发表机构
Queensland University of Technology; CSIRO（昆士兰科技大学; 澳大利亚联邦科学与工业研究组织）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文通过拓扑优化设计自感压阻夹持器，利用稀疏电气测量重建接触形状与位移场，并证明电优化设计在噪声下具有更优的重建鲁棒性。
AI 中文摘要
我们考虑了一种自感机器人夹持器的计算设计，该夹持器有潜力减少对传统外部传感器的依赖。我们通过计算研究了一种新型传感方法的潜力，该方法利用压阻材料的耦合机电特性，通过稀疏的电气测量实现机械感知。在这个理论概念验证中，我们表明，在线性本构关系和准静态夹持器操作的理想化假设下，可以使用少量模拟电气测量重建简单的接触形状和夹持器位移场，这表明了所提出的传感技术的潜力。我们使用拓扑优化，通过在夹持器的机械合规性要求中添加电气性能目标，来促进位移状态恢复的质量。使用所提出的重建技术，我们展示了电优化夹持器设计的改进重建能力，与仅在拓扑优化问题中考虑机械目标的夹持器相比，其对噪声合成测量的鲁棒性增强。未来，详细纳入非线性效应以及这一理论概念验证的实验实现，可能有助于消除机器人操作中传统传感器的限制，并可能促进在当前传感系统不切实际的环境中进行传感。
英文摘要
We consider the computational design of a self-sensing robotic gripper that has the potential to reduce reliance on traditional external sensors. We computationally investigate the potential of a novel sensing method that exploits the coupled electromechanical properties of piezoresistive materials to enable mechanical perception using sparse electrical measurements. In this theoretical proof-of-concept, we show that under the idealised assumptions of linear constitutive relationships and quasi-static gripper operation, it is possible to reconstruct simple contact shapes and gripper displacement fields using a small number of simulated electrical measurements, suggesting the potential of the proposed sensing technique. We use topology optimisation to promote the quality of displacement state recovery by adding an electrical performance objective to the mechanical compliance requirement of the gripper. Using the proposed reconstruction technique, we showcase the improved reconstruction ability of an electrically optimised gripper design through an increased robustness to noisy synthetic measurements compared to a gripper designed with only a mechanical objective in the topology optimisation problem. In the future, detailed inclusion of non-linear effects and experimental realisation of this theoretical proof-of-concept may help remove the constraints of traditional sensors for robotic handling, potentially facilitating sensing in settings where current sensing systems are impractical.
