基于螺旋弹簧的柔性杆形状感知技术

Shape sensing technique based on the Helical Spring deformation detection

为了实现柔性杆形状的动态感知,研究了螺旋弹簧变形的检测方法,实现了对螺旋弹簧三维变形的实时感知。根据采集到的螺旋弹簧表面离散点的应变数据,计算出簧丝的曲率和挠率,建立了递推方程,将螺旋弹簧变形形状重建出来。建立了一套实验系统,验证了所提出方法的正确性,应变信息由簧丝表面上的应变片采集,采集到的应变信息直接输入到计算机,并通过VC++程序处理,实时绘制出螺旋弹簧变形后的形状。研究结果表明,该研究提出了一种有效获取在不可见环境下的形状解决方案,具有一定的理论和实际意义。

Aiming at realizing shape sensing of flexible stem,the detection method of helical spring deformation was investigated,by which the automatic perception for the helical spring deformation was realized.According to the detected strains of the discrete points on the surface of helical spring,the curvature and torsion of spring line were calculated,the recurrence relationship was established,and the spring deformation was obtained.An implementation system for the verification of the proposed method was established.The strain collected by strain gauge mounted on the surface of the helical spring was directly input into computer system,and it was processed by VC＋＋ program,then the shape of the helical spring was dynamically displayed on the computer screen.The result shows that this work presents an efficient solution for the shape acquirement in invisible environment,and it is well expected that the proposed method is beneficial for the kind of problems.