WO2022213614A1 - 一种面向空间环境的自供电多模态感知方法 - Google Patents

一种面向空间环境的自供电多模态感知方法 Download PDF

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WO2022213614A1
WO2022213614A1 PCT/CN2021/132342 CN2021132342W WO2022213614A1 WO 2022213614 A1 WO2022213614 A1 WO 2022213614A1 CN 2021132342 W CN2021132342 W CN 2021132342W WO 2022213614 A1 WO2022213614 A1 WO 2022213614A1
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electrode
robot
electrodes
displacement
sliding
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French (fr)
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陈涛
侯绪研
李龙
刘会聪
杨湛
王凤霞
孙立宁
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Suzhou University
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Suzhou University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N1/00—Electrostatic generators or motors using a solid moving electrostatic charge carrier
    • H02N1/04—Friction generators

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  • the present application relates to the field of space assembly robots, and more particularly, to a self-powered multimodal perception method oriented to a space environment.
  • the Japan Space Exploration Agency is equipped with a six-dimensional force/torque sensor based on resistance strain on the experimental cabin manipulator system developed for the International Space Station.
  • the Netherlands Space Center installed two resistance strain force/torque sensors on the space manipulator developed for ESA, and installed an infrared camera at the end of the manipulator.
  • the manipulator is mainly used for the Russian module of the International Space Station. assembly and maintenance.
  • Conventional tactile sensors include piezoresistive, capacitive, optoelectronic, electromagnetic and other types, but combined with the extreme environment of space, such sensors generally have defects such as being susceptible to interference, complex structure, and difficult signal transmission. It is easily affected by high and low temperature, as well as being irradiated by various particles and rays, resulting in electrification, causing changes in material properties, especially surface properties, and even damage to devices.
  • the above-mentioned tactile sensor needs to use external power supply, which increases the complexity and energy consumption of the sensor system.
  • the purpose of the present application is to provide a self-powered multi-modal perception method oriented to the space environment in view of the above-mentioned deficiencies of the prior art.
  • a self-powered multimodal perception method for a space-oriented on-orbit assembly robot the on-orbit assembly robot is used to assemble a truss rod-spherical structure, and the truss rod is inserted into the insertion hole of the spherical structure, thereby extending the truss rod;
  • the on-rail assembly robot is a crawling robot, which comprises: legs (4), a clamping end, and a tactile and sliding sensor (5); and a tactile and sliding sensor is installed on the legs (4) and the clamping end of the crawling robot A sensor (5), which can detect whether the legs and the clamping end of the crawling robot are in contact with the truss rod and whether there is slippage through the tactile-slip integrated sensor;
  • the magnitude and direction of the slip can be detected
  • the crawling robot adjusts its posture.
  • the truss rod is a metal rod; a pulse electric signal receiving device is provided at the clamping end of the crawling robot;
  • Three sidewall copper electrodes (10) are arranged on the sidewall of the socket of the spherical structure (9), and a bottom copper electrode (11) is arranged on the bottom surface of the socket; the three sidewall copper electrodes (10) are respectively provided with At different depths of the side walls of the sockets of the spherical structure (9); radial contact electrodes (12) are arranged radially at the ends of the truss rods, and bottom contact electrodes (13) are arranged on the end faces. ;
  • the three copper electrodes contact and rub in turn with the radial contact electrode (12) (PDMS friction electrode) on the outer side of the lower end of the truss rod, and output three pulses Signal;
  • the bottom contact electrode (13) contacts with the bottom copper electrode (11), and a pulse signal is output, indicating that the assembly is successfully completed;
  • the above-mentioned pulse signal is directly transmitted from the truss rod to the receiving device of the gripping end of the robot.
