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中文摘要：
针对目前触觉传感器研究中不能兼有柔韧性和多维力测量等难题，设计了一种基于力敏导电橡胶的具有整体两层非对称网状式结构的触觉传感器，通过检测导电橡胶的电阻值变化来分析三维力信息。本文介绍了该传感器的基本结构。并基于理想力敏导电橡胶的力学特性建立了三维力并行测量的数学模型，通过对该模型的求解解决了三维力及各受力点之间复杂的耦合问题。仿真实验结果表明该传感器能够实现对表面任意单点三维力、多点三维力以及三维面力信息的测量。
英文摘要：
Abstract：flexibility and can be used to measure three-dimensional force. The applied force information can be obtained through detecting the resistance of the conductive rubber. In this paper, we describe the sensor＇s structure, and establish a three-dimensional force parallel detection mathematical model based on the force-sensitive conductive rubber＇s ideal mechanics characteristics. Based on this model, the sensor can detect the 3-D force information applied on any point ,multi-point as well as sensor＇s surface.
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Chain structure of liquid Se at high temperature and pressure investigated by ab initio molecular dy
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