Object Recognition of Magnetostrictive Tactile Sensor Array Applied to Manipulator
Huang Shan1,2, Wang Bowen1,2, Zhao Zhizhong1,2, Wang Liang1,2, Weng Ling1,2
1. State Key Laboratory of Reliability and Intelligentization of Electrical Equipment Hebei University of Technology Tianjin 300130 China; 2. Key Laboratory of Electromagnetic Field and Electrical Apparatus Reliability of Hebei Province Hebei University of Technology Tianjin 300130 China
Abstract：The tactile sensor unit was designed and manufactured using the magnetostrictive material Galfenol, which was integrated into an array and installed on the two-finger manipulator. The tactile sensor unit force measurement model was established based on the electromagnetic principle, the inverse magnetostrictive effect and the Euler Bernoulli dynamics principle. The measuring range of the sensor unit is 0~3N. When the pressure is less than 1.5N, the sensitivity is 150mV/N. In the range of 1.5~3N, the sensitivity is about 103mV/N. It has higher sensitivity when measures lower static force, and has the characteristics of fast dynamic response and high sensitivity to dynamic force in the range of 2~4Hz. According to the measurement range of the manipulator, six kinds of beverage bottles with regular shapes were selected. The experimental system was built for collecting and saving data and testing the output characteristics of the sensor. The integrated sensor array can identify the selected sample well, and has higher accuracy for the sample filled with water. By selecting appropriate eigenvalues and applying support vector machine algorithm, the collected datas are classified by selecting different eigenvalues and the proportion of training sets and classification sets. According to the calculation, when three eigenvalues are selected and the ratio between training sets and classification sets is 9:1, the recognition rate is the highest, which is 87.5%.
[1] José L Ocaña, Li Chuang, Francisco Cordovilla,. Design optimization and fabrication of a novel structural piezoresistive pressure sensor for micro-pressure measurement[J]. Solid-State Electronics, 2018, 139(1): 39-47. [2] 毛磊东, 黄英, 郭小辉, 等. 一种可感知三维力的新型柔性触觉传感器及滑觉识别算法研究[J]. 传感技术学报, 2018, 31(6):891-897. Mao Leidong, Huang Ying, Guo Xiaohui, et al.Research on a novel flexible 3-axis tactile sensor and slip recognition algorithm[J]. Chinese Journal of Sensors and Actuators, 2018, 31(6): 891-897. [3] Mitsutoshi M, Masanori M, Shuji T, et al.Design and fabrication technology of low profile tactile sensor with digital interface for whole body robot skin[J]. Sensors, 2018, 18(7):2374. [4] Spanu A, Pinna L, Viola F, et al.A high-sensitivity tactile sensor based on piezoelectric polymer PVDF coupled to an ultra-low voltage organic transistor[J]. Organic Electronics, 2016, 36: 57-60. [5] Liang Zou, Chang Ge, Wang Z J, et al.Novel tactile sensor technology and smart tactile sensing systems: a review[J]. Sensors, 2017, 17(11): 2653. [6] Denei S, Maiolino P, Baglini E, et al.Development of an integrated tactile sensor system for clothes manipulation and classification using industrial grippers[J]. IEEE Sensors Journal, 2017, 17(19): 6385-6396. [7] Wang Rongrong, Dong Chunfeng, Zhao Ruomeng, et al.Flexible and controllable Piezo-Phototronic pressure mapping sensor matrix by ZnO NW/p-Polymer LED array[J]. Advanced Functional Materials, 2015, 25(19): 2884-2891. [8] 翁玲, 吕稼先, 王跃虎, 等. 应力对Galfenol 合金感应强度的影响[J]. 