  • a self-powered multimodal sensing device for a space on-orbit assembly robot wherein the on-orbit assembly robot is a crawling robot, comprising: a leg (4), a clamping end, and a tactile and slippery integrated sensor (5);
  • the tactile and slippery integrated sensor (5) includes: a slippery module (7) and a tactile module (6);
  • a haptic module (6) comprising: an upper PMMA substrate (6-1), a lower PMMA substrate (6-2), a top copper electrode (6-3), a bottom copper electrode (6-4), and a friction layer (6-5) ), springs (6-6); a layer of copper electrode is plated on the lower side of the upper PMMA substrate, called the top copper electrode (6-3), which is used as an electrode and a friction layer at the same time;
  • a layer of copper electrode is plated on the upper side of the partial area of the lower PMMA substrate, which is called the bottom copper electrode (6-4); a layer of PDMS friction layer (6-5) is spin-coated on the upper side of the bottom copper electrode (6-4) , the upper PMMA substrate and the lower PMMA substrate are connected together by springs; in the initial state, there is an air gap between the top copper electrode (6-3) and the friction layer (6-5);
  • the sliding module (7) includes: a PDMS silica gel sliding module (7-1), a displacement orientation and displacement amount detection electrode (7-2); the PDMS silica gel sliding module (7-1) is slidably arranged in the displacement orientation and displacement The upper side of the quantity detection electrode;
  • Part of the lower PMMA substrate (6-2) is not plated with copper, and the displacement orientation and displacement detection electrodes are arranged on the part of the lower side of the lower PMMA substrate that is not plated with copper.
  • the displacement orientation and displacement detection electrodes (7-2) include: a base and three electrodes, and three electrodes are designed on the four orientations of the lower part of the base: a first electrode (8-1), a second electrode (8-2), the third electrode (8-3) corresponds to the three levels of slip detection, and the displacement of the slip can be determined according to the three levels of electrical signals:
  • the silica gel sliding module When sliding occurs, the silica gel sliding module first contacts the first electrode (8-1), and generates an electrical signal; with the increase of the sliding displacement, it contacts the second electrode (8-2) and the third electrode in turn. (8-3) The corresponding electrical signals are generated by successive contact; when the first electrode or the first and second electrodes have signal output, the sliding trend is considered to be a safe range; when the third electrode has signal output, it will occur.
  • the relative movement causes the gait to become unstable. At this time, the crawling robot needs to be re-adjusted for secondary gripping;
  • the displacement azimuth and displacement detection electrodes can also detect the sliding direction:
  • the corresponding electrodes When the silicone sliding module slides in all directions, the corresponding electrodes generate corresponding electrical signals, thereby judging the direction in which the crawling robot leaves the truss, so that the robot can readjust its posture.
  • microstructure is etched on the surface of the friction layer (6-5).
  • the number of springs (6-6) is four or more.
  • a novel multimodal sensor signal detection method suitable for spatial extreme conditions is proposed. More specifically, a suitable sensor (sensors can be sold as separate commodities, therefore, a separate application for the protection of the technical solution of the sensor) is proposed, which has the advantages of stable performance in extreme environments, simple structure and easy integration, and no self-powered power supply.
  • the proposed tactile-slip-integrated triboelectric sensor can not only accurately detect the contact state of the robot, but also detect the specific direction and displacement of the robot when sliding through the innovative sliding-sense module.
  • Figure 1 is the robot crawling attitude diagram on the track.
  • Figure 2 is a structural diagram of a crawling robot.
  • FIG. 3 is a schematic diagram of a three-dimensional design of a tactile and slippery integrated sensor.
  • FIG. 4 is a cross-sectional view of the structural design of the tactile and sliding integrated sensor.
  • Figure 5 is a working principle diagram of the sliding module.
  • FIG. 6 is a top view of the principle of eight-azimuth slip detection.
  • FIG. 7 is a schematic diagram of the detection principle of the assembly process.
  • Robot 1 truss rod 2, steering gear 3, leg 4, sensor 5, foot end 6, body 7, joint 8;
  • the bottom end contacts the electrode 13 .
  • Example 1 This application studies a self-powered multimodal perception method oriented to a space environment.
  • Figure 1 shows a schematic diagram of the on-orbit task of the space crawling assembly robot: the robot assembles the truss rod 2, and the truss rod 2 and the truss rod 2 are connected by a spherical structure 9; the spherical structure 9 is provided with a socket, and the truss rod 2 is inserted into the spherical In the jack of structure 9, the two are fixed.
  • Figure 2 shows the structure of the crawling robot, including the robot's steering gear 3, legs 4, integrated tactile and slippery sensors 5, foot ends 6, body 7, and joints 8;
  • the tactile and sliding integrated sensor 5 is arranged on the leg 4 and the foot end 6 .
