Research On A Flexible Mechanical Sensor-actuator Device Based On Electromagnetic Effect

The force sensor and the force actuator are two important working parts at the robot performs the grasping task.The force sensor can realize the closed-loop control of the force actuator and improve the grasping intelligence of the robot.With the development of flexible electronic technology,flexible mechanical sensors and force actuators have become the research hotspots in the field of intelligent robot due to their good ductility and safe interactivity.However,at present,the research focus on the single force sensor or force actuator,the research of the integration is less.In addition,the force sensor and the force actuator use different principles,so the signal conversion is complex,the device are low integrated,which affect the grasp efficiency of the robot.In this work,a flexible mechanical sensor-feedback device is developed based on electromagnetic effect.Firstly,a tensile magnetic film with a maximum tensile rate of 120 % and magnetic field strength of 36 m T was prepared by mechanical blending method.Using the aforementioned magnetic film,a flexible pressure sensor was designed and fabricated based on the giant magnetoresistance effect,and its static and dynamic characteristics were tested.The force resolution was 0.5 k Pa,and the response time was about 100 ms.Based on the principle of repulsion between magnetic film and electromagnet,a force actuator was designed,and the magnetic field of the electromagnetic coil in the force actuator was analyzed and modeled,and the numerical relationship between the magnetic field intensity of the coil and the driving current was obtained.Combined with the designed flexible pressure sensor and force actuator,an integrated flexible mechanical sensor-feedback device was developed.The pressure and force feedback closed-loop test were carried out on it.The results show that: the integrated device was high integrated and signal conversion was simple.In the process of force execution,the measurement of pressure can be realized accurately and quickly,and the application requirements of sensing and execution functions can meet the requirement of sensing and actuating on one grasping contact point.The research work is helpful to improve the grasping intelligence level of existing robots,and can provide theoretical and technical support source innovation for the China's intelligent robot industry.