基于L型铁钴的三维力触觉传感器设计及输出特性

doi:10.19595/j.cnki.1000-6753.tces.231082

Abstract
Figure/Table
References
Related Citation (15)

Download: PDF (4142 KB) HTML (1 KB)
Export: BibTeX | EndNote (RIS)

Abstract In today's era, manipulators, as a replacement and function extension for human hands, have been widely used in various industrial fields. In order to meet more complex perception needs, more and more three-dimensional force tactile sensors have emerged. According to the different sensing mechanisms, three-dimensional force sensors can be divided into piezoelectric, piezoresistive, capacitive, electromagnetic, photoelectric and other types. Piezoresistive sensors are measured by the change in resistance of resistance, which has a certain hysteresis and cannot measure the physical quantity in dynamic scenarios well; In the measurement of capacitive sensors, the influence of parasitic capacitance cannot be ignored, and its measurement circuit is complex; Electromagnetic sensors are susceptible to interference from the external environment. As a piezomagnetic material, magnetostrictive material has the characteristics of changing with the magnetization state of the applied material under stress, can respond instantaneously, and the output signal is stable. This gives magnetostrictive materials a great advantage in tactile sensing, enabling fast measurement of dynamic and static forces. Among many magnetic materials, new sensitive magnetostrictive materials represented by iron gallium are widely used in sensors that measure small forces such as displacement, texture and touch due to their high sensitivity and strong linearity.
However, iron-gallium alloy has excellent electromagnetic properties in a single fixed orientation, and has certain limitations in multi-dimensional force measurement. In this paper, a three-dimensional force tactile sensor based on L-type iron-cobalt wire is proposed, and a three-dimensional force tactile sensing unit is designed and fabricated by using magnetostrictive material iron-cobalt alloy, and the output characteristics of the structure are tested. Based on the electromagnetic principle, the inverse magnetostrictive effect and the Euler Bernoulli kinetic principle, the output voltage equation is derived.
The experimental platform of the tactile sensing unit was built, the normal and tangential calibration of the sensor was carried out, and the normal force measurement range of the designed sensor was 0~13 N, the tangential force measurement range was 0~6 N, and the output characteristics had a good linear relationship. Among them, the sensitivity in the range of 0~8 N normal force is about 23.997 mV/N, and the sensitivity in the range of 9~13 N normal force is about 17.537 mV/N; The sensitivity in the range of 0~4 N tangential force is about 11.599 mV/N, and the sensitivity in the range of 5~6 N tangential force is about 6.281 mV/N. Under the condition of 4 Hz frequency and 2 N normal force, the output voltage amplitude change range of the dynamic response of the sensor is 46.5~49.8 mV, the relative error with the amplitude of the static force output voltage is less than 5%, and the response time and recovery time are 25 ms and 29 ms, respectively, indicating that the sensor has good dynamic characteristics. The generalized inverse matrix and BP neural network are used to decouple the three-dimensional force sensed by the sensor, and the average error of the BP neural network decoupling method is only 2.90%, which can effectively improve the measurement accuracy. The sensor has small size and good output linearity, which can realize the measurement of static force and dynamic force at the same time, and has a good application prospect in intelligent robots and other fields.

Key words： Inverse magnetostrictive effect BP neural networks L-type iron cobalt wire dynamic force measurement static force measurement

Received: 07 July 2023

PACS:

TM274

	Service

	E-mail this article
	Add to my bookshelf
	Add to citation manager
	E-mail Alert
	RSS
	Articles by authors
	Cui Miao
	Li Mingming
	Huang Wenmei
	Weng Ling

Cite this article:

Cui Miao,Li Mingming,Huang Wenmei等. Design and Output Characteristics of Three-Dimensional Force Tactile Sensor Based on L-Type Iron and Cobalt[J]. Transactions of China Electrotechnical Society, 2024, 39(16): 4944-4954.

