Capacitive tactile sensors have been widely used for electronic skins and human-machine interfaces due to their high sensitivity, low power consumption, and fast response. Despite great advances in improving the sensitivity of the sensors through structural design or advanced material selection, achieving linear response over a broad detection range for pressue sensing is still a great challenge. Herein, a capacitive tactile sensor with elastic dome-shaped electrode is reported. We find that the elastic dome-shaped electrode can significantly enhance the linear relationship between the effective electrode area of the capacitor and the applied force over a wide range, which endowed the prepared sensor exhibiting excellent linearity (R2 = 0.999) up to 120 kPa. In addition, the fabricated sensor sample has good stability, quick response, satisfied sensitivity of 0.115 kPa-1 (0-120 kPa), and can be further expanded with a wider sensing range up to 500 kPa. Based on the proposed model, the sensitivity and linear sensing range of the sensor can be designed flexibly for different application. It can provide a simple but powerful strategy to construct high performance flexible pressure sensors in the future.
Efficiency can be improved through the cooperation of a dual-robot during assembly. However, how to effectively plan a simple and smooth path in a dynamic environment is a prominent problem in the process of dual-robot cooperative assembly. In this paper, a method based on RRT-Connect algorithm for trajectory planning and post-processing for trajectory optimization is proposed. This method takes full advantage of the excellent solution ability of RRT-Connect algorithm in the complex environment so as to obtain the initial path successfully. Through post-processing, the problem of RRT-Connect non-convergence to target is optimized. We use two 6-DOF industrial robots to build an experimental platform and design a dual-robot cooperative assembly system. According to the given task, the system can generate the original collision-free path based on RRT-Connect algorithm. Then the original path is simplified by Floyd algorithm and smoothed by multi-segment Bezier curve. Finally, the time parameter is sequenced for all the path points based on the iterative method, and the effective trajectory is obtained. The experimental results show that the algorithm proposed in this paper can effectively plan and optimize the trajectory of dual-robot. Compared to other methods, this approach has a higher success rate and less planning time.
Micro terminals are often used in every laptop, mobile, and other electrical product. It is challenging to automatically buckle the terminal head to its terminal base during manufacturing because of trouble in accurate positioning and gripping. A double-robots collaborative assembly system is developed to buckle millimeter-scale terminals in three-dimensional space. Robot 1 takes the terminal head horizontally by grasping its flexible line with a customized clamp, including two fingers. Robot 2 presses the aligned terminal head through a force control strategy to ensure that the terminal head and the terminal base can complete buckling accurately, even if there is a certain deviation in the vertical direction. There are two cameras to be used in the system. A horizontally placed camera is used to detect and calculate the angle between the terminal head and the horizontal plane. The angle data will drive robot 1 to make the terminal end face parallel to the horizontal plane to complete the pose correction of the terminal head. Another camera is vertically fixed at the end of industrial robot 1 and used to detect and calculate the position deviation between the terminal head and the terminal base. The position deviation will drive robot 1 to align the terminal head with the terminal base to complete the position correction. The YOLOv3, least square, and feature extraction algorithms are used in image processing. The accuracy of the YOLOv3 target detection model trained by self-made data set can reach more than 95% under different conditions. The detection period is within 65 ms. The experimental results show that the terminal assembly system designed in this paper has excellent reliability and assembly success rate. It also has a significant reference value for other terminals’ automatic buckling assemblies.
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