  • multi-point and multi-modal sensing signals are realized through the integrated tactile and slippery sensor 5. After the above-mentioned signals are collected, they are then analyzed to provide accurate feedback information to realize the motion control of the on-orbit assembly robot.
  • the design of the sensor part is a nano-triboelectric power generation device based on the principle of triboelectric power generation, which can convert mechanical energy into electrical energy. According to the characteristics of charge transfer generated by friction of different electric polar materials, the interface electrical characteristics of nano-triboelectric self-powered sensor structures in extreme space environment are given below.
  • FIG. 3 shows the design of the tactile and slippery integrated sensor 5.
  • the tactile and slippery integrated sensor 5 includes: a slippery module 7 and a tactile module 6;
  • FIG 4 shows the specific structural design of the above two modules.
  • the structure of the haptic module 6 is as follows:
  • upper PMMA substrate 6-1 lower PMMA substrate 6-2, top copper electrode 6-3, bottom copper electrode 6-4, friction layer 6-5, spring 6-6;
  • top copper electrode 6-3 the top copper electrode serves as both electrode and friction layer
  • a layer of copper electrode is plated on a part of the upper side of the lower PMMA substrate 6-2 (a part of the lower PMMA substrate 6-2 is plated with copper, and a part of the lower PMMA substrate 6-2 is not plated with copper), which is called the bottom copper electrode 6-4;
  • a layer of polydimethylsiloxane (PDMS) friction layer 6-5 is spin-coated on the top side of the bottom copper electrode 6-4, and the upper PMMA substrate and the lower PMMA substrate are connected together by 4 springs (the upper PMMA substrate, The lower PMMA is connected as a whole), so that there is a layer of air gap between the top copper electrode 6-3 and the friction layer 6-5, which is convenient for recovery of deformation after contact;
  • PDMS polydimethylsiloxane
  • the number of springs 6-6 is more than 4.
  • the working principle of the haptic module 6 when the friction layer 6-5 contacts/separates from the top copper electrode 6-3, a corresponding triboelectric signal is generated.
  • the structure of the sliding module 7 is as follows:
  • the sliding module 7 includes: a PDMS silica gel sliding module 7-1 (negative friction electrode), a displacement orientation and displacement amount detection electrode (positive friction electrode) 7-2; the PDMS silica gel sliding module 7-1 (negative friction electrode) ) is slidably arranged on the upper side of the displacement orientation and displacement detection electrode (positive friction electrode) 7-2;
  • the displacement azimuth and displacement amount detection electrodes are disposed on the uncoated area on the lower side of the lower PMMA substrate.
  • the working principle of the sliding module 7 is as follows: when the PDMS silica gel sliding module 7-1 is in contact with or separated from the displacement azimuth and displacement detection electrodes (that is, the positive and negative electrodes are in contact or separated), there is a corresponding electrical signal. produce.
  • the displacement orientation and displacement amount detection electrode (positive friction electrode) 7-2 includes: a base and three electrodes (three electrodes are provided in all four orientations), and all four orientations on the lower part of the base are provided. Three electrodes are designed (electrodes are set in different orientations, which can detect the displacement orientation): the first electrode 8-1, the second electrode 8-2, and the third electrode 8-3, corresponding to the three levels of slip detection, according to the three This kind of graded electrical signal can judge the displacement of the sliding.
  • the silicone slip module When a slip occurs, the silicone slip module first contacts the first electrode 8-1, and generates an electrical signal. As the sliding displacement increases, it contacts the second electrode 8-2 and the third electrode 8-3 in sequence to generate corresponding electrical signals.
  • the sliding trend is considered to be a safe range.
  • the third electrode has a signal output, the relative movement will cause the gait to become unstable. At this time, the robot needs to readjust the foot mechanism for a second grip.
  • the PDMS silica gel sliding module 7-1 is bowl-shaped, and the base is also bowl-shaped.
  • the structure of the sliding module 7 can also accurately determine the sliding direction of the robot.
  • Figure 6 is a schematic diagram of the orientation detection of the sliding sense.
  • E1 means north
  • E2 means east
  • E3 means south
  • E4 means west.
  • the northeast direction is represented by E1+E2
  • the southeast direction is represented by E1+E3
  • the southwest direction is represented by E3+E4
  • the northwest direction is represented by E1+E4.
  • Figure 7 shows a schematic diagram of the detection principle of the assembly process, the significance of which is to judge whether the assembly is in place.
