基于光纤光栅的机器人脚腕部力传感器  

Force Sensor for Robot Ankle Based on Fiber Bragg Grating

作　　者：侯猛 张书文 刘泽华 张锦龙[1] HOU Meng;ZHANG Shu-wen;LIU Ze-hua;ZHANG Jin-long(School of Physics and Electronics,Henan University,Kaifeng 475001,China)

机构地区：[1]河南大学物理与电子学院,河南开封475001

出　　处：《仪表技术与传感器》2021年第12期13-17,共5页Instrument Technique and Sensor

基　　金：国家自然科学基金面上项目(61675063,61975052);河南大学一流学科培育项目(2019YLZD06);河南省科技攻关项目(162102210021)。

摘　　要：为实现对机器人脚腕受力状态的实时监测,设计了十字环形光纤光栅力传感器。分析了传感器的传感原理,并使用ANSYS对传感器进行了力学仿真分析,研究了传感器的应变分布特性,确定了光纤光栅在传感器上最优封装位置。搭建了实验平台,对传感器的线性度、灵敏度进行了研究,并分析了各个光栅中心波长漂移量与传感器不同部位受力的关系。实验结果表明,该传感器能准确有效地测量出其受力的大小和受力位置,灵敏度为15.9 pm/N,误差约为1.05%。该传感器可用于对机器人脚腕部受力分析,对机器人保持平衡和重心监测具有重要意义,且抗电磁干扰能力强、耐高温、耐腐蚀,能在复杂环境中使用。In order to realize the real-time monitoring of the force state of the robot’s ankle, a cross ring fiber Bragg grating force sensor was designed.The stress sensing principle of the sensor was analyzed, and the mechanical simulation of the sensor was carried out by using ANSYS.The strain distribution characteristics of the sensor were studied, and the optimal packaging position of the fiber Bragg grating on the sensor was determined.The experimental platform was built, the linearity and sensitivity of the sensor were studied, and the relationship between the variation of center wavelength drift on each grating and the distribution of stress on different parts of the sensor was analyzed.The experimental results show that the magnitude and position of the force on the sensor can accurately and effectively be measured which has 15.9 pm/N wavelength sensitivity and 1.05% error.With great significance to keep the balance and monitor the center of gravity of the robot, the sensor can be used to analyze the force on the ankle of the robot, it has strong anti-electromagnetic interference ability, high temperature resistance and corrosion resistance and it can be used in complex environment.

关 键 词：光纤光栅 多维力传感 有限元分析 机器人 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]