Galfenol Whisker Sensor Array for Texture Recognition and Reconstruction
Weng Ling1,2, Luo Xu1,2, Qi Fangfang1,2, Li Zhuolin1,2, Liu Kaile1,2
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 recognition and reconstruction of texture information is significant for robots working in unstructured environments to perceive surface features and adjust operational strategies. As a tactile sensor, the whisker sensor is an effective device for high-precision texture perception of objects because it is not affected by ambient light and unstructured environments and can collect surface texture information of objects through direct contact. Therefore, this paper used a novel magnetostrictive material, Galfenol, to design a whisker sensor unit and array. The output characteristics of the sensor array were analyzed using static and dynamic performance test systems, and it was loaded onto the manipulator for object surface texture recognition and reconstruction. Inspired by the sensing mechanism of animal whiskers and combined with the excellent sensing ability of Galfenol wire on surface texture height information, a Galfenol whisker sensor unit was designed and fabricated. Based on the theory of mechanics, electromagnetism, and piezomagnetic equation, the output voltage model of the whisker sensor unit was established, and the relationship between the output voltage and the surface texture height was described. The parameters of the sensor unit were determined by simulation optimization. A permanent magnet with a magnetic field intensity of 66.1 kA/m was used to provide a bias magnetic field, and Galfenol wire with a length of 16 mm and a tilt angle of 50° was used. The size of the sensor unit is 13 mm×4 mm×13 mm. In order to measure the surface texture of large and complex objects, a 4×2 sensor array was designed based on the sensor unit. The transverse and longitudinal distances between the units in the array are 1.2 mm and 14 mm, respectively. The planar resolution of the array is 1.2 mm. According to different requirements, expanding the array can improve the planar resolution and detection area. The output characteristics of the sensor array were tested by establishing static and dynamic performance test systems. The detection range of the texture height of the sensor unit is determined to be 0.01~1.6 mm, with a sensitivity of 243.3 mV/mm. The repeatability, response, and recovery time of the sensor unit were characterized by a 6 Hz square-wave force signal. The response and recovery time are 26 ms and 25 ms, respectively. The output voltage waveforms of the sensor unit were consistent in the 50-cycle test, indicating good dynamic performance and reliability. The experimental platform of texture recognition and reconstruction was built. The sensor unit was used to slide over the trapezoidal, triangular, and arc-shaped samples at a speed of 6.5 mm/s. The samples were identified by the shape of the output voltage waveforms. The surface two-dimensional textures of the samples were reconstructed using geometric formulas based on the output at different moments during the sliding process. The sensor array was installed onto the manipulator, sliding over the sample with a three-dimensional shape. The three-dimensional texture of the sample was reconstructed successfully through the output voltage. It is shown that the designed sensor array can be used surface texture recognition and reconstruction, thus providing more tactile information references for robots to perceive the environment.
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2024, Vol. 39 
