Research on Liquid metal-based Triboelectric Whisker Sensor
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摘要: 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, 本文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、基座等组成, 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。值得一提的是, 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: 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 proposes a liquid metal-based triboelectric whisker sensor (LTWS) combined with liquid metal-based triboelectric nanogenerators. This sensor serves 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 consists of carbon fiber whiskers, silicone sheaths, triggers, shape memory alloy springs, sensing units, and a base. The subtle deflection of the carbon fiber whiskers drives the trigger to approach and squeeze the corresponding direction of the sensing unit, thereby generating an electric signal. The sensing signal of LTWS has a linear relationship with the lateral displacement of the tentacles, and the sensitivity can reach 7.9 mV/mm. It is worth mentioning that the touch frequency has a small impact on the output signal. LTWS enriches the perception methods of underwater robots, providing a new approach for marine information perception.
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Key words:
- liquid metal /
- triboelectric nanogenerator /
- biomimetic whisker /
- tactile sensor
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图 5 仿生触须力学模型示意图
Figure 5. Schematic diagram of the mechanical model of bionic tentacles
图 8 在变触碰偏移幅度下的LTWS触碰参数定义
Figure 8. Definition of LTWS touch parameters under variable touch offset amplitude
图 9 传感单元对触碰偏移幅度从10 mm到130 mm 的电压响应
Figure 9. The voltage response of sensing unit to the touch offset range from 10 mm to 130 mm
图 10 传感单元的电压响应与触碰偏移幅度的拟合关系
Figure 10. The fitting relationship between the voltage response of sensing unit 1 and the touch offset amplitude
图 11 在变触碰频率f下的LTWS触碰参数定义
Figure 11. Definition of LTWS touch parameters under variable touch frequency f
图 12 传感单元在触碰频率从0.4 Hz到2.0 Hz时的电压响应
Figure 12. The voltage response of sensor unit 1 when the touch frequency from 0.4 Hz to 2.0 Hz
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