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| 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 |
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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%.
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Received: 28 May 2020
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2021, Vol. 36 
