基于多FBG组合传感的机械臂外部干扰应力监测系统  

Robotic arm external interference stress monitoring system based on multi-FBG combined sensing

作　　者：王春霞[1] 刘云朋[2] WANG Chun-xia;LIU Yun-peng(Collage of Mechanical and Electrical Engineering,Jiaozuo University,Jiaozuo 454000,China;Collage of Artificial Intelligence,Jiaozuo University,Jiaozuo 454000,China)

机构地区：[1]焦作大学机电工程学院,河南焦作454000 [2]焦作大学人工智能学院,河南焦作454000

出　　处：《激光与红外》2024年第9期1485-1490,共6页Laser & Infrared

基　　金：河南省科技计划项目(No.232400411191)资助。

摘　　要：为了解决机械臂工作过程中外部应力干扰导致装配位置偏差的问题,设计了一种基于多光纤光栅传感器组合传感的监测系统。根据机械臂运动角度范围,仿真分析了在两个特征位置上不同方向外加应力后外机械臂与内机械臂的应力场分布特征。依据应力场分布特性,设计了多FBG的传感阵列,并计算了不同FBG响应与外部干扰应力的对应关系。实验采用16个FBG对FS-MP1C型小型机械的抓取过程进行在线监测,随机外部干扰应力设置为2~20 N。16个FBG的响应线性度均在0.99以上,正向和负向波长响应最大值分别为1354 pm和-984 pm。在100次分层干扰测试中,X与Y轴向干扰应力检出率优于80.0%,Z轴向干扰应力检出率优于97.5%。系统平均误检率低于4.0%。可见,本设计可以在线完成外部干扰应力的实时监测,具有一定的实用价值。In order to solve the problem of assembly position deviation caused by external stress interference during the working process of the robotic arm,a monitoring system based on a combination of multiple fiber optic grating sensors is designed in this paper.Based on the range of motion angles of the robotic arm,the stress field distribution characteristics of the outer and inner robotic arms are simulated and analyzed after applying stress in different directions at two characteristic positions.Based on the distribution characteristics of the stress field,a multi-FBG sensing array is designed,and the corresponding relationship between different FBG responses and external interference stresses is calculated.The experiment used 16 FBGs for online monitoring of the gripping process of the FS-MP1C small machinery,with a random external interference stress set to 2~20 N.The response linearity of 16FBGs is above 0.99,with maximum positive and negative wavelength responses of 1354 pm and-984 pm,respectively.In 100 layered interference tests,the detection rate of X-axis and Y-axis interference stress is better than 80.0%,and the detection rate of Z-axis interference stress is better than 97.5%.The average false detection rate of the system is less than 4.0%.It can be seen that this design can achieve real-time monitoring of external interference stress online,which has certain practical value.

关 键 词：光纤光栅 干扰监测 组合传感 机械臂控制 

分 类 号：TN911[电子电信—通信与信息系统] TH74[电子电信—信息与通信工程]