  • the end of the truss rod is connected with a spherical structure 9, three pieces of side wall copper electrodes 10 are arranged on the side wall of the socket of the spherical structure 9, and a bottom surface copper electrode 11 is arranged on the bottom surface of the socket;
  • the three sidewall copper electrodes 10 are respectively arranged at different depths of the sidewall of the socket of the spherical structure 9, and the above design can realize the assembly process and the detection of the assembly in place.
  • the three copper electrodes contact and rub against the PDMS friction electrode on the outer side of the lower end of the rod in turn, and output three pulse signals.
  • a A pulse signal indicates that the assembly is successfully completed.
  • the truss rod is a metal rod
  • the pulse signal is directly transmitted by the truss rod to the receiving device of the robot clamping end (at this time, the metal rod acts as the metal electrode of the sensor, and at the same time, it is used as a wire to transmit electrical signals)
  • the metal rod acts as the metal electrode of the sensor, and at the same time, it is used as a wire to transmit electrical signals
  • the nanometer Triboelectric mechanism the four electrodes inside the sphere do not need to be led out by wires, so the structure of the sensor is greatly simplified, and the stability and reliability are improved.
  • This detection method has certain universal applicability and can be used in various models of shaft hole assembly detection.

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Abstract

一种面向空间环境的自供电多模态感知方法，在轨装配机器人(1)用于装配桁架杆‑球状结构，桁架杆(2)插入到球状结构(9)的插孔中，从而延长桁架杆(2)；在爬行机器人的腿部(4)和夹持端(6)安装触滑觉集成传感器(5)，通过触滑觉集成传感器(5)能够检测到爬行机器人的腿部(4)和夹持端(6)与桁架杆(2)是否接触、是否发生滑移；根据上述检测结果，爬行机器人进行姿态的调整。还提供一种面向空间的在轨装配机器人(1)的自供电多模态感知装置。

