Object slip detection sensor based on triboelectric nanogenerator

Abstract

Existing gripping devices limit the way of gripping the object, and the object may slide due to insufficient friction, when the manipulator grips the object, the object may slip phenomenon, which leads to the manipulator can not complete the gripping work normally. In order to solve this problem, this paper proposes a robotic slipping sensor to detect the slipping state of the object and its slipping distance, the sensor through the friction of two different materials and electrostatic induction phenomenon of triboelectricity and the peak voltage signal to determine whether the contact object produces the phenomenon of slipping and its slipping distance. This design integrates two rectangular copper foils and two polytetrafluoroethylene (PTFE) films together to form a triboelectricity nanogenerator in independent layer mode, which judges the slip distance of an object by the peak voltage signal generated by the object’s slip, which is flexible and can be combined with a robot to make the robot more flexible and convenient in its work. In order to verify the performance of this sensor, horizontal slip test and vertical slip test were conducted. In the horizontal slip test and vertical slip test, the peak voltage signal output from the TENG sensor has a linear relationship with the slip distance of the object. The sensor and the object contact slip process ends after 100 ms, the oscilloscope will output the peak voltage signal, so that according to the size of the peak voltage signal to determine the object in the range of 0–10 cm slip distance, for judging whether the object appears to slip phenomenon and the occurrence of the phenomenon of the slip distance it produces provides a flexible program.