CAJ | 학술논문

针对智能机器人皮肤研究过程中三维力检测时存在温度干扰问题，文中以碳纳米管/炭黑/硅橡胶复合材料为力敏感材料，碳纤维/硅橡胶复合材料为温度敏感材料，聚酰亚胺作为柔性基底，设计了一种柔性三维力/温度复合传感器阵列。同时，采用高性能微处理器STM32F103和LabVIEW搭建了柔性三维力/温度传感阵列信号采集及温度补偿系统，对三维力与温度数据进行分析处理。实验结果表明，通过该三维力温度补偿系统可有效地降低温度对三维力检测时的干扰，提高了人工皮肤中三维力检测的准确性。
침대지능궤기인피부연구과정중삼유력검측시존재온도간우문제，문중이탄납미관/탄흑/규상효복합재료위력민감재료，탄섬유/규상효복합재료위온도민감재료，취선아알작위유성기저，설계료일충유성삼유력/온도복합전감기진렬。동시，채용고성능미처리기STM32F103화LabVIEW탑건료유성삼유력/온도전감진렬신호채집급온도보상계통，대삼유력여온도수거진행분석처리。실험결과표명，통과해삼유력온도보상계통가유효지강저온도대삼유력검측시적간우，제고료인공피부중삼유력검측적준학성。
In order to solve the problem of temperature interference in the research process of intelligence robots three-dimension detection, a three-dimensional force/temperature sensor array is designed in this paper.In the de-vice, CNTS/CB/silicon rubber composite material is used as the force-sensitive material, CF/silicone rubber com-posite material is used as the temperature-sensitive material, and polyimide is used as the flexible substrate.Mean-while, the signal acquisition and temperature compensation system of the three-dimensional force/temperature sen-sor array is designed by using high-performance microcontroller STM32F103 and LabVIEW to process the data of three-dimensional force and temperature.The experiment results indicate that the temperature compensation system can effectively reduce the temperature interference of three-dimensional force detection and improve the accuracy of three-dimensional force detection in artificial skin .