基于液态金属型摩擦纳米发电的水下仿生触须传感器

TJ630%U666.74; 为了提升水下机器人的机动性和适应性,增强其感知周围环境的能力是必要的.受动物触须的毛囊结构启发,文中将液态金属与摩擦纳米发电机相结合,提出了一种基于液态金属的摩擦电触须传感器(LTWS),在浑浊度高、视距低的水下环境中作为水下机器人光学与声学感知技术的补充,提升水下机器人的信息感知能力.LTWS主要由碳纤维材料触须、硅胶囊套、触发器、记忆合金弹簧、传感单元及基座组成,碳纤维触须的细微偏转会驱动触发器靠近并挤压对应方向的传感单元,进而产生电信号.LTWS的感知信号与触须横向位移呈线性关系,灵敏度可达 7.9 mV/mm,且触碰频率对输出信号的影响较小.LTWS丰富了...

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Published in水下无人系统学报 Vol. 32; no. 5; pp. 794 - 800
Main Authors 李原正, 王天润, 关堂镇, 徐鹏, 王昊, 徐敏义
Format Journal Article
LanguageChinese
Published 大连海事大学轮机工程学院 大连市海洋微纳能源与自驱动系统重点实验室,辽宁 大连,116026%中国科学院理化技术研究所 低温科学与技术重点实验室,北京,100190 01.10.2024
Subjects
underwater robot
biomimetic whisker
触觉传感器
仿生触须
liquid metal
摩擦纳米发电机
水下机器人
triboelectric nanogenerator
tractile sensor
液态金属
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Abstract TJ630%U666.74; 为了提升水下机器人的机动性和适应性,增强其感知周围环境的能力是必要的.受动物触须的毛囊结构启发,文中将液态金属与摩擦纳米发电机相结合,提出了一种基于液态金属的摩擦电触须传感器(LTWS),在浑浊度高、视距低的水下环境中作为水下机器人光学与声学感知技术的补充,提升水下机器人的信息感知能力.LTWS主要由碳纤维材料触须、硅胶囊套、触发器、记忆合金弹簧、传感单元及基座组成,碳纤维触须的细微偏转会驱动触发器靠近并挤压对应方向的传感单元,进而产生电信号.LTWS的感知信号与触须横向位移呈线性关系,灵敏度可达 7.9 mV/mm,且触碰频率对输出信号的影响较小.LTWS丰富了水下机器人的感知手段,为实现海洋信息感知提供了新的思路.
AbstractList TJ630%U666.74; 为了提升水下机器人的机动性和适应性,增强其感知周围环境的能力是必要的.受动物触须的毛囊结构启发,文中将液态金属与摩擦纳米发电机相结合,提出了一种基于液态金属的摩擦电触须传感器(LTWS),在浑浊度高、视距低的水下环境中作为水下机器人光学与声学感知技术的补充,提升水下机器人的信息感知能力.LTWS主要由碳纤维材料触须、硅胶囊套、触发器、记忆合金弹簧、传感单元及基座组成,碳纤维触须的细微偏转会驱动触发器靠近并挤压对应方向的传感单元,进而产生电信号.LTWS的感知信号与触须横向位移呈线性关系,灵敏度可达 7.9 mV/mm,且触碰频率对输出信号的影响较小.LTWS丰富了水下机器人的感知手段,为实现海洋信息感知提供了新的思路.
Abstract_FL To enhance the maneuverability and adaptability of underwater robots,it is essential to improve their perception of the surrounding environment.Inspired by the hair follicle structure of animal whiskers,this paper proposed a liquid metal-based triboelectric whisker sensor(LTWS)by combining liquid metal with triboelectric nanogenerators.This sensor served as a supplement to optical and acoustic perception technologies for underwater robots in turbid water with low visibility,enhancing the robots'information perception capabilities.The LTWS mainly consisted of carbon fiber whiskers,silicone sheaths,triggers,memory alloy springs,sensing units,and a base.The subtle deflection of the carbon fiber whiskers drove the trigger to approach and squeeze the sensing unit in the corresponding direction,thereby generating an electric signal.The sensing signal of LTWS had a linear relationship with the lateral displacement of the whiskers,and the sensitivity could reach 7.9 mV/mm.The touch frequency had a small impact on the output signal.LTWS enriched the perception methods of underwater robots,providing a new approach to marine information perception.
Author 王昊
徐敏义
徐鹏
王天润
关堂镇
李原正
AuthorAffiliation 大连海事大学轮机工程学院 大连市海洋微纳能源与自驱动系统重点实验室,辽宁 大连,116026%中国科学院理化技术研究所 低温科学与技术重点实验室,北京,100190
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Author_FL WANG Tianrun
XU Peng
GUAN Tangzhen
LI Yuanzheng
WANG Hao
XU Minyi
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Keywords underwater robot
biomimetic whisker
触觉传感器
仿生触须
liquid metal
摩擦纳米发电机
水下机器人
triboelectric nanogenerator
tractile sensor
液态金属
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Title 基于液态金属型摩擦纳米发电的水下仿生触须传感器
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