基于FBG的机器人柔性触觉传感器

A Flexible Tactile Sensor for Robot Based on FBG

  • 摘要: 为了满足机器人与外界环境、对象发生接触及交互作用时的触觉感知需求,提出了一种基于光纤布拉格光栅(FBG)的柔性触觉传感器.该传感器采用3×3 FBG阵列作为柔性传感元件,聚二甲基硅氧烷(PDMS)材料构成双层柔性基体.介绍了传感器的传感原理并采用有限元方法对其弹性体进行力学仿真分析,基于标定实验平台完成该传感器的静态标定实验.传感器的空间分辨率为25mm,在10mm×10mm载荷施加单元下,对力的感知范围为0~7N,且传感器具有较好的线性度和灵敏度,重复性和一致性良好,力灵敏度为0.16nm/N.实验结果和分析研究都证明了柔性触觉传感器的可行性.该传感器与人体皮肤触感及结构极为相似,且布线简单、抗干扰能力强.

     

    Abstract: A flexible tactile sensor based on fiber Bragg grating (FBG) is proposed, in order to meet the tactile sensing requirements of the robot when it touches or interacts with the external environment or objects. The sensor adopts a 3×3 FBG array as the flexible sensing components, and polydimethylsiloxane (PDMS) material to constitute a two-layer flexible substrate. The sensing principle of the sensor is introduced, and the elastomer is mechanically simulated and analyzed by finite element method. Static calibration experiments of the sensor are carried out based on the calibration experiment platform. The spatial resolution of the sensor is 25mm, and the sensing range of force is 0~7N in one load-applying unit of 10mm×10mm. Experiments show that the sensitivity of the sensor is 0.16nm/N with good linearity, repeatability and consistency. Experiments and analyses show the feasibility of the flexible tactile sensor. The sensor is very similar to human skin in both tactile property and structure, meanwhile it is of simple wiring and good anti-interference ability.

     

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