面向微小软排线装配的阵列触觉状态感知技术

For the problems of small device size and visual occlusion during the micro flexible flat cable assembly operations, an assembly state sensing technology of micro flexible flat cables was proposed based on capacitive array tactile sensors herein. Firstly, the mechanism of capacitive three-dimensional tactile sensing was analyzed, and a highly sensitive array tactile sensor based on vertical topological mesh dielectric layer was designed to realize highly sensitive sensing of the assembly state of the micro flexible flat cables. Secondly, in order to overcome the limitation of wiring complexity and array scanning cycle, based on the expansion of capacitive digital chip, the highly dynamic three-dimensional array information scanning system was designed and the highly dynamic sensing for assembly states of micro flexible flat cables was realized, and the miniaturized capacitive array tactile sensors were fabricated integrally. Finally, the robot micro flexible flat cable assembly operating system was built and the array tactile information features were collected and analyzed in real time during the assembly processes, so as to verify the accuracy and effectiveness of the proposed technology.