Design and characterization of a strain sensor array based on nanocomposite for a soft bodied gripper
Design and characterization of a strain sensor array based on nanocomposite for a soft bodied gripper
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DOI：
10.1109/aim.2017.8014027
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发表时间：
2017-07
期刊：
影响因子：
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通讯作者：
Mingzhu Zhu;Mengying Xie;S. Kawamura
中科院分区：
文献类型：
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作者：
Mingzhu Zhu;Mengying Xie;S. Kawamura
本文介绍了基于碳纳米复合材料的可拉伸应变传感器阵列的设计、制造和校准。传感器阵列用于集成到软体夹具中以进行变形控制。夹具可以通过对其充气室加压来以平面运动和旋转方式移动易碎物体。该传感器采用夹层结构：保护层和基底均由Ecoflex制成，应变敏感层由碳纳米管填充的Ecoflex复合材料制成。阵列中有四个传感器垫，用于四个充气室的应变感测。每个传感器垫用于通过传感器的电阻变化来感测一个室的变形。带有 Flex3 小体积运动捕捉相机的 OptiTrack 系统用于记录充气室的表面变形。软应变传感器阵列的测量结果与运动捕捉系统的测量结果一致，表明所开发的传感器可以提供可重复且可靠的结果。将开发的传感器阵列集成到用于物体操纵的软体夹具中后，将进行进一步的实验。
This paper presents the design, fabrication and calibration of a stretchable strain sensor array based on carbon nanocomposite. The sensor array is used to be integrated into a soft bodied gripper for deformation control. The gripper can move the fragile object in planer motion and rotation by pressuring its inflation chambers. The sensor has a sandwiched structure: both the protection layer and substrate are made of Ecoflex, and the strain sensitive layer is made of carbon nanotubes filled Ecoflex composite. There are four sensor pads in the array for strain sensing of four inflation chambers. Each of the sensor pads is used to sense the deformation of one chamber through sensor's resistance changes. A OptiTrack system with Flex3 small volume motion capture cameras is used to record the inflation chambers' surface deformation. The measurements of the soft strain sensor array agree with those of the motion capture system, indicating the developed sensor can deliver repeatable and reliable results. Further experiments will be carried out after the developed sensor array integrated into the soft bodied gripper for objects manipulation.