光纤智能皮肤的理论与实验研究

The Theoretical and Experimental Research on Fiber_optic Intelligent Skin

光纤智能皮肤压觉传感器主要应用于机器人的机械手上 ,构成智能手掌 .在光纤智能皮肤中布设了二维分布式光纤阵列 ,利用光纤微弯损耗传感机理 ,实现了对压觉的识别 ,即对压力大小和位置的传感与检测 .在传感系统中 ,采用光纤微弯压觉式传感器制成传感单元 ,当有压力时 ,使传感单元发生微小位移 ,通过分布式传感器使得光纤中传输光产生损耗 ,再通过PIN光电转换 ,把光信号转变为电信号 ,最后经放大电路放大 .在巡回检测系统中 ,采用循环计数器控制多路模拟开关巡回检测传感器的输出信号 ,通过电压比较和地址译码确定压力的大小和位置 ,压觉检测结果采用LED阵列显示 .研究结果表明 :该传感器结构简单 ,灵敏度较高 ,性能稳定可靠 。

A fiber_optic intelligent skin sensor was discussed. It can be used in the machine_hand of a robot. A two_dimensional distributed sensing array was designed. The value and position of the pressure on the sensing zone can be sensed and detected. The sensing cell employs a fiber_optic microbend pressure sensor that works as a sensingunit. When the pressure is exerted on the sensingunit, a small displacement is produced. By detecting the variation of the output light and through a series of circuits, the pressure output is obtained. This sensor can form a distributed fiber_optic measuring system. In the circular detection system with hardware circuit, we selected circular counter to control multi_path analogue switches in order to inspect circular signals output from the sensor. And the decoder of address can examine the value and position of the pressure point. An LED matrix was adopted to display the detecting results. Experimental results show that the structure of this sensor is simple and it has higher sensitivity and stable performance. It provides an effective and practical way for robot and intelligent mechanical tools.