基于液态金属型摩擦纳米发电的水下仿生触须传感器

李原正; 王天润; 关堂镇; 徐鹏; 王昊; 徐敏义

doi:10.11993/j.issn.2096-3920.2023-0125

基于液态金属型摩擦纳米发电的水下仿生触须传感器

doi: 10.11993/j.issn.2096-3920.2023-0125

李原正^1,,
王天润^1,,
关堂镇^2,,
徐鹏^1,,
王昊^1,,
徐敏义^1, ,

1.
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
2.
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

基金项目: 基础科研项目(JCKY2022410C011).

详细信息

通讯作者:
徐敏义(1984-), 男, 博士, 教授, 主要研究方向为海洋微纳能源与自驱动系统

中图分类号: TJ630; U666.74
计量
- 文章访问数: 128
- HTML全文浏览量: 126
- PDF下载量: 95
- 被引次数: 0
出版历程
- 收稿日期: 2023-10-14
- 修回日期: 2023-11-19
- 录用日期: 2023-11-23
- 网络出版日期: 2024-02-07

Underwater Biomimetic Whisker Sensor Based on Liquid Metal and Triboelectric Nanogenerator

LI Yuanzheng^1
,,
WANG Tianrun^1
,,
GUAN Tangzhen^2
,,
XU Peng^1
,,
WANG Hao^1
,,
XU Minyi^{1
, ,}

1.
Marine Engineering College, Dalian Maritime University, Dalian Key Laboratory of Marine Micro/Nano Energy and Self-powered Systems, Dalian 116026, China
2.
Key Laboratory of Cryogenic Science and Technology, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing 100190, China

摘要

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, 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。
- 液态金属 /
- 摩擦纳米发电机 /
- 水下机器人 /
- 仿生触须 /
- 触觉传感器
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 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.
- liquid metal /
- triboelectric nanogenerator /
- underwater robot /
- biomimetic whisker /
- tractile sensor

HTML全文

图 1 LTWS结构图(组装剖面)

Figure 1. Structure diagram of LTWS (profile)

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图 2 LTWS结构图(爆炸视图)

Figure 2. Structure diagram of LTWS(exploded view)

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图 3 LTWS传感单元内部结构

Figure 3. Internal structure of sensor unit of LTWS

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图 4 LTWS传感单元工作原理图

Figure 4. Working principle of sensor unit of LTWS

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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

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图 6 传感单元摩擦层

Figure 6. Triboelectricity layer of sensing unit

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图 7 LTWS输出特性测试实验台

Figure 7. The output characteristic test bench of LTWS

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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

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图 9 不同触碰偏移幅度下传感单元的电压响应

Figure 9. The voltage response of sensing unit under different touch offsets

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图 10 传感单元电压响应与触碰偏移幅度拟合关系

Figure 10. The fitting relationship between the voltage response of sensing unit and the touch offset amplitude

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图 11 在变触碰频率下的LTWS触碰参数定义

Figure 11. Definition of LTWS touch parameters under variable touch frequency

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图 12 不同触碰频率下传感单元电压响应

Figure 12. The voltage response of sensor unit under different touch frequencies

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图 13 不同触碰频率下传感单元转移电荷量

Figure 13. The amount of transferred charge of sensor unit under different touch frequencies

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