CAJ | 학술논문

当机器手抓取时物体受力信息检测是抓取过程顺利进行的基础，检测三维方向上的力便可充分反映物体的受力信息。当前用于抓取过程中三维力检测的触觉传感器还存在着一些不足，基于此，论文拟设计一种基于PVDF的三维力机器人触觉传感器。论文展示了传感器的结构设计，建立了压电薄膜及传感头结构的数学模型，设计了调理电路并对传感器进行测试和验证，结果表明该传感器能有效检测机器手抓取过程中的三维力信息。
당궤기수조취시물체수력신식검측시조취과정순리진행적기출，검측삼유방향상적력편가충분반영물체적수력신식。당전용우조취과정중삼유력검측적촉각전감기환존재착일사불족，기우차，논문의설계일충기우PVDF적삼유력궤기인촉각전감기。논문전시료전감기적결구설계，건립료압전박막급전감두결구적수학모형，설계료조리전로병대전감기진행측시화험증，결과표명해전감기능유효검측궤기수조취과정중적삼유력신식。
Detecting the force information of an object matters if a robot hand may smoothly grasp the object or not, and the force information may be fully reflected from the three-dimensional direction force. There are still some de-fects in current tactile sensors for detecting three-dimensional force during grasping. Thus,an attempt was made to design a PVDF-based tactile sensors for three-dimensional force in this paper. The structural design of the sensor was presented,and a signal conditioning circuit was designed. Meanwhile,mathematical model were established for the piezoelectric film and the structure of the sensor head. Besides,the sensor was tested and validated and the re-sults shows that the sensor was effective for detecting three-dimensional force in the process of grasping an object with a robot hand.