【作者】 裴利强；

【导师】 秦岚；

【作者基本信息】 重庆大学 ， 精密仪器及机械， 2011， 硕士

【摘要】 触觉传感技术是机器人智能化的标志之一,实时信息获取及处理系统是智能机器人触觉传感服装研制的关键技术。本文主要针对目前智能机器人触觉传感服装阵列在数据采集方面遇到的不能兼有实时性采集和有效防止扫描串扰的难题,在分析国内外触觉传感器技术的发展现状、研究智能机器人触觉传感服装的设计原理和导电橡胶的压阻特性的基础上,综合运用了材料科学、触觉传感技术、虚拟仪器和电子技术等学科领域的理论与技术,设计了一套基于导电橡胶的智能机器人触觉传感服装阵列实时数据采集系统。该系统的硬件主要由以下几个部分组成:8×8触觉传感器阵列、改进型行扫描电路、调理电路、SCB-68板卡连接器、屏蔽电缆、PCI-6259数据采集卡和计算机等。在触觉传感器阵列上放置一个重物,基于导电橡胶的压阻原理,压力的变化转化为导电橡胶电阻的变化。通过信号提取电路获取反映该变化的电压。本文设计的改进型扫描电路可以按顺序将每一个触元压力信息以扫描的方式采集到计算机中,经过数据处理可以恢复接触物体轮廓和压力分布情况。在NI的labVIEW环境下进行了系统软件的模块化设计。图像化的G语言程序不仅易于修改移植而且调试方便,提高了系统的开发效率。最后,在现有实验系统的条件下,搭建了数据采集实验系统,设计了验证性实验,取得了较好的实验结果。本文设计的触觉传感阵列信息实时采集和处理系统,经过理论研究和实验验证表明是可行的,不仅实现了实时性的数据采集,而且较好地避免了串扰信号,提高了系统的稳定性与可靠性。本文的研究为教育部重点项目“基于导电橡胶的智能机器人服装”的完成做出了贡献,所研制的实时数据采集与处理系统为大规模阵列式传感器的实时信息获取与处理提供了解决方法。更多还原

【Abstract】 Robot tactile sensing technology is one of the symbols of intelligence. Real-time information acquisition and processing system is the key technology in the developing of intelligent robot tactile sensing garment. This paper is mainly aimed at the current problems that no real-time scanning and no effectively preventing scanning crosstalk which the intelligent robot tactile sensing garment array encountered in data collection. After the analysis of the development situation in tactile sensing domestic and international, studying the design principles of intelligent robot garment and piezoresistive properties of conductive rubber, a real-time data acquisition system of intelligent robot tactile sensor clothing array based on conductive rubber is proposed. The materials science, tactile sensor technology, virtual instruments, electronic technology and other theories and disciplines are all used in the design of the data acquisition system.The system hardware consists of the following components: 8×8 tactile sensor array, improved line scan circuit, conditioning circuit, SCB-68 board connectors, shielded cable, PCI-6259 data acquisition card and computer. When placing a heavy object on the tactile sensor array, resistance of the conductive rubber will change with the pressure because of piezoresistive principle. Then the voltage signal which responses to external pressure characteristics will be obtained from the signal extraction circuit. The improved design of the scanning circuit in this project could scan the voltage of the pressure information produced by each contact element into the computer; then the profile of the contact surface and pressure distribution will be recovered after the data processing. The software of this system is based primarily on the modular design environment of the NI labVIEW. The visualization G language program is not only convenient to transplant and debug, but also improving the system efficiency of development. Finally, under the conditions of the existing experimental system, a data acquisition system is built, several sets of verification experiments which achieved good results are designed.Theoretical and experimental studies have shown that the design of information acquisition and processing system for the tactile sensor array which based on conductive rubber in this project is feasible, not only realizes real-time data acquisition, but also avoid the pseudo signal well, thereby the stability and reliability of this system is improved. Research of this paper makes contribution to the project "Intelligent robot suit based on conductive rubber ", and the way of the real-time data acquisition system designed provides a solution to the large-scale sensor array.更多还原