【作者】 杜久华；

【导师】 潘英俊；

【作者基本信息】 重庆大学 ， 仪器科学与技术， 2003， 硕士

【摘要】 本文介绍了国内外触觉传感器技术的研究现状和发展趋势,讨论了应用前景极为广阔但目前还很不成熟的触觉传感器技术，并介绍了一些典型的触觉传感器的设计方法，分析了它们各自所具有的优点和所存在的缺点。基于这些分析，文中指出三轴力触觉传感器是触觉传感器发展的趋势之一，然而在众多的触觉传感器中，直接检测三轴力方面仍然没有令人满意的解决方案。针对这个问题，本文提出一种新型的基于压电原理的三轴力触觉传感技术。它具有系统结构简单，成本低廉，易于微型化，受力元件之间没有力干涉，容易实现数字量输出，抗干扰能力强、灵敏度高等特点。该项目的研究应用前景看好，具有重要的科学意义和实践意义，因此得到了国家自然科学基金的资助。文中详细阐述了这种传感器的的工作原理和基本结构，并设计了实验系统。它主要由传感头（包括一个四角锥体、一个基座、四片压电石英晶体）和网络分析仪等设备组成。当传感头受三轴力作用时，根据力学的分析可以确定三轴力与四角锥体四个面上单向力之间的对应关系，用分别贴在四角锥体四个面上的四片压电石英晶体作为压敏元件，由于石英晶体的力频效应（即石英晶体在受到应力作用时，它的谐振频率与应力大小成正比），从而最终确定了四片石英晶体的谐振频率改变量与传感头上所受三轴力大小和方向之间的对应关系。因此，检测石英晶体谐振频率的改变量，便可计算出三轴力大小和方向。本课题制作了这种传感器，并设计了三轴力的加载装置对传感器进行了实验，结果显示力的三个分量与四片压电石英晶体之间有良好的线性关系，验证了压电三轴力触觉传感器技术是科学的、可行的。更多还原

【Abstract】 This paper reviews the current state-of-the-art and direction of research in tactile sensing technology at home and abroad in the first place. The different methods of transduction employed by tactile sensor are examined in detail and the various significant designs that incorporate these methods are described. However, among the numerous tactile sensors, there are no satisfactory solutions when measuring three-axis force directly.This paper brings forward a newly tactile sensing technology applying piezoelectricity of quartz crystal. This new technology has many advantages such as easy to fabricate, low cost, facile micromation, no mechanical interference among element, high sensitivity and strong anti-jamming and easy to realize output of digital signal. Consequently, there is a lot of research being done in this field because of its scientific and practical significance. Moreover, this project gets financial aid from the National Science Foundation of the State.In addition that, the present paper details the principle of the sensor and the corresponding experiment system. It is comprised of a sensor head (a quadrangular pyramid tip , a base, four quartz crystal plates) and a network analyzer and an apparatus to apply three-axis force. According to mechanics, four plates of the quadrangular pyramid tip correspondingly receive four one-dimension forces when applying a three-axis force to the sensor head. Because quartz crystal has a force-frequency effect, namely, resonance frequency change of the quartz crystal is in direct proportion to one-dimension forces applying to it, four certain resonance frequency changes of the four quartz crystal plates are corresponding to a three-axis force. Measure these change, we can calculate the magnitude and direction of the three-axis force.Finally, The paper also describes method and result of experiment based on above mention. The result of experiment prove that there is a excellent linear relationship between three-axis force applying to sensor head and the change of four quartz crystal plates, which indicate that the three-axis force tactile sensing technology applying piezoelectricity of quartz crystal is scientific and feasible.更多还原