For the problems of small device size and visual occlusion during the micro flexible flat cable assembly operations,an assembly state sensing technology of micro flexible flat cables was pro-posed based on capacitive array tactile sensors herein.Firstly,the mechanism of capacitive three-di-mensional tactile sensing was analyzed,and a highly sensitive array tactile sensor based on vertical to-pological mesh dielectric layer was designed to realize highly sensitive sensing of the assembly state of the micro flexible flat cables.Secondly,in order to overcome the limitation of wiring complexity and array scanning cycle,based on the expansion of capacitive digital chip,the highly dynamic three-di-mensional array information scanning system was designed and the highly dynamic sensing for assem-bly states of micro flexible flat cables was realized,and the miniaturized capacitive array tactile sen-sors were fabricated integrally.Finally,the robot micro flexible flat cable assembly operating system was built and the array tactile information features were collected and analyzed in real time during the assembly processes,so as to verify the accuracy and effectiveness of the proposed technology.
关键词
软排线装配操作/状态感知/电容式/阵列触觉传感器
Key words
flexible flat cable assembly/state sensing/capacitive/array of tactile sensor
维普
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