仿生柔性触角形状感知光纤传感方法研究

为解决智能机器人仿生柔性触角形状感知问题,研究柔性光纤传感方法。建立光纤触觉传感器三维模型,推导出柔性触角探测物体形状的曲率计算公式,建立柔性触角形状传感系统,实验研究光纤布拉格光栅作为传感元件的可行性,分析柔性仿生触角标定误差,得到仿生柔性触角弯曲导致光纤光栅中心波长漂移量与形状曲率的关系,拟合曲线与实际曲线之间的参数偏差小,验证了仿生柔性触角形状光纤传感技术可行性。研究结果表明,光纤传感方法可实现仿生柔性触角形状感知,在智能机器人领域具有应用前景。

Research on shape sensing fiber optic sensing method of bionic flexible antenna

In order to solve the problem of the shape perception of bionic flexible antenna for intelligent robot,the flexible fiber sensing method was studied.Three-dimensional model of fiber tactile sensor was established,and the curvature formula that flexible antenna detected object shape was derived.The flexible antenna shape sensing system was set up,and the feasibility of fiber Bragg grating as sensing element was studied through the experiments.The calibration error of flexible bionic tentacles was analyzed,the relationship of the fiber grating central wavelength drift and shape curvature was gotten,parameter deviation between the fitting curve and the actual curve was small,which verified the feasibility of bionic flexible antenna shape optical fiber sensing technology.The results show that the optical fiber sensing method can realize the shape perception of bionic flexible antennas and has the application prospect in the field of intelligent robot.