基于微孔抽丝成型工艺的软体力/位传感器

doi:10.3901/JME.2019.02.033

机械工程学报 ›› 2019, Vol. 55 ›› Issue (2): 33-41.doi: 10.3901/JME.2019.02.033

基于微孔抽丝成型工艺的软体力/位传感器

姚建涛^1,2, 张弘¹, 勾栓栓¹, 向喜梅¹, 许允斗^1,2, 赵永生^1,2

1. 燕山大学河北省并联机器人与机电系统实验室秦皇岛 066004;
2. 先进锻压成形技术与科学教育部重点实验室(燕山大学) 秦皇岛 066004

收稿日期:2018-04-02 修回日期:2018-09-19 出版日期:2019-01-20 发布日期:2019-01-20
作者简介:姚建涛,男1980年出生,教授。主要研究方向为机器人机构理论及多维力感知机构。E-mail:jtyao@ysu.edu.cn;赵永生,男,1962年出生,教授,博士研究生导师。主要研究方向为机器人技术、传感器技术、先进制造技术。E-mail:yszhao@ysu.edu.cn

Software Force and Displacement Sensor Based on Microporous Wire Drawing Molding Method

YAO Jantao^1,2, ZHANG Hong¹, GOU Shuanshuan¹, XIANG Ximei¹, XU Yundou^1,2, ZHAO Yongsheng^1,2

1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004;
2. Key Laboratory of Advanced Forging & Stamping Technology and Science, Ministry of Education(Yanshan University), Qinhuangdao 066004

Received:2018-04-02 Revised:2018-09-19 Online:2019-01-20 Published:2019-01-20

摘要/Abstract

摘要： 提出一种全柔性力/位传感器的设计、建模和制造方法，并进行试验验证。该传感器可通过附着在待测物表面或嵌入其内部进行力位混合的测量。首先，创新性地将提出的微孔抽丝成型工艺引入到软体结构的制造中，构建出低成本、易实现的软体微通道成型工艺体系，通过试验比对，验证了该工艺在软体微通道成型中的优势，成功实现了全柔性传感器高性能快速制造。其次，基于该成型方法设计了双层斜置并行多条的微通道传感器结构，有效地提高了灵敏度及线性度。最后通过试验对该传感器的性能进行验证。试验表明该传感器伸长率在14%以内时，作为全柔性力传感器线性误差小于5%，灵敏度为16.95 mV/N；作为全柔性位移传感器线性误差小于2%，灵敏度为5.56 mV/mm。研究内容为全柔性传感器在实际应用中的结构设计和成型方法中有很大的参考价值。

关键词: 抽丝成型工艺, 力/位感知, 全柔性传感器, 液态金属

Abstract: A fully flexible force position sensor's design, modeling and manufacturing method are introduced in this article, and the experimental verification is carried out. The sensor can be used to measure the force or displacement by attaching to the surface of the object or embedding it inside. First of all, the wire drawing molding method of micro manufacturing is introduced into the structure of the software innovatively, construction of low cost, easy to realize the software of micro channel forming process system, verify the advantages of the process in the forming of the micro channel software by comparison, the high performance and rapid manufacturing of the full flexible sensor has been achieved successfully. Secondly, based on the method, a double layer parallel multi strip micro channel sensor structure is designed, which effectively improves the sensitivity and linearity. The performance of the sensor has been verified through experiments. When the elongation is less than 14%, as a full flexible force sensor, the linear error is less than 5%, and the sensitivity is 16.95 mV/N. As a full flexible displacement sensor, the linear error is less than 2%, and the sensitivity is 5.56 mV/mm. The research content has great reference value for the structure design and forming method of the full flexible sensor in practical application.

Key words: force or displacement perception, fully flexible sensor, liquid metal, wire drawing molding method

中图分类号:

TH706

姚建涛, 张弘, 勾栓栓, 向喜梅, 许允斗, 赵永生. 基于微孔抽丝成型工艺的软体力/位传感器[J]. 机械工程学报, 2019, 55(2): 33-41.

YAO Jantao, ZHANG Hong, GOU Shuanshuan, XIANG Ximei, XU Yundou, ZHAO Yongsheng. Software Force and Displacement Sensor Based on Microporous Wire Drawing Molding Method[J]. Journal of Mechanical Engineering, 2019, 55(2): 33-41.

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基于微孔抽丝成型工艺的软体力/位传感器

Software Force and Displacement Sensor Based on Microporous Wire Drawing Molding Method

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