基于光纤光栅的机器人腕部多维力传感器

为实现机器人腕部等关节受力情况的测量,设计了一种十字型光纤光栅多维力传感器,该传感器由两个圆环及两环间呈90°分布的四个相同的等截面悬臂梁及粘贴于其上的光纤光栅组成.分析了传感器的传感原理并使用ANSYS对传感器进行力学仿真分析;研究了传感器不同部位受力时悬臂梁的应变情况;搭建了实验平台,进行了传感器的标定实验和温度补偿研究;通过对仿真数据和试验结果进行数学分析,得出了光纤光栅中心波长漂移量与传感器的受力关系.实验结果显示,该传感器能准确地测量腕部所受力的大小和位置,误差在1.6％以内,且抗干扰能力强,具有较好的稳定性,能在复杂环境中使用.

Multi-dimensional Force Sensor of Robot Wrist Based on Fiber Bragg Grating

In order to realize the measurement of the multi-dimensional force of the joints of the robot wrist, a Maltese cross-type fiber grating multi-dimensional force sensor is designed in this paper. The sensor consists of two circular rings, four equal cross-section cantilever beams distributed at 90° between the two rings and a fiber grating pasted on them. The sensing principles of the sensor are analyzed and the mechanical simulation analysis of the sensor is performed by ANSYS. The strain of the cantilever beam under the force of different parts of the sensor is studied, an experimental platform is built to perform the calibration experiment of the sensor, and the temperature compensation is studied. By making mathematical analysis on the simulation and test results, the relationship between the central wavelength shift and the force on the sensor is obtained. Experimental results show that the sensor can accurately measure the size and position of the wrist force within the error of 1.6%. Owing to its strong anti-interference ability and good stability, the sensor can be used in complex environments.