Spray-on Capacitive Proximity Sensors in 3D Printed Robotic Links
Spray-on Capacitive Proximity Sensors in 3D Printed Robotic Links
复制标题
3D 打印机器人连杆中的喷涂电容式接近传感器
DOI：
10.1115/imece2021-68910
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Sigling
中科院分区：
文献类型：
--
作者：
Detzel;Krieger;Hoefer;Sigling
接近传感器是任何与人类合作的机器人系统的关键部件。我们首次将接近传感器集成到3D打印机器人连杆中，实现了内部传感器电极的石墨喷涂。这种方法非常适合制造专业化和个性化的机器人系统或快速成型。通过选择性激光烧结(SLS)设计和制造了具有合适内腔的机器人连杆，然后采用石墨喷涂层来制备内电容电极。获得了良好的传感器和检测性能。事实证明，接近探测范围与传统金属板材传感器的探测范围没有什么区别。除了能够在不同的机器人连杆几何结构中实现接近传感器的简单集成的优势外，传感器还由于其内部放置而受到保护，不受环境影响。导电喷漆使我们甚至可以覆盖二维曲面。这样，电极面积就可以最大化。文中给出了传感器的概念及其实现，并给出了一台4R串联机器人的传感器特性实验结果。
Proximity sensors are crucial components for any robotic system working in collaboration with humans. We integrated for the first time proximity sensors into 3D printed robotic links by realizing internal sensor electrodes with graphite spray coating. This method is perfectly suited for the manufacturing of specialized and individualized robotic systems or rapid prototyping. After design and fabrication of corresponding robotic links with appropriate inner chambers by selective laser sintering (SLS), graphite spray coating was applied to generate internal capacitor electrodes. Excellent sensor and detection properties were obtained. The proximity detection range proved to be indistinguishable from that of sensors made from conventional sheet metal. In addition to the advantage of enabling a simple integration of proximity sensors in different robotic link geometries, the sensor is protected from environmental influences due to its internal placement. Conductive spray paint allows us to cover even two-dimensionally curved surfaces. This way, the electrode areas can be maximized. The concept and its realization as well as the experimental results concerning the sensor properties and a 4R serial robot are shown in this paper.