基于压力敏感导电橡胶的柔性多维阵列触觉传感器研究
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摘要
随着机器人技术的发展,应用于智能机器人,特别是仿生机器人和服务机器人的柔性多维触觉传感器的研究越来越重要。由于柔性多维触觉传感器具有对任意材质和自由曲面的压力分布测量的功能,因此在体育训练,康复医疗,运动生物力学等诸多领域中也具有广泛的应用前景。
本学位论文选题来源于国家自然科学基金资助项目(编号:60672024)和国家863计划项目(编号:2007AA04Z220)。本论文综合应用材料科学、纳米技术、传感技术和人工智能等学科领域的理论与技术,针对目前多维阵列触觉传感器研究和应用中不能兼有柔韧性和测量多维力特征信息等难题,进行了传感器材料、制备工艺、传感器结构等方面的创新性研究。主要研究工作及取得的创新性成果如下:
1.深入分析了压力敏感导电橡胶各种材料成分的结构、物理化学性质及相互间的作用机理,提出了兼顾高柔软性和高导电性的新的材料配方,研究了经济可行的直接由液体固化成型的压力敏感导电橡胶制备新工艺;使制备任意形状的柔性触觉传感器阵列成为可能。
2.应用宏观导电通路理论和微观隧道电流理论,探讨了压力敏感导电橡胶的导电机理,深入分析了压力敏感导电橡胶的非线性渗滤导电现象和影响材料压阻特性的主要因素。通过理论分析和实验研究,获得了确定最佳炭黑导电填料添加比例的科学依据。
3.理论分析了所选纳米改性材料粒子的微观结构及其在聚合物中的物理特性,深入研究了纳米改性材料对压力敏感导电橡胶的作用机理。首次提出了利用纳米材料对压力敏感导电橡胶进行改性从而提高材料性能的新方法。对添加了纳米SiO_2和纳米Al_2O_3的压力敏感导电橡胶进行了压阻特性/蠕变特性/温度特性/抗老化特性等比对标定实验,实验结果表明:纳米材料使压力敏感导电橡胶的多项特性均有了明显的改善。
4.研制了两种具有创新型结构的柔性多维阵列触觉传感器,一为基于体压阻效应的整体多层网状阵列结构,另一为基于界面压阻效应的单层阵列结构。分别对两种结构的传感器进行了受力分析,建立了探测三维力信息的数学模型。通过实验,研究和分析了两种结构传感器的特点和主要误差源。结果表明,基于这两种新型结构和数学模型的柔性多维阵列触觉传感器,均可有效的实现三维力信息的检测。
本文研究的新型可液体成型的压力敏感导电橡胶材料,不仅具有良好力学和电学性能,而且制作成本低,制备工艺简单易行;所研制的柔性多维阵列触觉传感器既具有类似于人体皮肤的柔韧性,又具有获取三维方向力信息的功能。本论文的研究工作及成果为进一步研究机器人敏感皮肤和柔性触觉传感器的推广应用奠定了良好的基础。
With the development of robot technology, the research of flexible multi-dimensional tactile sensor used in intelligent robot, in particular bio-robot and service robot has more and more important. As the flexible multi-dimensional tactile sensor has a measurement functions for contact pressure distribution of any material and free-form surface, which it have wide application prospect in many fields such as athletic training, medical rehabilitation and sport biomechanics, etc.
This dissertation is originated from the National Natural Science Foundation (No. 60672024) and National High Technology Research and Development Program (863 Program No.2007AA04Z220). The paper deals with a comprehensive application of theory and technology based on materials science, nanotechnology, sensor technology and artificial intelligence. In view of the current situation in the research and application of multi-dimensional array tactile sensor can not simultaneously meet the requirement of flexibility and obtaining multi-dimensional force information, the innovative research on sensor materials, preparation, and the structure of sensor is carried out. The major research and innovative results are as follows:
1. Based on in depth analysis of the structure, between interactions mechanisms, physical and chemical properties of various materials for pressure sensitive conductive rubber, the new material formula of high flexibility and high conductivity is proposed. The new preparation technical of the economic feasibility for pressure sensitive conductive rubber in Liquid Forming is studied, which makes it possible to prepare the flexible tactile sensor array that can be molded randomly.
