文档名：用于纹理识别与重建的铁镓合金触须传感器阵列
摘要：受动物触须传感机制的启发,结合铁镓合金(Galfenol)对物体表面纹理高度信息的优良感知能力,设计制作一种铁镓合金触须传感器单元,并将其集成为4×2阵列.基于力学、电磁学理论和压磁方程建立了传感器单元输出电压模型,描述了输出电压与物体表面纹理高度的关系.实验测试了传感器单元的静态和动态特性.设计的传感器单元能够检测物体表面0.01～1.6mm纹理高度变化,灵敏度为243.3mV/mm,且具有较快的响应时间(26ms)和恢复时间(25ms).将传感器单元与阵列装载在机械手上滑过具有不同纹理的样品表面,利用输出电压波形可识别与重建样品表面纹理.结果表明,设计的传感器阵列能够高精度地感知物体表面纹理信息,进而指导机械手调整操作策略,完善人机交互过程.
Abstract：Therecognitionandreconstructionoftextureinformationissignificantforrobotsworkinginunstructuredenvironmentstoperceivesurfacefeaturesandadjustoperationalstrategies.Asatactilesensor,thewhiskersensorisaneffectivedeviceforhigh-precisiontextureperceptionofobjectsbecauseitisnotaffectedbyambientlightandunstructuredenvironmentsandcancollectsurfacetextureinformationofobjectsthroughdirectcontact.Therefore,thispaperusedanovelmagnetostrictivematerial,Galfenol,todesignawhiskersensorunitandarray.Theoutputcharacteristicsofthesensorarraywereanalyzedusingstaticanddynamicperformancetestsystems,anditwasloadedontothemanipulatorforobjectsurfacetexturerecognitionandreconstruction.InspiredbythesensingmechanismofanimalwhiskersandcombinedwiththeexcellentsensingabilityofGalfenolwireonsurfacetextureheightinformation,aGalfenolwhiskersensorunitwasdesignedandfabricated.Basedonthetheoryofmechanics,electromagnetism,andpiezomagneticequation,theoutputvoltagemodelofthewhiskersensorunitwasestablished,andtherelationshipbetweentheoutputvoltageandthesurfacetextureheightwasdescribed.Theparametersofthesensorunitweredeterminedbysimulationoptimization.Apermanentmagnetwithamagneticfieldintensityof66.1kA/mwasusedtoprovideabiasmagneticfield,andGalfenolwirewithalengthof16mmandatiltangleof50°wasused.Thesizeofthesensorunitis13mm×4mm×13mm.Inordertomeasurethesurfacetextureoflargeandcomplexobjects,a4×2sensorarraywasdesignedbasedonthesensorunit.Thetransverseandlongitudinaldistancesbetweentheunitsinthearrayare1.2mmand14mm,respectively.Theplanarresolutionofthearrayis1.2mm.Accordingtodifferentrequirements,expandingthearraycanimprovetheplanarresolutionanddetectionarea.Theoutputcharacteristicsofthesensorarrayweretestedbyestablishingstaticanddynamicperformancetestsystems.Thedetectionrangeofthetextureheightofthesensorunitisdeterminedtobe0.01～1.6mm,withasensitivityof243.3mV/mm.Therepeatability,response,andrecoverytimeofthesensorunitwerecharacterizedbya6Hzsquare-waveforcesignal.Theresponseandrecoverytimeare26msand25ms,respectively.Theoutputvoltagewaveformsofthesensorunitwereconsistentinthe50-cycletest,indicatinggooddynamicperformanceandreliability.Theexperimentalplatformoftexturerecognitionandreconstructionwasbuilt.Thesensorunitwasusedtoslideoverthetrapezoidal,triangular,andarc-shapedsamplesataspeedof6.5mm/s.Thesampleswereidentifiedbytheshapeoftheoutputvoltagewaveforms.Thesurfacetwo-dimensionaltexturesofthesampleswerereconstructedusinggeometricformulasbasedontheoutputatdifferentmomentsduringtheslidingprocess.Thesensorarraywasinstalledontothemanipulator,slidingoverthesamplewithathree-dimensionalshape.Thethree-dimensionaltextureofthesamplewasreconstructedsuccessfullythroughtheoutputvoltage.Itisshownthatthedesignedsensorarraycanbeusedsurfacetexturerecognitionandreconstruction,thusprovidingmoretactileinformationreferencesforrobotstoperceivetheenvironment.
作者：翁玲 罗旭 齐芳芳 李卓林 刘凯乐Author：WengLing LuoXu QiFangfang LiZhuolin LiuKaile
作者单位：省部共建电工装备可靠性与智能化国家重点实验室(河北工业大学)天津300130;河北省电磁场与电器可靠性重点实验室(河北工业大学)天津300130
刊名：电工技术学报
Journal：TransactionsofChinaElectrotechnicalSociety
年，卷(期)：2024, 39(4)
分类号：TP212
关键词：铁镓合金 触须传感器 纹理识别 纹理重建
Keywords：Galfenol whiskersensor texturerecognition texturereconstruction
机标分类号：TP391.41TP212.1R187
在线出版日期：2024年3月5日
基金项目：国家自然科学基金，国家自然科学基金，中央引导地方科技发展资金，河北省自然科学基金，河北省高等学校科学研究资助项目用于纹理识别与重建的铁镓合金触须传感器阵列[
期刊论文] 电工技术学报--2024, 39(4)翁玲 罗旭 齐芳芳 李卓林 刘凯乐受动物触须传感机制的启发,结合铁镓合金(Galfenol)对物体表面纹理高度信息的优良感知能力,设计制作一种铁镓合金触须传感器单元,并将其集成为4×2阵列.基于力学、电磁学理论和压磁方程建立了传感器单元输出电压模型,描...参考文献和引证文献
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用于纹理识别与重建的铁镓合金触须传感器阵列 Galfenol Whisker Sensor Array for Texture Recognition and Reconstruction
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