摘要
传感器是林业机器人等机电系统的重要组成部件,在林业装备智能化进程中起到非常关键的作用。为克服传统刚性传感器金属电极的不可拉伸性和脆弱性,提升机器人传感器工作范围,提出了一种以硅胶为基底转印炭黑、碳纳米管复合柔性电极的方法,制备可承受大变形的电阻式柔性应变传感器。阐述了柔性传感器结构与制作工艺,并利用自制拉伸实验平台测试传感器的性能参数,试验显示炭黑与碳纳米管掺杂的比例对柔性传感器灵敏度、线性度有很大的影响。采用光学显微镜对拉伸后的电极进行结构观察,并利用球链结构模型解释传感器电极导电网络的工作机理及拉伸过程中传感器导电网络的变化情况。在不同应变状态的传感器性能参数试验表明,制作的柔性传感器具有稳定性和重复性良好(8000次循环应变后,相对电阻仅变化1.12%)、线性度高、迟滞小、动态响应快等特点。提出的柔性传感器制作方法成本低、可靠性好,传感器用于手势识别表现出良好的性能。
Sensors are an important component of electromechanical systems such as forestry robots,which play a key role in the development of intelligent equipment for forestry managements.Traditional sensors made of rigid materials are difficult to adapt to various flexible and changeable test environments,which limits their applications.With its good flexibility and interactivity,flexible sensors can accurately detect strain states and pressure changes on various complex surfaces.However,most current flexible sensors have problems such as low sensitivity and poor linearity.In order to overcome the inextensibility and fragility of the traditional rigid sensors and improve the working range of robot sensors,a method of transferring carbon black and carbon nanotube composite flexible electrodes with silica gel as a substrate is proposed to prepare a resistive flexible strain sensor that can withstand large deformation.The structure and manufacturing process of the flexible sensor are described,and the performance parameters of the sensor are tested using a self-made tensile experiment platform.The experiment showed that the doping ratio of carbon black and carbon nanotube had a great influence on the sensitivity and linearity of the flexible sensor.Increase in the proportion of carbon nanotubes can greatly improve the linearity of the sensor,but it would reduce the sensitivity.When the ratio of carbon black and carbon nanotubes was 5∶1,the sensor can have both good linearity and sensitivity.An optical microscope was used to observe the structure of the stretched electrode,and a ball-chain structure model was used to explain the working mechanism of the sensor electrode conductive network and the change of the sensor conductive network during the stretching process.The performance parameter test of the sensor in different strain states showed that the fabricated flexible sensor had good stability and repeatability(after 8000 cycles of strain,the relative resistance changes only 1.12%),high linearity,low hysteresis,fast dynamic response,etc.The proposed flexible sensor manufacturing method has low cost and good reliability.The sensor shows good performance for gesture recognition,which further demonstrates that the sensor has broad application prospects in the forestry robot sensing,human motion gesture recognition and wearable medical devices.
作者
朱银龙
吴杰
王旭
习爽
ZHU Yinlong;WU Jie;WANG Xu;XI Shuang(Mechatronics Engineering College of Nanjing Forestry University,Nanjing 210037,China;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110169,China)
出处
《林业工程学报》
CSCD
北大核心
2022年第5期150-155,共6页
Journal of Forestry Engineering
基金
国家自然科学基金(51305209)
江苏省高等学校自然科学研究项目(18KJA4600050,21KJB460010)
江苏省“六大人才高峰”高层次人才项目(GDZB-024)
机器人学国家重点实验室开放项目(2018-O16)。
关键词
应变传感器
复合电极
导电织物
柔性传感器
strain sensor
composite electrode
conductive fabric
flexible sensor
作者简介
朱银龙,男,副教授,研究方向为机器人传感与控制技术、智能材料及其应用等。E-mail:ylzhu@njfu.edu.cn。