URL:

https://dgjsxb.ces-transaction.com/EN/10.19595/j.cnki.1000-6753.tces.231082 OR https://dgjsxb.ces-transaction.com/EN/Y2024/V39/I16/4944

[1] Weng Ling, Xie Guanran, Zhang Bing, et al.Magnetostrictive tactile sensor array for force and stiffness detection[J]. Journal of Magnetism and Magnetic Materials, 2020, 513: 167068.
[2] Norman M D A, Ferreira S A, Jowett G M, et al. Measuring the elastic modulus of soft culture surfaces and three-dimensional hydrogels using atomic force microscopy[J]. Nature Protocols, 2021, 16(5): 2418-2449.
[3] Liu Yulu, Wo Hualei, Huang Shuyi, et al.A flexible capacitive 3D tactile sensor with cross-shaped capacitor plate pair and composite structure dielectric[J]. IEEE Sensors Journal, 2021, 21(2): 1378-1385.
[4] Li Jing, Zhang Ze, Duan Biao, et al.Design and characterization of a miniature three-axial mems force sensor[J]. Journal of Mechanics in Medicine and Biology, 2020, 20(10): 2040038.
[5] Wang Hongbo, de Boer G, Kow J, et al. Design methodology for magnetic field-based soft tri-axis tactile sensors[J]. Sensors, 2016, 16(9): 1356.
[6] 胡瑞明. 基于复眼微结构的柔性压力传感器制备及测试[J]. 固体电子学研究与进展, 2022, 42(5): 400-404.
Hu Ruiming.Fabrication and test of flexible pressure sensor based on compound eye microstructure[J]. Research & Progress of SSE, 2022, 42(5): 400-404.
[7] 吴佳贝, 刘仪琳, 卢佳飞, 等. 电容式三维力触觉传感器的设计与解耦研究[J]. 科学技术创新, 2023(9): 13-16.
Wu Jiabei, Liu Yilin, Lu Jiafei, et al.Design and decoupling of capacitive three-axis force tactile sensors[J]. Scientific and Technological Innovation, 2023(9): 13-16.
[8] 李志鹏, 王博男, 孟旭, 等. 电磁式扭矩传感器原理、研究现状及发展趋势[J]. 仪器仪表学报, 2021, 42(1): 1-14.
Li Zhipeng, Wang Bonan, Meng Xu, et al.Principle, study status and development trend of the electromagnetic torque sensor[J]. Chinese Journal of Scientific Instrument, 2021, 42(1): 1-14.
[9] 黄文美, 夏志玉, 郭萍萍, 等. 变温条件下TbDyFe合金高频磁特性和损耗特性分析[J]. 电工技术学报, 2022, 37(1): 133-140.
Huang Wenmei, Xia Zhiyu, Guo Pingping, et al.Analysis of high frequency magnetic properties and loss characteristics of TbDyFe alloy under variable temperature[J]. Transactions of China Electrotechnical Society, 2022, 37(1): 133-140.
[10] 黄珊, 王博文, 赵智忠, 等. 应用于机械手的磁致伸缩触觉传感器阵列与物体识别[J]. 电工技术学报, 2021, 36(7): 1416-1424.
Huang Shan, Wang Bowen, Zhao Zhizhong, et al.Object recognition of magnetostrictive tactile sensor array applied to manipulator[J]. Transactions of China Electrotechnical Society, 2021, 36(7): 1416-1424.
[11] 赵智忠, 索峰, 万丽丽, 等. 用于纹理辨识的磁致伸缩触觉传感器研究[J]. 仪表技术与传感器, 2021(5): 16-21.
Zhao Zhizhong, Suo Feng, Wan Lili, et al.Research on magnetostrictive tactile sensor for texture identificaition[J]. Instrument Technique and Sensor, 2021(5): 16-21.
[12] 赵智忠, 王春雷, 王博文. 适用于智能机械手的Galfenol悬臂梁式力传感器设计[J]. 仪表技术与传感器, 2020(9): 1-5, 30.
Zhao Zhizhong, Wang Chunlei, Wang Bowen.Galfenol cantilever beam force sensor design suitable for intelligent manipulator[J]. Instrument Technique and Sensor, 2020(9): 1-5, 30.
[13] Steinwachs J, Metzner C, Skodzek K, et al.Three-dimensional force microscopy of cells in biopolymer networks[J]. Nature Methods, 2016, 13: 171-176.
[14] Zhang Bing, Wang Bowen, Li Yunkai, et al.Magnetostrictive tactile sensor array for object recognition[J]. IEEE Transactions on Magnetics, 2019, 55(7): 4002207.
