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1、重庆大学硕士学位论文II英文摘要ABSTRACTInrecentyears,ithasbecomeahotspotofresearchonrobottactilesensingtechnology,whichissimilartohumantactilesensorarraytechnologyforrobotperceptionandinteractionwiththeoutsideworld,andithasbecomestandardfeaturesofintelligenceformobilerobots.Inthispaper,onthebasi
2、softheprevioustactilesensorarray,itisaimedatthedistinctionoftheintelligentrobottactilesensorarrayusedinthesensingsuithavedifferentresolutionsatdifferentdataacquisitionregion,anditcannotbeappliedtothechangeablesituationintheadhesionofsurfacecurvature,afteranalyzingthedevelopmenthis
3、toryandcurrentsituationofthedevelopmentofrobottactilesensorathomeandabroad,andafterfocusingonstudyingtheintelligentrobotsensorwhichusedinsuitdesignprincipleofsensorarrayandonthebasisofthedesignthewholearrayofdifferentregionshavedifferentresolutionofnon-uniformdistributionoftactile
4、sensorarray,anddevelopedthecorrespondingdataacquisitionsystem.Thisdataacquisitionsystemhascharacteristicsoflocalresolutionadjustable,goodarrayflexibility,corrosionresistance,wearresistance,impactresistanceandetc,layingthefoundationforsuittothepracticalapplicationofrobottactilesens
5、or.Accordingtothedesign,thesystemhardwareismainlydividedintoafewparts:8x8maintactilesensorarrayanditsdriverscanninghardware,8x8secondaryarraytactilesensoranditsdriverscanninghardware,SCB-68boardconnectors,PCI-6259dataacquisitioncardanditsconnectedshieldedcableandinstallingaPCtothe
6、LabVIEWdevelopmentplatform,etc.SoftwareontheSCMwritesthesensorarrayofhardwaredriversandinitializationprocedures,basedontheNILabVIEWvirtualinstrumentsoftwaredevelopmentplatformdesign,writingtheanalogsignalacquisitionprogram,thedigitalclocksignalacquisitionprogramandsquarewaveoutput
7、.Inasinglesensitiveelementofconductiverubberacertainpressure,conductiverubberwillbecompressedwiththesizeoftheforce,whichleadstoachangeinitsresistance.Inthecaseofaccesstothereferencevoltage,theoutputvoltageofthesensitiveelementwillchangeanditcanreflectthesizeofthepressure.Thispaper
8、designthenon-uniformdistributiono