Description

一种面向空间环境的自供电多模态感知方法 技术领域
本申请涉及空间装配机器人领域，更具体地说，尤其涉及一种面向空间环境的自供电多模态感知方法。
背景技术
面向以空间站和大口径天线等为代表的大型航天器及空间结构在轨装配需求，国内外普遍提出采用爬行移动装配机器人的新型零件级装配方式，大大提高了大型空间桁架的建设效率。然而，如何在太空极端环境(真空、高低温、辐照)下，简单、高效、低成本的对移动机器人运动状态和桁架球-杆装配状态进行感知，是空间大型桁架结构零件级装配亟需解决的重要问题。
针对于空间机器人的传感应用，加拿大、德国等国家在为国际空间站研发的遥操作机械臂系统和专用灵巧机械臂关节处安装了基于电阻应变式的触觉、力觉传感器。日本空间探索局在为国际空间站研制的实验舱机械手系统上配备了1个基于电阻应变式的六维力/力矩传感器。荷兰空间中心在为欧空局研制的空间机械臂上安装了两个电阻应变式的力/力矩传感器，并在机械臂末端装有红外相机，该机械臂主要用于对国际空间站的俄罗斯舱段的装配和维护。我国的载人航天工程在国际上处于领先位置，航天五院、航天八院，哈尔滨工业大学(CN1807032A、CN106571097A)、北京航空航天大学(CN106313031A)、东南大学、北京控制工程研究所、合肥智能机械研究所等单位都陆续开展了与空间机械臂相关的研究工作，包括与空间六维力/力矩传感器应用相关的研究工作。
常规的触觉传感器包括压阻式、电容式、光电式、电磁式等类型，但结合空间极端环境，此类传感器普遍存在易受干扰、结构复杂、信号传输困难等缺陷，尤其是该类器件很容易受高低温影响，以及受到各种粒子和射线的辐照而产生带电现象，引起材料特性尤其是表面特性的变化，甚至引起器件的损坏。此外，上述触觉传感器需要使用外界供电，增加了传感器系统的复杂性以及能耗。
发明内容
本申请的目的在于针对上述现有技术的不足，提供一种面向空间环境的自供电多模态感知方法。
本申请的技术方案如下：
一种面向空间在轨装配机器人的自供电多模态感知方法，在轨装配机器人用于装配桁架 杆-球状结构，桁架杆插入到球状结构的插入孔中，从而延长桁架杆；
所述在轨装配机器人为爬行机器人，其包括：腿部(4)、夹持端、触滑觉集成传感器(5)；在爬行机器人的腿部(4)和夹持端安装触滑觉集成传感器(5)，通过触滑觉集成传感器能够检测到爬行机器人的腿部和夹持端与桁架杆是否接触、是否发生滑移；
其中，检测到爬行机器人的腿部和夹持端与桁架杆否发生滑移时，能够检测到滑移大小以及滑移方向；
根据上述检测结果，爬行机器人进行姿态的调整。
进一步，桁架杆为金属杆；在爬行机器人的夹持端设置有脉冲电信号接收装置；
在球状结构(9)的插孔的侧壁上设置有三片侧壁铜电极(10)，在插孔的底面设置有一片底面铜电极(11)；三片侧壁铜电极(10)分别设置在球状结构(9)的插孔的侧壁不同的深度处；在桁架杆的端部的径向设置有径向接触电极(12)，在端部面上设置有底端接触电极(13)；
上述设计能够实现装配过程和装配到位的检测：
当金属桁架杆(2)插入球状结构(9)的插孔的过程中，三条铜电极依次与桁架杆下端外侧的径向接触电极(12)(PDMS摩擦电极)相接触摩擦，输出三个脉冲信号；
当桁架杆2到插孔的最底部时(即最深处)，底端接触电极(13)与底面铜电极(11)接触，输出一个脉冲信号，表明装配顺利完成；。
上述脉冲信号直接由桁架杆传递到机器人夹持端接收装置中。
一种面向空间在轨装配机器人的自供电多模态感知装置，所述在轨装配机器人为爬行机器人，其包括：腿部(4)、夹持端、触滑觉集成传感器(5)；
其中，触滑觉集成传感器(5)，包括：滑觉模块(7)、触觉模块(6)；
触觉模块(6)，包括：上PMMA基底(6-1)、下PMMA基底(6-2)、顶部铜电极(6-3)、底部铜电极(6-4)、摩擦层(6-5)、弹簧(6-6)；在上PMMA基底的下侧的镀有一层铜电极，称为顶部铜电极(6-3)，其同时用作电极和摩擦层；
在下PMMA基底的部分区域的上侧镀有一层铜电极，称为底部铜电极(6-4)；在底部铜电极(6-4)上侧旋涂的一层PDMS摩擦层(6-5)，上PMMA基底与下PMMA基底通过弹簧连接在一起；初始状态下，顶部铜电极(6-3)和摩擦层(6-5)间有一层空气间隙；
