摘要:
基于光纤Bragg光栅设计力的检测系统，以实现机器人对外界力的感知。介绍光纤Bragg光栅的测力原理，利用ANSYS有限元分析法对传感器弹性结构体进行静态、模态和瞬态的分析，以获得弹性结构体在受到各方向的力/力矩时的应力应变情况，确定光纤Bragg光栅的粘贴位置。在模拟的基础上，进行压力实验，确定力传感器的灵敏度、线性度、重复性以及稳定性等指标。
Abstract:
Based on fiber Bragg grating design force detection system to realize the robot’s perception of ex-ternal forces, the principle of fiber grating force measurement is introduced. Elastic structure of sensor using the ANSYS finite element analysis for the static, modal and transient analysis to obtain the stress and strain of the elastic structure when subjected to forces/torques in all directions. The paste position of the fiber Bragg grating is determined. On the basis of the simulation, pressure experiments were carried out to determine the sensitivity, linearity, repeatability and stability of the force sensor.