基于光纤光栅的机械手指触滑觉传感研究
发布时间：2019-06-10 18:44
【摘要】：针对机械手指柔性触滑觉传感问题,提出了一种基于光纤光栅的二维分布式传感阵列的触滑觉传感方法,该方法采用两根平行放置和一根倾斜放置的光纤光栅传感器组成传感单元,利用弹性材料封装增强光纤光栅对压力的灵敏度,并以单元阵列的方式实现对触觉三维力、滑动方向以及滑移位置的感知。仿真和实验结果表明,该方法可以很好地实现对触觉正向压力和剪切力的传感,其中正向压力在0~3.691 9×103Pa的范围内灵敏度为Kp=0.194 pm/Pa,x正向剪切力在0~1.115×103Pa的范围内灵敏度为Kpt=0.03 pm/Pa。通过对传感阵列中不同光栅中心波长漂移的上升沿和峰值时间差实现对物体x轴的滑移方向的判断。该方法可以很好地实现对机械手指触滑觉信息的测量,具有一定的应用价值。
[Abstract]:In order to solve the problem of flexible tactile sensing of manipulator, a two-dimensional distributed sensing array based on fiber grating (FBG) is proposed. In this method, two parallel fiber grating sensors and one inclined fiber grating sensor are used to form a sensing unit. Elastic material packaging is used to enhance the sensitivity of fiber gratings to pressure, and the tactile three-dimensional force is realized by unit array. The perception of sliding direction and slip position. The simulation and experimental results show that the method can be used to sense the tactile forward pressure and shear force, and the sensitivity of the forward pressure is Kp=0.194 pm/Pa, in the range of 0 鈮，
本文编号：2496655
[Abstract]:In order to solve the problem of flexible tactile sensing of manipulator, a two-dimensional distributed sensing array based on fiber grating (FBG) is proposed. In this method, two parallel fiber grating sensors and one inclined fiber grating sensor are used to form a sensing unit. Elastic material packaging is used to enhance the sensitivity of fiber gratings to pressure, and the tactile three-dimensional force is realized by unit array. The perception of sliding direction and slip position. The simulation and experimental results show that the method can be used to sense the tactile forward pressure and shear force, and the sensitivity of the forward pressure is Kp=0.194 pm/Pa, in the range of 0 鈮，
本文编号：2496655
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