【摘要】 首先提出了一种基于双电层原理的高灵敏电容式压力传感器，研究了H₃PO₄离子液体浓度对双电层电容值的影响，此外，设计并分析了基于杨树叶片倒模的介电层微结构对传感性能的影响机理，最后，基于自电容接近传感器的工作机理，结合所研制的压力传感器构筑了一种具有接近—压力感知功能的机器人触觉末端，并将触觉末端应用于抓取物体硬度检测与自锁按钮开关按压操作两类作业。传感器静动态特性测试表明其具有高灵敏度(28.7 kPa^-1)和宽工作压力范围（0～40 kPa）。应用结果表明：该触觉末端的引入使机器人可以快速区分不同硬度物体；在触觉末端辅助下，自锁按钮开关成功率大幅提升（97%）。更多还原

【Abstract】 A highly sensitive capacitive pressure sensor based on the electrical double-layer principle is proposed, and the influence of the concentration of H₃PO₄ ionic liquid on the double-layer capacitance value is studied.In addition, the influence mechanism of the dielectric layer microstructure based on the inverted mold of poplar leaf on the sensing performance is designed and analyzed.Finally, based on the working mechanism of self-capacitance proximity sensor, a tactile ending with proximity-pressure sensing function is constructed, and the tactile ending is applied to two kinds of tasks, which are hardness detection of grasped objects and pressing operation of self-locking button switches.Tests on the static and dynamic characteristics of the sensor show that it has high sensitivity of 28.7 kPa^-1 and wide working pressure range of 0～40 kPa.The application results show that the introduction of the tactile ending enables the robot to quickly distinguish objects with different hardness.The success rate of the self-locking button switch is significantly improved to 97 % with the help of tactile endings.更多还原