVDF film tactile-thermalsensors.Then, pyroelectric effect and pyroelectric materials are described in detail in thepaper, and analyze the PVDF film pyroelectric sensing principles and methods ofmeasurement of pyroelectric coefficient, that lays the foundation of thermalsensation analysis based on PVDF film tactile-thermal sensors.Again, this article describes the overall structure of three-dimensional tactile-thermal sensors in detail, focuses on the detection principle of the flexiblethree-dimensional force and thermal sensation. It is analysis of the signal detection circuit in response to a voltage signal. And the thermal sensing signal, tactile andslip signal extracting method are described in detail.Finally, by using the three-dimensional finite element theory and ANSYSsoftware for the design of three-dimensional tactile-thermal sensor has established amodel of the sensor in the three-dimensional software Solidworks. And using ANSYSsoftware for tactile-thermal sensor has been piezoelectric coupling analysis andthermal-electric coupling analysis. The simulation results show that the design oftactile-thermal sensor structure is reasonable.