基于光纤光栅的机器人多维力传感技术研究

研究了一种光纤Bragg光栅(FBG)机器人多维力传 感器,进行了传感器弹性体的静 态、模态和动态有限元ANSYS模拟,获得弹性体在各方向受力与力矩时应力、应变的变化情 况。在模拟的基础上, 设计、制作出传感器机械结构,敷设FBG和搭建测试系统,并在压力与扭矩实验机上进行了 有关测试；为模拟机器 人腕部受冲击现象,进行传感器动态冲击实验。各种实验分析表明:本文传感器具有良好的 线性度和重复性,灵敏度 可达0.000nm/N,且具有结构设计简单、免受 电磁干扰、稳定性好和成本低等优点。

Research of robot multidimensional force sensing technology based on fiber Bragg grating

Robot multidimensional force sensor is useful to intelligent robot posture ,movement and precise control of environmental perception.This requires force sensor to own many advantages,s uch as high sensitivity in each axis,good static and dynamic characteristics.A robot multidimensional for ce sensor based on the fiber Bragg grating (FBG) is introduced in this paper,and the static,modal and dynamic sim ulations of its elastic body are obtained by finite element software ANSYS.Then we obtain the distributions of stress and strain of elastic body under different forces and torques in each direction,and determine the optimum attach in g position of fiber Bragg grating (FBG).On the basis of simulation,the mechanical structure of the sensor is des igned and manufactured,FBG is laid,and measurement system is built up in the lab.In the pressure and torque ex periment machine,we conduct a series of tests.At the same time,dynamic impact experiment of the sensor is conducted for simulating robot wrist subjected to impact force phenomenon.The experimental results show that th e sensor has good linearity and repeatability,and its sensitivity can be up to 0.0001nm/N.In ad dition,the sensor also has simple structure,high stability and low cost,and it is free from electromagnetic interference.