机器人柔性触手形状的光纤传感及重构方法  

Optical fiber sensing and reconstruction method for flexible tentacle shape of robot

作　　者：杨濠琨 尤贺 贺静 韩笑笑 张锦龙[1] YANG Hao-kun;YOU He;HE Jing;HAN Xiao-xiao;ZHANG Jin-long(National Experimental Teaching Demonstration Center of Physics and Electronics,School of Physics and Electronics,Henan University,Kaifeng 475000,China;College of Electronic Engineering,Beijing University of Posts and Telecommunications,Beijing 100876,China)

机构地区：[1]河南大学物理与电子学院物理与电子国家级实验教学示范中心,河南开封475000 [2]北京邮电大学电子工程学院,北京100876

出　　处：《激光与红外》2020年第10期1246-1252,共7页Laser & Infrared

基　　金：国家自然科学基金资质项目(No.61675063,No.61975052);河南省科技攻关计划项目(No.162102210021);河南大学一流学科培育支持计划项目(No.2018YLTD06)资助。

摘　　要：为了解决机器人与外界交互时形状感知的需求,本文提出了一种基于FBG的用于解决机器人触手形状感知的方法。采用无粘结剂的形式将光纤光栅植入柔性硅胶片中固定,当柔性硅胶片紧贴所测物体表面时,硅胶片发生的形状变化将带动植入光纤的形状变化。通过光纤波长漂移量和弯曲曲率的关系,结合曲面重构算法构建出所测物体的表面形状,同时对柔性传感器的灵敏度进行了分析。实验证明了形状感知系统的可行性及稳定性,其灵敏度为65.822 pm/m^-1,空间分辨率为3 cm,测量误差在2.9%左右。该传感器结构简单,抗干扰性能良好,可通过改变光纤植入的深度及光栅之间的距离调节其灵敏度和空间分辨率以适应不同的情景,为执行机器人触手形状感知提供了参考。In order to solve the needs of shape perception when robots interact with the outside world,this paper proposes a method based on FBG to solve the shape perception of robot tentacles.The fiber Bragg grating is implanted into the flexible silica gel sheet in the form of no binder and fixed.When the flexible silica gel sheet sticks to the surface of the measured object,the shape change of the silica gel sheet will drive the shape change of the implanted fiber.Based on the relationship between wavelength drift and bending curvature of fiber,the surface shape of the measured object is constructed by combining the surface reconstruction algorithm,and the sensitivity of the flexible sensor is analyzed.The experiment proved the feasibility and stability of the shape sensing system,with a sensitivity of 65.822 PM/m^-1,a spatial resolution of 3cm and a measurement error of about 2.9%.The sensor has simple structure and good anti-interference performance,and its sensitivity and spatial resolution can be adjusted to adapt to different situations by changing the depth of fiber implantation and the distance between gratings,providing a reference for implementing the shape perception of robot tentacles.

关 键 词：FBG传感 柔性传感器 形状感知 机器人触手 

分 类 号：TH73[机械工程—仪器科学与技术] TN929.11[机械工程—精密仪器及机械]