Design Of Flexible Capacitive Tactile Sensing System For Robot Grabbing

Manipulating the end-executing claws to grab unknown objects is the main way for robots to complete tasks such as warehouse management,material transportation,and household services.With the gradual deepening of the application of robots in the industrial field,the types of grasping objects have also become more diverse,and more requirements are placed on robot grasping operations,such as grab surface irregular objects and fragile objects.Therefore,a large number of tactile sensing systems based on flexible materials have been applied to robot grippers,which can simulate the flexible grasping of human hands,measure the contact force and identify the characteristics of the contacted objects.This paper designs a capacitive flexible tactile sensor with high sensitivity and strong resilience that can be applied to the robot tactile system.By installing a sensor array on the robot's gripper,it has the ability to identify the surface characteristics of the object being grasped.The main work is as follows:(1)Based on the proposing the performance requirements of the flexible tactile sensor for the robot grasping operation,and analysis of the working mechanism of the capacitive flexible tactile sensor,it was decided to design a flexible tactile sensor based on the parallel plate structure,and the method of combining solid leaching and foaming technology to prepare double-pores structure dielectric layer.Facing the problem of irregular surface of the object to be grasped,the preparation of flexible fabric electrodes with robustness and durability.Mould designed for sensor packaging.(2)Using ABAQUS finite element analysis software to establish the mechanical model of the double-pores elastic dielectric layer.Analyzed the strain law of the dielectric layer,simulated the influence of the distribution of double-pores in the dielectric layer on the strain performance of the dielectric layer,and verified the resilience of the cavity structure to the dielectric layer under different contact depths and different viscoelastic materials the effective gain to verify the superiority of the preparation process.(3)Design a mechanical performance measurement platform to complete the sensitivity,resolution and other tests of the sensor.Verify the effective application of tactile sensing systems in wearable devices.The sensor array and data acquisition system are designed for the robot gripper.An experimental platform is built to test the ability of tactile perception system to recognize the surface features of objects.The flexible tactile sensor system will make great progress in the fields of identifying the characteristic parameters of unknown objects and medical rehabilitation.