根据接触力学理论和导电橡胶的电阻应变关系,对一种基于压敏导电橡胶的三维力柔性触觉传感器阵列的传感机理进行深入的探索,并应用静电比拟法导出传感器节点间电阻与表面应力激励的关系,建立了传感器阵列表面三维力激励与输出电阻的物理模型.以此为基础对传感器输入输出特性进行了仿真,并基于仿真结果对传感器结构进行优化.仿真结果验证了该传感器结构设计的合理性.%According to the contact mechanics theory and the relationship between the resistance and strain of conductive rubber,sensing mechanism of a 3D flexible tactile sensor array based on pressure-sensitive conductive rubber is explored in more detail.The relationship between the surface stress excitation of the sensor and resistance between two nodes is calculated by applying franklinic analogue method.And a physical model of a 3D force excitation and output resistances of the sensor is employed.On this basis,simulations of input-output characteristic of the sensor are carried out.And the structure of the sensor is optimized according to the simulation results.The simulations indicate the validity of 3 D force measurement of the sensor.
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