一种基于光纤光栅传感器的机械手远程操控手套

An FBG sensor-based glove for remote operation of manipulator

由于远程操控的机械手具有灵活性大和环境适应性高的特点,在越来越多的特殊场合下,人类开始借助机械手完成任务。本文针对危险环境中机械手高精度远程操作的需求,提出了一种基于光纤光栅传感器的机械手远程操控手套。建立了手套中光纤光栅传感器的弯曲测量模型,发现光纤光栅的中心波长变化量与弯曲角度之间成正比关系。结合机械手舵机的控制,提出了利用光纤光栅传感器进行机械手远程操控方法,编写了上位机软件,实现了从光纤光栅中心波长到手指弯曲角度最后到机械手舵机控制编码的过程。完成了光纤光栅传感器的设计和封装,手套的四路探测光纤中共有12个栅区长度为10 mm的光纤光栅传感器,其中11个传感器被封装在人手关节的上方进行弯曲感知,1个光纤光栅温度传感器用于温度补偿,利用704硅橡胶对光纤光栅传感器进行封装。搭建了基于光纤光栅传感器的机械手远程操控系统,并对光纤光栅传感器进行了标定,实验结果表明在人手关节弯曲0°~90°的范围内,平均弯曲角度测量误差为1.147°,所有拟合直线的决定系数均大于0.993,最后设计了人机交互演示模块展示人手的运动。本文提出的基于光纤光栅传感器的手套具有小型化、高精度、抗电磁干扰的特点,在航天器在轨维修、远程医疗手术和高危排雷作业等方面具有潜在的应用前景。

Due to the high flexibility and environmental adaptability of remote-operational manipulators,they are increasingly used to complete tasks in special situations.An FBG sensor-based glove for the remote operation of manipulator is proposed to meet the demand for high-precision remote operation of manipulator in hazardous environments.A bending measurement model of fiber Bragg grating sensors in gloves is established.The central wavelength variation of fiber Bragg grating sensor is found to be directly proportional to the bending angle.Combined with the control of the manipulator servo,a method for remote operation of manipulator using fiber Bragg grating sensors is proposed.The upper computer software is developed.The process from the center wavelength of the fiber Bragg grating to the bending angle of the finger,and finally to the controlled encoding of the manipulator servo is implemented.The design and packaging of the fiber Bragg grating sensors are completed.There are a total of 12 FBG sensors with a length of 10 mm in the four detection fibers of the gloves.Among them,11 FBG sensors are deployed above the finger joints for bending sensing,and 1 FBG temperature sensor is used for temperature compensation.The FBG sensors are packaged with 704 silicone rubber.A remote operation system for the manipulator based on fiber Bragg grating sensors is built,and the fiber Bragg grating sensors are calibrated.The experimental results showed that the average bending angle error was 1.147°within the range of 0°~90°bending of the human hand joint.The determination coefficients of all fitted lines are greater than 0.993.Finally,a human-computer interaction demonstration module is designed to display the movement of the human hand.The glove based on fiber Bragg grating sensors proposed in this article has the characteristics of miniaturization,high precision,and resistance to electromagnetic interference.It has potential applications in spacecraft in orbit maintenance,remote medical surgery,high-risk mine clearance operations,and so on.