为了满足机器人精确感知和抓取物体的需要, 首先设计了以铁镓丝为敏感元件的新型触觉传感单元, 搭建了传感单元输出特性测试平台, 测试了其输出电压与施加静态和动态压力的关系。以触觉传感单元为核心设计了传感器阵列结构, 并将传感阵列安装在机械手上, 进行了抓取实验。实验结果表明, 施加静态压力时, 在1.908 kA/m的偏置磁场下, 长度为16 mm、直径为0.8 mm的铁镓丝组成的触觉传感单元在2 N压力下的输出电压可达96 mV, 灵敏度为48 mV/N。在1~4 Hz、0~2 N的动态压力作用下, 传感单元输出曲线平滑, 灵敏度高。传感器阵列安装在机械手上, 能感知多路压力信息, 精确显示机械手指的受力分布情况, 可广泛应用在机械手准确抓取与智能控制领域中。

In order to enable robots to accurately perceive and grasp objects, a novel type of tactile sensing unit using an iron-gallium wire as the sensitive component was designed, and a test platform was developed to evaluate the output characteristics of the sensing unit. The relationship between the output voltage and the applied static and dynamic pressure was tested. A sensor array structure was designed using the tactile sensing unit as the core; then, the sensing array was mounted on a mechanical hand, and the gripping experiment was performed.The experimental results show that the tactile sensing unit, consisting of a Fe-Ga wire with a length of 16 mm and diameter of 0.8 mm in a bias magnetic field of 1.908 kA/m and a static pressure of 2 N, can achieve an output voltage of 96 mV and a sensitivity of 48 mV/N. Under the dynamic action of 1-4 Hz frequency and 0-2 N pressure, the output curve of the sensing unit is detected to be smooth, and the sensitivity is observed to be high. The sensor array is capable of sensing multiple sets of pressure information to accurately display the force distribution of the mechanical fingers.These properties make the unit widely applicable in the field of accurate grasping and intelligent control.