面向微小软排线装配的阵列触觉状态感知技术#br#

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doi:10.3969/j.issn.1004-132X.2024.02.013

中国机械工程 ›› 2024, Vol. 35 ›› Issue (02): 287-292，304.DOI: 10.3969/j.issn.1004-132X.2024.02.013

面向微小软排线装配的阵列触觉状态感知技术#br#
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林杰1;胡智凯2;刘思源2;唐维威2;楚中毅2

1.苏州凌云视界智能设备有限责任公司，苏州，215000
2.北京航空航天大学仪器科学与光电工程学院，北京，100191

出版日期:2024-02-25 发布日期:2024-04-12
通讯作者: 楚中毅（通信作者），男，1977年生，教授、博士。研究方向为先进机器人传感与控制技术。E-mail： chuzy@buaa.edu.cn。
作者简介:林杰，男，1980年生，高级工程师。研究方向为电子制造领域、智能精密组装关键技术、智能传感技术、人工智能检测技术等。 E-mail：jie.lin.2012@gmail.com。
基金资助:
“新一代人工智能”科技创新2030重大项目（2018AAA0102900）；国家自然科学基金（U1913206,51975021）

Assembly Array Tractile State Sensing Technology of Micro Flexible Flat Cables

LIN Jie1;HU Zhikai2;LIU Siyuan2;TANG Weiwei2;CHU Zhongyi2

1.Suzhou Luster VISION Intelligent Equipment Limited Liability Company,Suzhou,Jiangsu,215000
2.School of Instrumentation and Optoelectronic Engineering,Beihang University,Beijing,100191

Online:2024-02-25 Published:2024-04-12

摘要/Abstract

摘要： 针对微小软排线装配操作中器件体积小且存在视觉遮挡的问题，提出一种基于电容式阵列触觉传感器的机器人软排线装配状态感知技术。首先，对电容式三维触觉感知机理进行分析，并针对软排线装配的小尺寸空间感知需求，设计了一种基于垂直拓扑网状介质层的高灵敏阵列触觉传感器，实现微小软排线装配状态的高灵敏感知。其次，为突破布线复杂度与阵列扫描周期的限制，基于电容数字芯片拓展实现高动态三维阵列信息扫描系统的设计与微小软排线装配状态的高动态感知，并完成小型化电容式阵列触觉传感器的一体化制备。最后，搭建机器人软排线装配操作系统并实时采集和分析软排线装配过程中的阵列触觉信息特征，以验证所提出技术的准确性和有效性。

关键词: 软排线装配操作, 状态感知, 电容式, 阵列触觉传感器

Abstract: For the problems of small device size and visual occlusion during the micro flexible flat cable assembly operations, an assembly state sensing technology of micro flexible flat cables was proposed based on capacitive array tactile sensors herein. Firstly, the mechanism of capacitive three-dimensional tactile sensing was analyzed, and a highly sensitive array tactile sensor based on vertical topological mesh dielectric layer was designed to realize highly sensitive sensing of the assembly state of the micro flexible flat cables. Secondly, in order to overcome the limitation of wiring complexity and array scanning cycle, based on the expansion of capacitive digital chip, the highly dynamic three-dimensional array information scanning system was designed and the highly dynamic sensing for assembly states of micro flexible flat cables was realized, and the miniaturized capacitive array tactile sensors were fabricated integrally. Finally, the robot micro flexible flat cable assembly operating system was built and the array tactile information features were collected and analyzed in real time during the assembly processes, so as to verify the accuracy and effectiveness of the proposed technology.

Key words: flexible flat cable assembly, state sensing, capacitive, array of tactile sensor

中图分类号:

TG95
TP212

林杰, 胡智凯, 刘思源, 唐维威, 楚中毅. 面向微小软排线装配的阵列触觉状态感知技术#br#

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[J]. 中国机械工程, 2024, 35(02): 287-292，304.

LIN Jie, HU Zhikai, LIU Siyuan, TANG Weiwei, CHU Zhongyi. Assembly Array Tractile State Sensing Technology of Micro Flexible Flat Cables[J]. China Mechanical Engineering, 2024, 35(02): 287-292，304.

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面向微小软排线装配的阵列触觉状态感知技术#br#
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Assembly Array Tractile State Sensing Technology of Micro Flexible Flat Cables

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