磁性材料及器件, 2016, 47(1): 1-4. Weng Ling, Lü Jiaxian, Wang Yuehu, et al.Effect of stress on the magnetic induction of Galfenol alloy[J]. Magnetic Materials and Devices, 2016, 47(1): 1-4. [9] Li Yunkai, Wang Bowen, Li Yuanyuan, et al.Design and output characteristics of magnetostrictive tactile sensor for detecting force and stiffness of manipulated objects[J]. IEEE Transactions on Industrial Informatics, 2018, 15(2): 1219-1225. [10] Zhang Ru, Duan Yuanfeng, Wing O S, et al.Smart Elasto-Magneto-Electric (EME) sensors for stress monitoring of steel cables: design theory and experimental validation[J]. Sensors, 2014, 14(8): 13644. [11] 万丽丽, 王博文, 索峰, 等. 基于磁致伸缩逆效应的纹理触觉传感器研究[J], 河北工业大学学报, 2019, 48(5): 1-6. Wan Lili, Wang Bowen, Suo Feng, et al.Research on texture tactile sensor based on inverse magnetos-trictive effect[J]. Journal of Hebei University of Technology, 2019, 48(5): 1-6. [12] 王博文, 谢新良, 周露露, 等. Fe-Ga磁特性测试装置改进与动态磁致伸缩实验[J]. 光学精密工程, 2017(9): 143-151. Wang Bowen, Xie Xinliang, Zhou Lulu, et al.Improvement of testing device for Fe-Ga magnetic properties and dynamic magnetostrictive experiment[J]. Optics and Precesion Engineering, 2017(9): 143-151. [13] Stoppels D.Developments in soft magnetic power ferrites[J]. Journal of Magnetism and Magnetic Materials, 1996, 160: 323-328. [14] Zheng Xiaojing, Liu X E .A nonlinear constitutive model for Terfenol-D rods[J]. Journal of Applied Physics, 2005, 97(5): 61. [15] 王博文. 超磁致伸缩材料制备与器件设计[M].北京: 冶金工业出版社, 2003. [16] 杨秋玉, 阮江军, 黄道春, 等. 基于振动信号时频图像识别的高压断路器分闸缓冲器状态评估[J]. 电工技术学报, 2019, 34(19): 4048-4057. Yang Qiuyu, Ruan Jiangjun, Huang Daochun, et al.Opening damper condition evaluation based on vibration time-frequency images for high-voltage circuit breakers[J]. Transaction of China Electrotechnical Society, 2019, 34(19): 4048-4057. [17] 郭凤仪, 陈明阳, 陈忠华, 等. 弓网滑动电接触摩擦力特性与建模研究[J]. 电工技术学报, 2018, 33(13): 2982-2990. Guo Fengyi, Chen Mingyang, Chen Zhonghua, et al.Research on friction characteristics and modeling of Pantograph-Catenary sliding electrical contact[J]. Transaction of China Electrotechnical Society, 2018, 33(13): 2982-2990. [18] 徐静妹, 李雷. 基于稀疏表示和支持向量机的人脸识别算法[J]. 计算机技术与发展, 2018, 28(2): 59-63. Xu Jingmei, Li Lei.A face recognition algorithm based on sparse representation and support vector machine[J]. Computer Technology and Development, 2018, 28(2): 59-63. [19] 王智勇, 郭凤仪, 冯晓丽, 等. 基于电流信号特征的弓网电弧识别方法[J]. 电工技术学报, 2018, 33(1): 82-91. Wang Zhiyong, Guo Fengyi, Feng Xiaoli, et al.Recognition method of pantograph arc based on current signal characteristics[J]. Transaction of China Electrotechnical Society, 2018, 33(1):82-91. [20] 杨秋玉, 阮江军, 黄道春, 等. 基于振动信号时频图像识别的高压断路器分闸缓冲器状态评估[J]. 电工技术学报, 2019, 34(19): 4048-4057. Yang Qiuyu, Ruan Jiangjun, Huang Daochun, et al.Opening damper condition evaluation based on vibration time-frequency images for high-voltage circuit breakers[J]. Transaction of China Electrotechnical Society, 2019, 34(19): 4048-4057. [21] 王栋悦, 谷怀广, 魏书荣, 等. 基于机电信号融合的DFIG定子绕组匝间短路故障诊断[J]. 电力系统自动化, 2020, 44(9): 171-180. Wang Dongyue, Gu Huaiguang, Wei Shurong, et al.Diagnosis of inter-turn short-circuit fault in stator windings of DFIG based on mechanical and electrical signal fusion[J]. Automation of Electric Power Systems, 2020, 44(9):171-180. [22] 姜涛, 王长江, 陈厚合, 等. 基于正则化投影孪生支持向量机的电力系统暂态稳定评估[J]. 电力系统自动化, 2019, 43(1): 141-151. Jiang Tao, Wang Changjiang, Chen Houhe, et al.Transient stability assessment of power system based on projection twin support vector machine with regularization[J]. Automation of Electric Power Systems, 2019, 43(1): 141-151. [23] 张婷婷, 于明, 李宾, 等. 基于Wavelet降噪和支持向量机的锂离子电池容量预测研究[J]. 电工技术学报, 2020, 35(14): 3126-3136. Zhang Tingting, Yu Ming, Li Bin, et al.Capacity prediction of lithium-ion batteries based on wavelet noise reduction and support vector machine[J]. Transaction of China Electrotechnical Society, 2020, 35(14): 3126-3136.
2021, Vol. 36 
