环形布设光纤布拉格光栅的三维曲面形状重构  

Three-dimensional surface shape reconstruction of fiber bragg gratings in a ring arrangement

作　　者：王彦 徐浩雨 汪俊亮 朱伟 蒋超 WANG Yan;XU Hao-yu;WANG Jun-liang;ZHU Wei;JIANG Chao(School of Electrical and Information Engineering,Anhui University of Technology,Ma’anshan 243000,China)

机构地区：[1]安徽工业大学电气与信息工程学院,马鞍山243000

出　　处：《中国光学（中英文）》2024年第2期398-408,共11页Chinese Optics

基　　金：安徽省科技重大专项项目(No.201903a05020029)。

摘　　要：为了提高柔性机器人抓握传感中掌心表面的重构精度,本文基于COMSOL仿真,在436 mm×436 mm×2 mm聚丙烯板上,采用7只经聚二甲基硅氧烷(PDMS)封装的光纤光栅(FBG)柔性传感器,选取环形布设的方式,在板末端中心与两角分别受力的情况下,使用光纤光栅解调仪采集实验中的传感器数据,并通过三次样条插值法进行连续化。设定数个平面Y与拟合圆环相交,计算过点函数获得三维曲面点集,实现了空间曲面的拟合可视化显示。在曲面末端中心受力时,板末端位移最小相对误差为0.549%,最大相对误差为8.300%,最小绝对误差为0.051 cm,最大绝对误差为1.255 cm,板末端两角受力时,板面重构末端位移最小相对误差为2.546%,最大相对误差为14.289%,最小绝对误差为0.005 cm,最大绝对误差为0.729 cm。实验结果为柔性机器人掌心抓握传感提供了应用基础。To improve the accuracy of palm surface reconstruction in flexible robot grasp sensing,we conduct a COMSOL simulation to select a ring arrangement comprising of 7 fiber Bragg grating(FBG)flexible sensors packaged with polydimethylsiloxane(PDMS)on a 436 mm×436 mm×2 mm polypropylene plate.Assuming that the center and two corner ends of the plate were subjected to stress,respectively,we collected sensor data using a fiber grating demodulation instrument during the experiment.The data was continuously interpolated using cubic spline interpolation.Several planes Y intersected with the fitting ring which created a three-dimensional surface.We calculated the point function to obtain the point set and achieve a fitting visual display of the spatial surface.When the center of the end of the surface is under stress,the plate experienced a minimum relative error of 0.549%in end displacement,with a maximum relative error of 8.300%,the minimum absolute error of 0.051 cm,and a maximum absolute error of 1.255 cm.When both corners at the end of the plate are under stress,for the end displacement of the plate reconstruction,the minimum relative error is 2.546%,and a maximum relative error is 14.289%,the minimum absolute error is 0.005 cm,and the maximum absolute error is 0.729 cm.These experimental results provide a foundation to implement palm grip sensing in flexible robots.

关 键 词：曲率插值 曲面拟合 FBG 环形布设 曲率标定 

分 类 号：TP212.1[自动化与计算机技术—检测技术与自动化装置]