Three-Dimensional Force Decouping-Sensing Soft Sensor with Topological Elastomer

摘要

Sensing the deformation of soft sensor elastomer can realize the flexible operation of soft robot and enhance the perception of human-computer interaction. The structural configuration of elastomer and its elastic deformation force transfer path are crucial for decoupling sensing and studying the sensing performance of three-dimensional force soft sensor. In this article, we present a theoretical method for soft sensor with three-dimensional force decoupling-sensing. First, the constraint types of parallel manipulator with three translational motion characteristics are analyzed and used to set the constraint conditions for topology optimization. In addition, the differential kinematic modeling method is adopted to establish the differential kinematic equation of the three translations parallel manipulator, which is used as a pseudo-rigid body model for sensor information perception. Second, combining the kinematic Jacobi matrix with solid isotropic material with penalization the (SIMP), the topological model is built for designing of sensor elastomer. We optimized the composition of the material and evaluate the model’s sensing capabilities. The results validate a elastomer of soft sensor for unity between structural stiffness and perceived sensitivity.