PVDF薄膜型滑觉传感器设计和性能测试研究

摘要

选用PVDF(压电薄膜)柔性材料作为传感器敏感元件，基于PVDF压电原理构建了敏感单元阵列，并从敏感单元阵列输出信号中解算出接触面法向和接触面内两个切向力信号。根据不同滑移状态摩擦系数μ的变化特征，借助接触面法向和接触面内两个切向力信号计算摩擦系数μ，进而判定手指与目标间滑移状态。为了充分验证方案的可行性，制作了滑觉传感器样品及实验装置，实验结果表明，传感器可靠地检测出手指与目标间的滑觉状态。%Flexible material PVDF (piezoelectric film)is selected as a sensor sensitive element,sensitive element array is constructed based on PVDF piezoelectric principle.The contact surface normal face and two tangential forces are calculated from the output signal of the sensitive cell array.Then,the friction coefficient is calculated to determine the slip state between the finger and the target according to the characteristics of friction coefficient in different slip state.The slip sensor sample and the experimental device are made to fully verify the feasibility of the program,and the experimental results show that the sensor reliably detects the slip state between the finger and the target.