A capacitive flexible pressure sensing unit with a composite porous ionogel dielectric layer was developed using PVDF-HFP and BMIM-PF6 as the matrix and ion source,respectively.The sensing unit was further enhanced by a melamine framework and impregnation process,resulting in high sensitivity(17.2 kPa-1)and wide detection range(0-500 kPa).In addition,a Hall-type tangential force sensing unit was designed,in which a Hall chip,an elastomer,and a NdFeB magnet were integrated to provide high sensitivity(8.610 mT·N-1)and wide detection range(0-20 N).Finally,by integrating the above pressure and tangential force sensing unit,a flexible haptic end of the robot with multi-dimensional force sensing function was prepared,and this haptic end was applied for the insertion and removal of plugs and fiber optic pigtails.The results show that with the assistance of the haptic end,the inspection robot is able to monitor and judge typical working conditions such as slipping,normal condition,and jammed during the insertion and removal operations,which effectively improves the safety and success rate of the operation of the inspection robot.
关键词
触觉末端/多维力传感器/拔插作业/巡检机器人
Key words
tactile ending/multi-dimensional force sensor/plug/unplug operation/inspection robot
维普
万方数据