一种机器人多维光纤光栅力传感器

A Robot Multi-Dimensional FBG Force Sensor

为实现机器人腕部等结构的多维力传感测量,提出了一种多维光纤光栅力传感器,其弹性体结构主要由2个圆环及4个弓形梁构成,并将光纤光栅分别贴于弓形梁上以实现多维传感.同时,对传感器的理论计算模型及传感原理进行推导,采用有限元分析软件对其弹性体进行力学仿真分析.为进一步分析传感器的基本特性,搭建实验平台并进行了传感器的标定实验.结果表明:所提传感器能准确、有效地完成多维力传感测量,在压力载荷作用下具有良好的线性、重复性和一致性,且灵敏度较高、稳定性较好、抗干扰能力强,能够在恶劣环境下使用.

In order to achieve multi-dimensional force measurement of robot wrist and other structures, a multi-dimensional fiber Bragg grating （FBG） force sensor was proposed in this paper. The elastomer of this sensor is composed of two circles and four bow beams. Four FBGs were respectively affixed to the bow beams to realize multi-dimensional sensing. The theory calculation model and the sensing principle of this sensor were derived and the mechanical simulation of the elastomer was obtained by finite element analy- sis. To further obtain the basic characteristics of this sensor, a calibration experiment was conducted. The results show that the sensor can accurately and effectively complete multi-dimensional force measurement with good linearity, repeatability and consistency under pressure load, featured with high sensitivity, good stability, and anti-interference ability in harsh environment.