基于光纤布拉格光栅多维力触觉传感器的研究

Research on Multidimensional Force Tactile Sensor Based on Fiber Bragg Grating

摘要: 为了帮助机器人感知与外界环境和对象的相互作用情况并及时作出判断和反馈，研究并制作了一种基于光纤光栅测量三维力的触觉传感器，用于机器人外表面的受力检测。该传感器主要由一个十字型弹性体和一根串联了5段不同中心波长的光栅组成。首先利用SolidWorks软件进行有限元仿真分析，研究弹性体接受外部水平力和垂直力时各部分的应变特性，然后依据其应变特性，确定各个FBG在弹性体上的最佳粘接位置，以达到最高的灵敏度；其次，对弹性体的不同位置施加应力，确定最佳施加力的位置；最后通过处理五个FBG的波长变化，测量来自X、Y、Z方向的三维力灵敏度。通过实验测试分析，该传感器具有良好的应力传感灵敏度。

Abstract: In order to assist robots in perceiving the interaction with the external environment and objects, and to make timely judgments and feedback, a tactile sensor based on fiber Bragg grating measurement of three-dimensional forces was studied and developed for force detection on the outer surface of robots. The sensor mainly consists of a cross shaped elastomer and a grating connected in series with 5 different center wavelengths. Firstly, SolidWorks software is used for finite elemet simulation analysis to study the strain characteristics of each part of the elastic body when subjected to external horizontal and vertical forces. Then, based on its strain characteristics, the optimal bonding position of each FBG on the elastic body is determined to achieve the highest sensitivity; Secondly, apply stress to different positions of the elastic body to determine the optimal position for applying force; Finally, by processing the wavelength changes of five FBGs, the three- dimensional force sensitivity from the X, Y, and Z directions was measured. Through experimental testing and analysis, the sensor has good stress sensing sensitivity.