Design And Analysis Of Flexible Distributed Sensing System For Complex Software Robot

Flexible electronic technology has laid the foundation for complex human-computer interaction system,and has attracted great attention in the field of human motion detection and software robot research and development.Graphene has high electron mobility,high thermal conductivity,excellent mechanical properties,and is an ideal material for preparing flexible conductive networks.In this study,we studied the rheological behavior of graphene PDMS ink and proposed an optimal graphene ratio,which makes the ink have excellent printability and conductivity at the same time.Then,based on the Peano’s fractal layout theory,we propose a two-dimensional structure that can withstand multi-directional tension by replacing the traditional corner structure with an arc structure.Then we adjusted the ink composition and printing structure by means of direct ink writing,printed the fractal structure with PDMS graphene ink on Ecoflex00-30 as the substrate.After curing,it has high tensile and piezoresistive sensing properties,and prepared the circular arc fractal structure sensor with a structure thickness of 2mm,which is convenient for assembly and attachment.Finally,we evaluate the detection performance and repeatability of the sensor.The fractal structure sensor has good biocompatibility and can be flexibly attached to the finger and other joint positions.The good flexibility makes it compatible with the position and pose detection of pneumatic soft mechanical gripper.The sensor has been tested at different bending angles,showing excellent sensitivity(response time<0.1S)and wide response range(maximum bending sensitive angle>60 °),which can be used for instantaneous tension,bending and torsion attitude recognition.At the same time,the fractal structure sensor shows a certain stress sensitivity,and has an obvious response to the stress changes within a certain range.In addition,we also studied the temperature sensitivity of the sensor,and drew the hysteresis curve of the sensor,which shows that it can also be used in many occasions with air temperature detection requirements.Finally,repeatability and good mechanical properties make it have potential applications in wearable devices,electronic skin and soft robots.Thanks to the flexibility and expandability of additive manufacturing,the design idea and manufacturing process of this fractal structure sensor will contribute to the development of other flexible electronic device industries.