Study Of Non-Array Tactile Sensing Mechanism Based On Electrostatic Double Layer Capacitor And Piezoelectric Principles

The tactile sensor is an important means to identify environmental information such as object characteristics and the surface information of the object.In recent years,the cooperation between intelligent robots and people is getting closer and closer.The research on robot touch is getting deeper and deeper,and giving them a sense of touch is of great significance for realizing better collaboration between robots and people.The research of non-array flexible tactile sensors is of great significance for the realization of human-computer interaction.This paper proposes a flexible non-array type for intelligent robots based on the problems of poor flexibility,structure and processing complexity of existing flexible tactile sensors.Based on the analysis of the domestic and international tactile sensor technology,this paper analyzes and compares various forms of tactile sensors,expounds the advantages and disadvantages of tactile sensors,and introduces the sensing principle of tactile sensors designed in this topic in detail.The overall structure of the touch sensor can change the potential distribution of the electrode plate on the sensor due to the pressure of the sensor.The force model of the sensor is established,and the relationship between voltage and pressure is derived to verify the feasibility of the pressure detection of the sensor.Study the material selection and fabrication process of the touch sensor,analyze the conductive mechanism of the touch sensor electrode,analyze the conductive properties of the conductive rubber as the electrode,the influence of the size of the mesh layer involved in the sensor structure on the capacitance generated by the sensor,and the ion gel As the capacitance characteristics of the electric double layer capacitor formed by the dielectric layer,the selection and characteristics of the piezoelectric material in the stress test were initially conducted.Aiming at the sensing principle and positioning method of the flexible tactile sensor,a signal acquisition system is designed to realize signal acquisition and display.Analyze the acquisition principle of the tactile sensor signal,verify the feasibility of the tactile sensor signal acquisition principle through experiments;study the non-array signal acquisition method,improve the sensor signal acquisition speed;use the data acquisition card to collect the sensor signal,and simultaneously write the PC software,the data After processing,the pressure and position of the measured object are obtained.The performance of the non-array flexible tactile sensor proposed in this paper was analyzed and verified experimentally.Voltage output-pressure loading experiments on non-array tactile sensors,testing the sensitivity and accuracy of sensors and signal acquisition systems,verifying the tactile perception function,simultaneously detecting the position,deriving,and correspondingly the relationship between the sensor position and the output voltage.And get the pressure of the measured object.