2. The conduction mechanism of pressure sensitive conductive rubber is discussed by making use of macro conductive path theory and micro tunnel current theory. The non-linear percolation conductivity phenomenon and the main affecting factor of piezoresistive properties for pressure sensitive conductive rubber are comprehensively analyzed. Through theoretical analysis and experimental study, a scientific basis for the suitable ratio of carbon black as conductive filler is provided.
3. The microstructure and physical properties of selected Nano-modified material in polymer are theoretical analyzed. The action mechanism of nano-modified materials for the pressure sensitive conductive rubber is studied. Based on the modification of pressure-sensitive conductive rubber made use of nano-materials, the new method to enhance the material properties is proposed for the first time. The performance of piezoresistive / creep / temperature / anti-aging of pressure sensitive conductive rubber filled with nano-SiO_2 and nano-Al_2O_3 are calibrated and compared. The experimental results show that nano materials can remarkably improve a number of characteristics of pressure sensitive conductive rubber.
4. The two types of innovative structure of flexible multi-dimensional array tactile sensor are developed, one is overall multi-layer net array structure based on body piezoresistive effect, and the other is single-layer array structure based on interface piezoresistive effect. The sensors based on the above two structures are respectively given force analysis, and the mathematical model to detect three-dimensional force information is established. Through experiments, their own characteristics and main sources of error of the two structures are researched and analyzed. The result shows that the detection of three-dimensional force information can be effectively realized for flexible multi-dimensional array tactile sensor based on the two structures and mathematical model.
The new type of pressure sensitive conductive rubber can be molded in liquid of this paper not only has good mechanical and electrical properties, but has the characteristics of production of low cost and simple, easy preparation; The developed flexible multi-dimensional array tactile sensors is similar to human skin which has function to obtain information of three-dimensional force. The work and obtained achievements in the paper will lay a good foundation for further study on popularization and application for robot sensitive skin and flexible tactile sensor application.
本学位论文选题来源于国家自然科学基金资助项目(编号:60672024)和国家863计划项目(编号:2007AA04Z220)。本论文综合应用材料科学、纳米技术、传感技术和人工智能等学科领域的理论与技术,针对目前多维阵列触觉传感器研究和应用中不能兼有柔韧性和测量多维力特征信息等难题,进行了传感器材料、制备工艺、传感器结构等方面的创新性研究。主要研究工作及取得的创新性成果如下:
1.深入分析了压力敏感导电橡胶各种材料成分的结构、物理化学性质及相互间的作用机理,提出了兼顾高柔软性和高导电性的新的材料配方,研究了经济可行的直接由液体固化成型的压力敏感导电橡胶制备新工艺;使制备任意形状的柔性触觉传感器阵列成为可能。
2.应用宏观导电通路理论和微观隧道电流理论,探讨了压力敏感导电橡胶的导电机理,深入分析了压力敏感导电橡胶的非线性渗滤导电现象和影响材料压阻特性的主要因素。通过理论分析和实验研究,获得了确定最佳炭黑导电填料添加比例的科学依据。
3.理论分析了所选纳米改性材料粒子的微观结构及其在聚合物中的物理特性,深入研究了纳米改性材料对压力敏感导电橡胶的作用机理。首次提出了利用纳米材料对压力敏感导电橡胶进行改性从而提高材料性能的新方法。对添加了纳米SiO_2和纳米Al_2O_3的压力敏感导电橡胶进行了压阻特性/蠕变特性/温度特性/抗老化特性等比对标定实验,实验结果表明:纳米材料使压力敏感导电橡胶的多项特性均有了明显的改善。
4.研制了两种具有创新型结构的柔性多维阵列触觉传感器,一为基于体压阻效应的整体多层网状阵列结构,另一为基于界面压阻效应的单层阵列结构。分别对两种结构的传感器进行了受力分析,建立了探测三维力信息的数学模型。通过实验,研究和分析了两种结构传感器的特点和主要误差源。结果表明,基于这两种新型结构和数学模型的柔性多维阵列触觉传感器,均可有效的实现三维力信息的检测。
本文研究的新型可液体成型的压力敏感导电橡胶材料,不仅具有良好力学和电学性能,而且制作成本低,制备工艺简单易行;所研制的柔性多维阵列触觉传感器既具有类似于人体皮肤的柔韧性,又具有获取三维方向力信息的功能。本论文的研究工作及成果为进一步研究机器人敏感皮肤和柔性触觉传感器的推广应用奠定了良好的基础。
With the development of robot technology, the research of flexible multi-dimensional tactile sensor used in intelligent robot, in particular bio-robot and service robot has more and more important. As the flexible multi-dimensional tactile sensor has a measurement functions for contact pressure distribution of any material and free-form surface, which it have wide application prospect in many fields such as athletic training, medical rehabilitation and sport biomechanics, etc.
