【摘要】 基于介电型电活性聚合物(EAP)变形时的电容值变化原理,设计并实现一种三自由度软材料位置传感器,其内框可沿平面和法向移动,分别用于检测平面和法向位移。建立该传感器的几何模型,推导出其电容值变化和内框位移的关系。采用差分法测试该传感器的电容值变化,分析了面对面两个传感单元的电容值差和内框的平面位移、单个传感单元的电容值和内框的法向位移之间的关系,测试得到其平面和法向位移灵敏度分别为66.69pF/mm、0.47pF/mm~2,与理论分析结果较吻合。该位置传感器的理论与测试分析结果验证了介电型EAP应用于位置传感器中的可行性。更多还原

【Abstract】 Based on capacitance change principle of dielectric electroactive polymer(EAP),a 3-DOF soft position sensor is designed and implemented.The inner frame of the sensor can translate in in-plane and out-of-plane directions,which are used to measure the plane and normal displacement respectively.A geometrical model of the proposed sensor is developed and the relationship between the capacitance of the sensor and the displacement of the inner frame are deduced.A differential approach is used to measure the variation of the capacitance of the sensor,and the relationship between the capacitance difference of two opposite sensing cells and the in-plane displacement of the inner frame as well as the relationship between the capacitance of single cell and the out-of-plane displacement of the inner frame are analyzed.The measured in-plane and out-of-plane displacement sensitivity are of 66.69pF/mm and0.47pF/mm2 respectively,which agree well with the analytical results.The theoretical and experimental analyses verify the feasibility of the application of dielectric EAP to the position sensors.更多还原