基于应变增敏的双层十字型FBG触觉感知单元
Double-layer cross-type FBG tactile sensing unit based on strain sensitization
孙世政 1何江 1秦鸿宇 1徐向阳 1陈仁祥1
作者信息
- 1. 重庆交通大学 机电与车辆工程学院,重庆 400074
- 折叠
摘要
触觉感知是仿生智能感知的重要内容,为了提高光纤布拉格光栅(Fiber Bragg Grating,FBG)触觉感知灵敏度,结合机器手指尖触觉感知需求,提出了一种应变增敏的FBG触觉感知单元.基于应变增敏机理和触觉感知机理分析,设计了一种基于应变增敏的双层十字型FBG触觉感知单元,采用刚性球型多点增压结构进行应变增敏.利用仿真分析方法优化了FBG空间分布,并对感知单元进行了静力学和热力学仿真.最后搭建了触觉感知实验平台,结合机器手完成了温度-力触觉协同感知实验.仿真和实验结果表明,FBG1 和FBG2 的力触觉感知灵敏度分别为 18.069 nm/MPa和1.065 nm/MPa,温度感知灵敏度为11.256 pm/℃和11.153 pm/℃.该触觉感知单元有效提高了触觉感知灵敏度,具有良好的线性度和重复性.
Abstract
Tactile perception is an important content of bionic intelligent perception,in order to improve the tactile sensitivity of fiber Bragg grating(FBG),combined with the demand of tactile perception of the fingertip of the machine,this paper proposes a strain-enhanced FBG tactile perception unit.Firstly,based on the analysis of strain sensitisation and tactile perception mechanism,a double-layer cross-type FBG tac-tile sensing unit based on strain sensitisation is designed,and a rigid spherical multi-point sensitisation structure is used for strain sensitisation;Then,the simulation analysis method was used to optimise the FBG spatial distribution and perform hydrostatic and thermodynamic simulations of the sensing unit.Final-ly,a haptic perception experiment platform was built,and temperature-force haptic synergistic perception experiments were completed in conjunction with a robotic hand.The simulation and experimental results show that the force haptic sensitivity of FBG1 and FBG2 are 18.069 nm/MPa and 1.065 nm/MPa,and the temperature sensitivity are 11.256 pm/℃ and 11.153 pm/℃.The tactile sensing unit effectively im-proves tactile sensing sensitivity with good linearity and repeatability.
关键词
光纤传感/光纤布拉格光栅/应变增敏/双层十字型/触觉感知单元Key words
optical fiber sensing/Fiber Bragg Grating(FBG)/strain sensitisation/double layer cross type/tactile sensing unit引用本文复制引用
基金项目
国家自然科学基金青年科学基金资助项目(52105542)
重庆市自然科学基金创新发展联合基金资助项目(CSTB2023NSCQ-LZX0081)
重庆市教育委员会科学技术研究项目(KJZD-K202200705)
重庆市技术创新与应用发展专项重大项目(CSTB2023TIAD-STX0016)
出版年
2024
国家科技期刊平台
NSTL
万方数据