为了解决用于机器人等复杂三维载体表面或活动关节部位的触觉传感器实现高柔弹性的难题, 提出了基于纳米材料, 并结合马蹄形的形状布置与预拉伸工艺制作新型高柔弹性导电薄膜电极层的方法。将银纳米线以马蹄形的形状布置植入到已经过预拉伸处理的PDMS薄膜表面, 形成具有高伸缩性能的导电复合材料。将其应用于机器人手腕及手指部位, 验证了良好的拉伸-导电特性, 且拉伸试验结果表明: 这种新型高柔弹性导电薄膜电极层随着拉伸率的增加, 电阻值呈现先减小再缓慢增大的趋势, 在第50次拉伸30%后, 电极相对初始值的电阻增量仅为93%。这种新型电极制作工艺简单, 具有良好的柔弹性、导电性及稳定性, 透明度也很高, 可应用于拉伸、弯曲、扭转等多种复杂的应用场合。

In order to solve the problem that the tactile sensors for complex three-dimensional carrier surfaces or moving joint parts of robot are difficult to achieve high flexibility and flexibility, a new method based on nano-materials combined with horseshoe shape and pre-stretching process was proposed. Silver nanowires were implanted with a horseshoe shape into the surface of the pre-stretching-treated PDMS film. Then, a type of conductive composite material with high flexibility and stretchability was obtained. The tensile test results show that the resistance of the new type of electrode first decreased and then increased with the increase in stretching rate. After the 50th stretch of 30%, the resistance increase of the electrode relative to the initial value is only 93%. The electrode has a simple manufacturing process, good flexibility, stability, and high transparency. These can meet the requirements of different application conditions and are suitable for many complex applications such as stretching, bending, and torsion.