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| Design and Output Characteristics of Bionic Magnetostrictive Tactile Sensor Array |
| Liu Shasha1,2, Wang Bowen1,2, Huang Wenmei1,2, Weng Ling1,2, Gao Shaoyang1,2 |
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 Inspired by the tactile mechanism of animal hair, a bionic magnetostrictive tactile sensing unit was designed using the magnetically sensitive material Galfenol filaments. Based on the inverse magnetostrictive effect, linear piezomagnetic equation and material mechanics, the output characteristic model of the sensing unit was established, and the structure of the sensing unit was optimized according to the model parameters to reduce the space volume. A sensor array model was built in COMSOL to analyze the influence of magnetic field interference on the output results. The output characteristics of the 3×3 sensor array were tested and loaded on the mechanical hand for grasping experiment. The experimental results show that, under a bias magnetic field of H=1.6kA/m, the output voltage of the sensing unit changes linearly under the force of 0-3N, the sensitivity is 15.87mV/N, and the response time is 30ms. Under the force of 2N, the average output voltage of the sensor array is 96.94mV, and the sensitivity is 48.47mV/N. The developed sensor array has good stability and sensitivity, and can accurately perceive the contact force information when the manipulator is used to grasp the object.
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Received: 30 April 2020
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2021, Vol. 36 