滑觉模块(7)包括：PDMS硅胶滑移模块(7-1)、位移方位及位移量检测电极(7-2)；所述PDMS硅胶滑移模块(7-1滑动设置在位移方位及位移量检测电极的上侧；
下PMMA基底(6-2)部分区域分区域不镀铜，位移方位及位移量检测电极设置在下PMMA基底的部分下侧未镀铜的那片区域上。
进一步，位移方位及位移量检测电极(7-2)包括：：基座和三条电极，在基座下部的四个方位上均设计出三条电极：第一电极(8-1)、第二电极(8-2)、第三电极(8-3)，对应着滑觉检测的三个等级，根据三种分级的电信号能够判断出滑动的位移量：
当有滑动产生时，硅胶滑移模块首先与第一电极(8-1)接触，并产生电信号；随着滑动位移量的增大，依次与第二电极(8-2)、第三电极(8-3)相继接触而产生相应的电信号；当第一条或者第一、二两条电极有信号输出时，认为滑动趋势为安全范围；当第三条电极有信号输出，则会发生相对移动造成步态失稳，此时则需要爬行机器人重新调整进行二次抱紧；
位移方位及位移量检测电极也能够检测出滑动的方向：
当硅胶滑移模块向各个方向产生滑动时，相对应的电极就是产生相对应的电信号，从而判断出爬行机器人脱离桁架的方向，从而使机器人重新调整姿态。
进一步，在摩擦层(6-5)表面刻蚀微细结构。
进一步，弹簧(6-6)的数量为4个以上。
本申请的有益效果在于：
第一，面向空间在轨装配需求特点，提出一种基于纳米摩擦发电的多模态自供电传感方法，并揭示其真空、高低温、辐照等空间多环境场耦合下的自供电感知信号转化机理。
第二，提出了适用于空间极端条件的新型多模态传感器信号检测方法。更为特别的，提出了适用的传感器(传感器可以作为单独的商品出售，因此，对于传感器的技术方案的保护另案申请)具有极端环境下性能稳定、结构简单易集成、无源自供电的优点。
第三，提出的触滑觉集成式摩擦电传感器既可以准确的检测出机器人接触状态，又可以通过创新的滑觉模块部分检测到机器人滑动时的具体方向和位移量。
第四，基于摩擦电机理，提出一种桁架球-杆装配(轴孔配合)的新型检测方法。具有结构简单，无需外接引线的优点。
附图说明
下面结合附图中的实施例对本申请作进一步的详细说明，但并不构成对本申请的任何限制。
图1是机器人在轨爬行姿态图。
图2是爬行机器人结构图。
图3是触滑觉集成传感器的三维设计示意图。
图4是触滑觉集成传感器的结构设计剖面图。
图5是滑觉模块的工作原理图。
图6是八方位滑移检测原理俯视图。
图7是装配过程的检测原理示意图。
图1-7附图标记说明如下：
机器人1、桁架杆2、舵机3、腿部4、传感器5、足端6、机体7、关节8；
上PMMA基底6-1、下PMMA基底6-2、顶部铜电极6-3、底部铜电极6-4、摩擦层6-5、弹簧6-6；
PDMS硅胶滑移模块7-1、位移方位及位移量检测电极7-2；
第一电极8-1、第二电极8-2、第三电极8-3；
球状结构9；
侧壁铜电极10；
底面铜电极11；
径向接触电极12；
底端接触电极13。
具体实施方式
实施例1：本申请研究了一种一种面向空间环境的自供电多模态感知方法。
图1给出了空间爬行装配机器人在轨任务示意图：机器人装配桁架杆2，桁架杆2与桁架杆2之间通过球状结构9连接；球状结构9上设置有插孔，桁架杆2插入到球状结构9的插孔内，实现两者的固定。
图2给出了爬行机器人的结构，包括机器人的舵机3、腿部4、触滑觉集成传感器5、足端6、机体7、关节8；
触滑觉集成传感器5设置在腿部4和足端6上。
对于爬行机器人而言，通过触滑觉集成传感器5实现多点多模态传感信号，上述信号采集后，然后进行分析以提供准确的反馈信息，以实现在轨装配机器人的运动控制。
传感器部分设计是基于摩擦发电原理的纳米摩擦发电装置，可以把机械能转化为电能。根据不同电极性材料摩擦产生电荷转移的特性，下面给出了空间极端环境下纳米摩擦发电自供电传感器结构界面电特性。
图3给出了触滑觉集成传感器5的设计，触滑觉集成传感器5，包括：滑觉模块7、触觉模块6；
图4给出了上述两个模块的具体构造设计。
触觉模块6的构造如下:
包括：上PMMA基底6-1、下PMMA基底6-2、顶部铜电极6-3、底部铜电极6-4、摩擦层6-5、弹簧6-6；
