Sensors, Focus on Tactile, Force and Stress Sensors 2011 Part 10

Tham khảo tài liệu 'sensors, focus on tactile, force and stress sensors 2011 part 10', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Development of Anthropomorphic Robot Hand with Tactile Sensor SKKU Hand II 261 using the high voltage supply. Polarization is carried out at 170 C with the applied voltage of 3kV and load of 5N. The film is placed on a glass substrate while mechanically constrained and held at 170 C for 1 hour then allowed to cool down before the applied voltage is removed. As shown in Fig. 12 the PVDF sensor consists of single PVDF strip with the thickness of 100 pm width and 100mm length where the sensing element has the size of X . Fig. 12. Schematic of PVDF sensor and photograph Thin flexible force sensor In general complexity of wirings increases largely depending on the density of the tactile sensor. To develop a force sensor with high resolution the electrode pattern of the grid type is adopted in this research. The two polyester films are aligned as a grid while the pressure variable resistor ink layers face each other. Thus each cross section of the grid forms single sensing element of the force sensor. As shown in Figs. 13 and 14 the size of each sensing Fig. 13. Fingertip force sensor 262 Sensors Focus on Tactile Force and Stress Sensors element is X and the total number of sensing elements goes up to 24. If the tactile sensor reads the output signal from the each sensing element respectively total 48 signal lines are required. However in the current approach it is possible to read 24 sensing elements only with 8 input voltage lines and 4 output signal lines although the timing circuit is required. Fig. 14. Thumb tip force sensor 5. Hardware for signal processing In this section we introduce the miniaturized electronic hardware to be utilized for signal processing. As shown in Fig. 15 after being read from the sensing elements the signals are Analog dỉgỉtal converter Data acquisition hoard C8051F311 Check data algorithm Inverting amplifier Switching circuit Input Voltage Fig. 15. Schematic of tactile sensing system Development of .

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