Key Technology Research And Application Of MRE Haptic Sensing

In order to satisfy the production and life of human beings,robots have been invented and the requirements for it have been constantly increasing.Robots achieve a high degree of intelligence through the ability to see,hear,speak,and touch,and replace humans to do some single and repetitive tasks.As one of the important components of robot intelligence,tactile sensing technology is still far from mature in the application of three aspects of seeing,hearing and speaking.The main reason is that most of the existing tactile sensors cannot meet the needs of robot applications.Therefore,tactile sensing technology will be a major trend and important research direction in the development of highly intelligent robots in the next few years.This thesis focuses on the shortcomings of existing tactile sensors such as low sensitivity,low mileage,complex processing technology,exposed sensing units,low integration and mostly rigidity,etc.,and mainly develops capacitive tactile sensors based on magnetorheological elastomer(MRE)Preparation of sensitive units,theoretical analysis and experimental verification of pressure-capacitance conductivity.Explore the application of MRE tactile sensors in the field of massage robots.The main work is as follows:The research status of tactile sensors at home and abroad,the research status of magnetorheological elastomers and the research status of massage robot tactile sensing technology are briefly described.Summarizing the current problems of tactile sensing units and the deficiencies of tactile sensing in massage robots,it is proposed to use MRE as tactile sensing units in massage robots.Summarized the existing MRE preparation methods and procedures,combined with the existing conditions of our laboratory,made some improvements and optimizations to some problems existing in the existing preparation methods and procedures.The pressure capacitance effect is theoretically analyzed through the tunnel effect theory,and the pressure capacitance equation is established.The pressure-capacity characteristic experiment system and experiment method are designed using pressure testing machine and LCR tester.The test analyzes the effect of filling particles with different volume fractions on the initial capacitance of different intensities of the curing magnetic field;the test analyzes the capacitance conductivity characteristics of the MRE prepared by filling particles with different volume fractions under different curing magnetic fields;the test analyzes the volume fraction of 25vol%and 30vol%MRE capacitor reduction characteristics and 30vol%molding volume fraction under different curing magnetic fields.Combining theory and experiments,the optimal magnetic field preparation scheme of MRE with optimal pressure-capacitance characteristics is summarized.The MRE obtained with a volume fraction of 30vol%under a 200mT magnetic field has the best pressure-capacity characteristics and stability,and also has a wide working range.Provide a basis for the application of MRE tactile sensing.Combining massage techniques,strength and MRE's wide working range and good capacitance characteristics,the tactile sensor is applied to the massage robot.Designed a control strategy for flexible massage,realized the massage process and soft constant force massage,designed the massage body mechanism applied to the massage robot,integrated the MRE in the massage body mechanism,and controlled the softness of the massage according to the actual massage situation Basically meet the requirements of supple massage.