Design And Output Characteristics Of Magnetostrictive Tactile Sensor For Texture Recognition

Tactile sensing and recognition technology plays an important role in the exchange of information between intelligent robots and the external environment.With the rapid development of intelligent robot technology,the application of tactile sensing and recognition technology has received widespread attention.Tactile sensing technology can provide intelligent robots with sensing information on the geometry,texture,temperature,flexibility and stiffness of contacting objects.Combined with tactile recognition technology,it can improve the ability of intelligent robots to perceive and evaluate the external environment.As the core hardware of the tactile sensing technology,the tactile sensor needs to conduct research on the characteristics of sensitive materials,design and production,and model output characteristics to optimize its performance.Existing tactile sensors are mainly based on static force detection,which cannot well meet the needs of texture recognition during dynamic slip.Therefore,based on the magnetostrictive effect and piezomagnetic effect of the Galfenol alloy,a new magnetostrictive tactile sensor is designed.Using the combination of theoretical analysis and experimental research,the theoretical model deduction,output characteristic analysis and texture recognition of the tactile sensor were carried out.In order to optimize the performance of the tactile sensor,first,the COMSOL simulation software was used to simulate and analyze the magnetic field-pressure field multi-field coupling characteristics of the sensor sensitive material sheet Galfenol alloy.A test platform for the sheet Galfenol alloy was built to test the magnetostrictive effect and piezomagnetic effect of the sheet Galfenol alloy.According to the simulation and test results,the factors affecting the magnetostriction and piezomagnetic coefficient of the sheet Galfenol alloy were analyzed,and the bias magnetic field at the maximum magnetostriction and piezomagnetic coefficient was 4.2 k A / m.Furthermore,based on the inverse magnetostrictive effect of the Galfenol alloy,imitating human fingers,a magnetostrictive tactile sensor was designed and manufactured.Combining Euler-Bernoulli beam structural mechanics principles and Hooke's theorem,a sensor static force test model is established,and a Faraday electromagnetic induction law and a texture surface sliding dynamic equation are used to establish a texture detection model.Finally,a sensor prototype was made,and a tactile sensor experimental test platform was built.The output characteristics of the tactile sensor's static force model are analyzed.It is concluded that the sensor has good linearity in the range of 0 ? 4N,the sensitivity reaches 64 m V / m,and the optimal bias magnetic field of the sensor is 4.2k A / m.Using the3 D printed texture mold,the output characteristics of the texture detection model of the tactile sensor were analyzed to verify the correctness of the model and the feasibility of texture detection.Combined with the method of extracting the main frequency and the centroid of the spectrum,seven different denim fabric texture samples in daily life were subjected to texture recognition.