在上PMMA基底的下侧的镀有一层铜电极，称为顶部铜电极6-3(顶部的铜电极同时用作电极和摩擦层)；
在下PMMA基底6-2的部分上侧镀有一层铜电极(下PMMA基底6-2部分区域镀铜，部分区域不镀铜)，称为底部铜电极6-4；
在底部铜电极6-4上侧旋涂的一层聚二甲基硅氧烷(PDMS)摩擦层6-5，上PMMA基底与下PMMA基底通过4个弹簧连接在一起(即将上PMMA基底、下PMMA连接成一个整体)，使得顶部铜电极6-3和摩擦层6-5间有一层空气间隙，便于接触后恢复形变；
进一步说明的设计细节是：在摩擦层6-5表面刻蚀微细结构，增加了接触时摩擦面积，从而可以增加信号输出强度。
进一步说明的设计细节是：弹簧6-6的数量为4个以上。
触觉模块6的工作原理：当摩擦层6-5与顶部铜电极6-3接触/分离时，从而有对应的摩擦电信号产生。
滑觉模块7的构造如下:
滑觉模块7包括：PDMS硅胶滑移模块7-1(负摩擦电极)、位移方位及位移量检测电极(正摩擦电极)7-2；所述PDMS硅胶滑移模块7-1(负摩擦电极)滑动设置在位移方位及位移量检测电极(正摩擦电极)7-2的上侧；
位移方位及位移量检测电极(正摩擦电极)设置在下PMMA基底的部分下侧未镀铜的那片区域上。
滑觉模块7的工作原理如下：当PDMS硅胶滑移模块7-1发生偏摆与位移方位及位移量检测电极接触或分离(即正负电极相接触或分离)时，从而有对应的电信号产生。
进一步说明的设计细节是：位移方位及位移量检测电极(正摩擦电极)7-2包括：基座和三条电极(四个方位均设置有三条电极)，在基座下部的四个方位上均设计出三条电极(不同的方位设置电极，能够检测位移方位)：第一电极8-1、第二电极8-2、第三电极8-3，对应着滑觉检测的三个等级，根据三种分级的电信号就可以判断出滑动的位移量。
当有滑动产生时，硅胶滑移模块首先与第一电极8-1接触，并产生电信号。随着滑动位移量的增大，依次与第二电极8-2、第三电极8-3相继接触而产生相应的电信号。
当第一条或者第一、二两条电极有信号输出时，认为滑动趋势为安全范围。当第三条电极有信号输出，则会发生相对移动造成步态失稳，此时则需要机器人重新调整该足部机构进行二次抱紧。
进一步说明的设计细节是：所述PDMS硅胶滑移模块7-1为碗状，所述基座也为碗状。
滑觉模块7结构还可以准确的判断机器人发生滑动的方向，图6为滑觉的定向检测示意 图，用E1表示北，E2表示东，E3表示南，E4表示西。东北方向则用E1+E2表示，东南方向用E1+E3表示，西南方向用E3+E4表示，西北方向则用E1+E4表示。当硅胶滑移模块向各个方向产生滑动时，相对应的电极就是产生相对应的电信号，从而判断出爬行机器人脱离桁架的方向，从而使机器人重新调整姿态。
为实现机器人在桁架装配过程中桁架杆-球装配效果的多模态感知，更好的采集多路传感信号，拟在桁架杆外侧、桁架球内腔设计增加基于触觉感知的位置检测功能，更好的完成爬行机器人运动及装配作业控制。
图7给出了装配过程的检测原理示意图，其意义在于判断装配是否到位。
如图1所示，桁架杆的端部连接有球状结构9，在球状结构9的插孔的侧壁上设置有三片侧壁铜电极10，在插孔的底面设置有一片底面铜电极11；三片侧壁铜电极10分别设置在球状结构9的插孔的侧壁不同的深度处，上述设计可以实现装配过程和装配到位的检测。
当金属桁架杆2插入过程中，三条铜电极依次与杆下端外侧的PDMS摩擦电极相接触摩擦，输出三个脉冲信号，当桁架杆2到插孔的最底部时(即最深处)，输出一个脉冲信号，则表明装配顺利完成。
其中，桁架杆为金属杆，脉冲信号直接由桁架杆传递到机器人夹持端接收装置中(此时金属杆既充当传感器的金属电极，同时又当作是导线传出电信号)，同时根据纳米摩擦发电机理，球体内部的四个电极均无需导线引出，因此大大简化了传感器的结构，提高了稳定性和可靠性。这种检测方式具有一定的普遍适用性，可以用于各种轴孔装配检测的模型中。
以上所举实施例为本申请的较佳实施方式，仅用来方便说明本申请，并非对本申请作任何形式上的限制，任何所属技术领域中具有通常知识者，若在不脱离本申请所提技术特征的范围内，利用本申请所揭示技术内容所作出局部更动或修饰的等效实施例，并且未脱离本申请的技术特征内容，均仍属于本申请技术特征的范围内。

Claims (6)

