施文彬臺灣大學：機械工程學研究所操禮齊Tsao, Li-ChiLi-ChiTsao2007-11-282018-06-282007-11-282018-06-282007http://ntur.lib.ntu.edu.tw//handle/246246/61501本篇文章提出了一種新穎的方法來製作溫度感測陣列，此法將電阻式的混合高分子材料以點膠的方式塗佈在可撓性聚醯亞胺(polyimide)基板上，完成後的溫度感測陣列在4×4公分見方的面積裡擁有64個感測元，未來可作為機器人的仿人皮膚感測系統。在可撓性聚醯亞胺基板上鋪設有指叉狀的電極，當外界溫度產生變化時，即可偵測到混合高分子材料的電阻變化。其中聚二甲基矽氧烷(PDMS)為混合高分子材料的骨幹，不同的導電摻入物如：碳黑、石墨及奈米碳纖，混入聚二甲基矽氧烷後，以石墨微粒為摻入物的混合材料對溫度變化有較高的靈敏度及穩定性。而實驗結果顯示當溫度變化範圍在20oC至110oC間，石墨的體積百分率為20%的混合材料有著較佳的電阻變動範圍。將製作完成的溫度感測陣列接上後方掃描電路系統，當不同形狀的熱源接近時，可由電腦螢幕觀察到與熱源相似的感測圖形分布。This work presents a novel method to fabricate temperature sensor arrays by dispensing electro-resistive polymer on flexible polyimide films. The fabricated temperature sensor array has 64 sensing cells in a 4×4 cm2 area. The sensor array can be used as humanoid artificial skin for sensation system of robots. The flexible polyimide substrate was patterned by interdigitated copper electrodes for determining the resistivity change of the electro-resistive polymer, which increases with ambient temperature. Polydimethlysiloxane(PDMS) was used as the matrix of the electro-resistive composites and different conductive fillers such as carbon black, graphite powder, carbon nano-fibrils have been investigated. It was found that graphite powder serves as the best conductive filler for highest temperature sensitivity and better stability. The volume fraction of the graphite powder for large dynamic range from 20oC to 110oC has been investigated and was found to be 20%. The fabricated temperature sensor array has been tested. The detected temperature contours are in well agreement with the shapes and magnitudes of different heat sources.致謝 i 摘要 ii Abstract iii Table of Contents iv List of Figures vi The main text vi Appendix vii Chapter 1 Introduction 1 Chapter 2 Materials 3 2-1 Insulating Matrix 3 2-2 Electro-resistive PDMS 4 Chapter 3 Design and Fabrication 9 3-1 Flexible Substrate 9 3-2 Process 9 Chapter 4 Experiments and Discussions 15 4-1 Steps of Experiments 15 4-2 Testing Results 16 Chapter 5 Conclusions 21 References 23 Appendix – Tactile Sensing Property 26 1. The preface of tactile sensor 26 2. Composite polymer for tactile sensing 29 2-1 Percolation of sensing material 29 2-2 The second conductive filler 31 2-3 Resistance-pressure relation 32 3. Fabrication of sensor array 352199219 bytesapplication/pdfen-US混合高分子電析出現象溫度感測陣列可撓性基板人工皮膚composite polymerpercolationtemperature sensor arrayflexible substrateartificial skinthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/61501/1/ntu-96-R94522525-1.pdf