【摘要】 纹理是物体表面微观结构的体现,为了解决机器手在工作时无法准确辨识物体表面纹理的问题,利用新型磁致伸缩材料铁镓合金(Galfenol)设计了一种纹理辨识传感器。基于磁致伸缩逆效应、欧拉-伯努利梁结构动力学理论并结合传感器与纹理表面的接触轨迹建立了传感器输出电压与表面纹理结构的关系。搭建实验平台对纹理样本进行测试,得到了传感器具有良好输出特性时的偏置磁场值。结果表明,传感器输出电压峰值与纹理高度、传感器输出电压信号周期与纹理间距均呈近似线性关系,能够应用输出电压峰值及输出电压信号周期辨识纹理结构。通过对传感器重复性的计算得出,传感器使用时最佳接触速度为2 cm/s。更多还原

【Abstract】 Texture is the reflection of the microstructure of the surface of the object.In order to solve the problem that the texture of the surface can not be recognized by the robot hand when working, a texture identificaition sensor was designed using the new magnetostrictive material Galfenol.Based on the magnetostrictive inverse effect, Euler-Bernoulli beam structure dynamics theory and the contact trajectory of the sensor and the textured surface, the relationship between the sensor output voltage and the surface texture structure was established.An experimental platform was built to test the texture samples, and the bias magnetic field value when the sensor had good output characteristics was obtained.The results show that the peak value of the output voltage of the sensor and the height of the texture, the period of the output voltage signal of the sensor and the interval of the texture are approximately linear, and the peak structure of the output voltage and the period of the output voltage signal can be used to identify the texture structure.Through the calculation of the repeatability of the sensor, the best contact speed when the sensor is used is 2 cm/s.更多还原