Research On The Sensor Array With Touching For Robotic Arms

The study of flexible touch-sensitive skin is one of the hotspot in academic research,it is mainly used in the technology of intelligence robot perception of the external environment,and has become a standard characteristic of judging whether it is the intelligent robot.Based on the flexible touch sensitive skin research status at home and abroad are summarized,the deficiencies and the development trend,developed with good scalability,flexibility,high resolution,the material easy to obtain the characteristics of flexible tactile sensor array,and design a set of high integration,low cost,fast processing speed of the hardware system,a flexible strain sensor array based on strain gauge and signal scanning and analysis system is designed.Which have laid a foundation for the development of flexible touch-sensitive skin.Flexible Tactile Sensitive Skin Scanning and Signal Analysis Processing systems include flexible tactile sensor arrays,signal processing systems based on STC89C52 MCU and FPGAs,and display the sensor array location has the function of LabVIEW display interface.This paper will study on the following points:(1)the design of flexible touch-sensitive skin sensor unit structure and arrangement;(2)to design a set of flexible touch sensitive skin and processing output signal hardware system,including scanning circuit,Circuit and signal analysis processing circuit;(3)based on LabVIEW virtual instrument software development platform design the serial communication program and digital signal acquisition;(4)for sensitive to the flexible tactile skin experiment in single channel single point,single channel more experiment and multi-channel multi-point experiment.When the flexible tactile sensor array stress,the strain of the organizational resistance becomes larger,turn on the switch circuit,the circuit output signal will be a corresponding change,which reflects the external force of the situation.This article uses the method of line scan progressive-scan,flexible tactile sensor array to the flexible tactile sensor array of rows and columns respectively by scanning circuit and the signal collection circuit,through the scanning circuit and the sampling circuit block,each sensor unit,in turn,the input voltage signal to the signal conditioning circuit,and then by the MCU will handle the signal input to the computer,finally the computer to collect the signal in the LabVIEW design display interface.Through the theoretical analysis and experimental verification,the flexible tactile sensitive skin in this paper and signal analysis and processing system are feasible and can accurately obtain the information of the location and force of the flexible touch sensitive skin,so as to provide the flexible and sensitive skin for the robot a new method.