This dissertation is originated from the National Natural Science Foundation (No. 60672024) and National High Technology Research and Development Program (863 Program No.2007AA04Z220). The paper deals with a comprehensive application of theory and technology based on materials science, nanotechnology, sensor technology and artificial intelligence. In view of the current situation in the research and application of multi-dimensional array tactile sensor can not simultaneously meet the requirement of flexibility and obtaining multi-dimensional force information, the innovative research on sensor materials, preparation, and the structure of sensor is carried out. The major research and innovative results are as follows:
1. Based on in depth analysis of the structure, between interactions mechanisms, physical and chemical properties of various materials for pressure sensitive conductive rubber, the new material formula of high flexibility and high conductivity is proposed. The new preparation technical of the economic feasibility for pressure sensitive conductive rubber in Liquid Forming is studied, which makes it possible to prepare the flexible tactile sensor array that can be molded randomly.
2. The conduction mechanism of pressure sensitive conductive rubber is discussed by making use of macro conductive path theory and micro tunnel current theory. The non-linear percolation conductivity phenomenon and the main affecting factor of piezoresistive properties for pressure sensitive conductive rubber are comprehensively analyzed. Through theoretical analysis and experimental study, a scientific basis for the suitable ratio of carbon black as conductive filler is provided.
3. The microstructure and physical properties of selected Nano-modified material in polymer are theoretical analyzed. The action mechanism of nano-modified materials for the pressure sensitive conductive rubber is studied. Based on the modification of pressure-sensitive conductive rubber made use of nano-materials, the new method to enhance the material properties is proposed for the first time. The performance of piezoresistive / creep / temperature / anti-aging of pressure sensitive conductive rubber filled with nano-SiO_2 and nano-Al_2O_3 are calibrated and compared. The experimental results show that nano materials can remarkably improve a number of characteristics of pressure sensitive conductive rubber.
4. The two types of innovative structure of flexible multi-dimensional array tactile sensor are developed, one is overall multi-layer net array structure based on body piezoresistive effect, and the other is single-layer array structure based on interface piezoresistive effect. The sensors based on the above two structures are respectively given force analysis, and the mathematical model to detect three-dimensional force information is established. Through experiments, their own characteristics and main sources of error of the two structures are researched and analyzed. The result shows that the detection of three-dimensional force information can be effectively realized for flexible multi-dimensional array tactile sensor based on the two structures and mathematical model.
The new type of pressure sensitive conductive rubber can be molded in liquid of this paper not only has good mechanical and electrical properties, but has the characteristics of production of low cost and simple, easy preparation; The developed flexible multi-dimensional array tactile sensors is similar to human skin which has function to obtain information of three-dimensional force. The work and obtained achievements in the paper will lay a good foundation for further study on popularization and application for robot sensitive skin and flexible tactile sensor application.
引文
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