[15] Gao Shaoyang, Weng Ling, Deng Zhangxian, et al.Biomimetic tactile sensor array based on magneto-strictive materials[J]. IEEE Sensors Journal, 2021, 21(12): 13116-13124.
[16] Zhang Bing, Wang Bowen, Weng Ling, et al.A magnetostrictive tactile sensing unit and the integration of sensor array for intelligent manipulator[J]. IEEE Access, 2020, 8: 187848-187857.
[17] Yang Huiwen, Weng Ling, Wang Bowen, et al.Design and characterization of high-sensitivity magneto-strictive tactile sensor array[J]. IEEE Sensors Journal, 2022, 22(5): 4004-4013.
[18] Yang Huiwen, Weng Ling, Wang Bowen, et al.Design and characterization of high-sensitivity magnetostrictive tactile sensor array[J]. IEEE Sensors Journal, 2022, 22(5): 4004-4013.
[19] 黄文美, 刘泽群, 郭万里, 等. 磁致伸缩振动能量收集器的全耦合非线性等效电路模型[J]. 电工技术学报: 1-12.
Huang Wenmei, Liu Zequn, Guo Wanli, et al.Fully coupled nonlinear equivalent circuit model of magneto-strictive vibration energy harvester[J]. Transactions of China Electrotechnical Society:1-12.
[20] 刘莎莎, 王博文, 黄文美, 等. 仿生磁致伸缩触觉传感阵列设计与输出特性[J]. 电工技术学报, 2021, 36(12): 2576-2584.
Liu Shasha, Wang Bowen, Huang Wenmei, et al.Design and output characteristics of bionic magnetostrictive tactile sensor array[J]. Transactions of China Electrotechnical Society, 2021, 36(12): 2576-2584.
[21] 黄文美, 陶铮, 郭萍萍, 等. 棒状铁镓合金磁特性测试装置的设计与实验[J]. 电工技术学报, 2023, 38(4): 841-851.
Huang Wenmei, Tao Zheng, Guo Pingping, et al.Design and experiment of high frequency magnetic properties testing device for rod iron-gallium alloy[J]. Transactions of China Electrotechnical Society, 2023, 38(4): 841-851.
[22] 张艳芳, 刘玉荣, 许章铖. 基于PVDF三维力传感器设计[J]. 仪器仪表学报, 2021, 42(7): 66-72.
Zhang Yanfang, Liu Yurong, Xu Zhangcheng.Design of three-dimensional force sensor based on PVDF[J]. Chinese Journal of Scientific Instrument, 2021, 42(7): 66-72.
[23] 李波, 杨家斌, 舒亮, 等. 考虑应力耦合的三维磁致伸缩力传感模型研究[J]. 系统仿真学报, 2018, 30(10): 3671-3680.
Li Bo, Yang Jiabin, Shu Liang, et al.Three-dimensional model of magnetostrictive force sensor considering stress coupling and experimental research[J]. Journal of System Simulation, 2018, 30(10): 3671-3680.
[24] 梁桥康, 成乐凯, 龙建勇, 等. 机器人多维力传感器[J]. 测控技术, 2023, 42(4): 1-8, 21.
Liang Qiaokang, Cheng Lekai, Long Jianyong, et al.Robotic multi-component force/torque sensors: a review[J]. Measurement & Control Technology, 2023, 42(4): 1-8, 21.
[25] Li Junfei, Crivoi A, Peng Xiuyuan, et al.Three dimensional acoustic tweezers with vortex streaming[J]. Communications Physics, 2021, 4: 113.
[26] Shen Lu, Tai Junfei, Crivoi A, et al.Self-stabilizing three-dimensional particle manipulation via a single-transducer acoustic tweezer[J]. Applied Physics Letters, 2023, 122(9): 094106.
[27] 彭浩, 李昕, 周立, 等. 基于三维力传感器的工业机器人力控应用[J]. 科技与创新, 2022(18): 169-172, 175.
Peng Hao, Li Xin, Zhou Li, et al.Application ofindustrial robot force control based on three-dimensional force sensor[J]. Science and Technology & Innovation, 2022(18): 169-172, 175.
[28] 彭小武, 马国鹭, 赵涌, 等. 三维力传感器的设计和静态解耦算法研究[J]. 传感技术学报, 2021, 34(11): 1518-1522.
Peng Xiaowu, Ma Guolu, Zhao Yong, et al.Design of three-dimensional force sensor and research on the static decoupling algorithm[J]. Chinese Journal of Sensors and Actuators, 2021, 34(11): 1518-1522.