  1. 一种面向空间在轨装配机器人的自供电多模态感知方法，其特征在于，在轨装配机器人用于装配桁架杆-球状结构，桁架杆插入到球状结构的插入孔中，从而延长桁架杆；
    所述在轨装配机器人为爬行机器人，其包括：腿部(4)、夹持端、触滑觉集成传感器(5)；在爬行机器人的腿部(4)和夹持端安装触滑觉集成传感器(5)，通过触滑觉集成传感器能够检测到爬行机器人的腿部和夹持端与桁架杆是否接触、是否发生滑移；
    其中，检测到爬行机器人的腿部和夹持端与桁架杆否发生滑移时，能够检测到滑移大小以及滑移方向；
    根据上述检测结果，爬行机器人进行姿态的调整。
  2. 根据权利要求1所述的一种面向空间在轨装配机器人的自供电多模态感知方法，其特征在于，桁架杆为金属杆；在爬行机器人的夹持端设置有脉冲电信号接收装置；
    在球状结构(9)的插孔的侧壁上设置有三片侧壁铜电极(10)，在插孔的底面设置有一片底面铜电极(11)；三片侧壁铜电极(10)分别设置在球状结构(9)的插孔的侧壁不同的深度处；在桁架杆的端部的径向设置有径向接触电极(12)，在端部面上设置有底端接触电极(13)；
    上述设计能够实现装配过程和装配到位的检测：
    当金属桁架杆(2)插入球状结构(9)的插孔的过程中，三条铜电极依次与桁架杆下端外侧的径向接触电极(12)(PDMS摩擦电极)相接触摩擦，输出三个脉冲信号；
    当桁架杆2到插孔的最底部时(即最深处)，底端接触电极(13)与底面铜电极(11)接触，输出一个脉冲信号，表明装配顺利完成；。
    上述脉冲信号直接由桁架杆传递到机器人夹持端接收装置中。
  3. 一种面向空间在轨装配机器人的自供电多模态感知装置，其特征在于，所述在轨装配机器人为爬行机器人，其包括：腿部(4)、夹持端、触滑觉集成传感器(5)；
    其中，触滑觉集成传感器(5)，包括：滑觉模块(7)、触觉模块(6)；
    触觉模块(6)，包括：上PMMA基底(6-1)、下PMMA基底(6-2)、顶部铜电极(6-3)、底部铜电极(6-4)、摩擦层(6-5)、弹簧(6-6)；在上PMMA基底的下侧的镀有一层铜电极，称为顶部铜电极(6-3)，其同时用作电极和摩擦层；
    在下PMMA基底的部分区域的上侧镀有一层铜电极，称为底部铜电极(6-4)；在底部铜电极(6-4)上侧旋涂的一层PDMS摩擦层(6-5)，上PMMA基底与下PMMA基底通过弹簧连接在一起；初始状态下，顶部铜电极(6-3)和摩擦层(6-5)间有一层空气间隙；
    滑觉模块(7)包括：PDMS硅胶滑移模块(7-1)、位移方位及位移量检测电极(7-2)；所述PDMS硅胶滑移模块(7-1滑动设置在位移方位及位移量检测电极的上侧；
    下PMMA基底(6-2)部分区域分区域不镀铜，位移方位及位移量检测电极设置在下PMMA基底的部分下侧未镀铜的那片区域上。
  4. 根据权利要求3所述的一种面向空间在轨装配机器人的自供电多模态感知装置，其特征在于，位移方位及位移量检测电极(7-2)包括：：基座和三条电极，在基座下部的四个方位上均设计出三条电极：第一电极(8-1)、第二电极(8-2)、第三电极(8-3)，对应着滑觉检测的三个等级，根据三种分级的电信号能够判断出滑动的位移量：
    当有滑动产生时，硅胶滑移模块首先与第一电极(8-1)接触，并产生电信号；随着滑动位移量的增大，依次与第二电极(8-2)、第三电极(8-3)相继接触而产生相应的电信号；当第一条或者第一、二两条电极有信号输出时，认为滑动趋势为安全范围；当第三条电极有信号输出，则会发生相对移动造成步态失稳，此时则需要爬行机器人重新调整进行二次抱紧；
    位移方位及位移量检测电极也能够检测出滑动的方向：
    当硅胶滑移模块向各个方向产生滑动时，相对应的电极就是产生相对应的电信号，从而判断出爬行机器人脱离桁架的方向，从而使机器人重新调整姿态。
  5. 根据权利要求3所述的一种面向空间在轨装配机器人的自供电多模态感知装置，其特征在于，在摩擦层(6-5)表面刻蚀微细结构。
  6. 根据权利要求3所述的一种面向空间在轨装配机器人的自供电多模态感知装置，其特征在于，弹簧(6-6)的数量为4个以上。
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